CN111973075A - Floor sweeping method and device based on house type graph, sweeper and computer medium - Google Patents
Floor sweeping method and device based on house type graph, sweeper and computer medium Download PDFInfo
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- CN111973075A CN111973075A CN202010853585.7A CN202010853585A CN111973075A CN 111973075 A CN111973075 A CN 111973075A CN 202010853585 A CN202010853585 A CN 202010853585A CN 111973075 A CN111973075 A CN 111973075A
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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
- 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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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
Abstract
The invention discloses a floor sweeping method, a floor sweeping device, a floor sweeper and a computer medium based on a house type diagram, wherein the method comprises the following steps: receiving a house type graph creating instruction, and acquiring region division information, building material information and region layout information through a preset detection device in the sweeper; generating an initial house type graph according to the region division information, adjusting the initial house type graph according to the building material information and the region layout information to obtain a standard house type graph, and sending the standard house type graph to a preset terminal; receiving a cleaning scheme sent by the preset terminal, and associating the cleaning scheme with the standard house type diagram to generate a cleaning map; and receiving a ground cleaning instruction, and cleaning the ground according to the cleaning scheme in the cleaning map. The sweeper has better sweeping effect, avoids ineffective sweeping and has higher sweeping efficiency.
Description
Technical Field
The invention relates to the technical field of floor sweeping machines, in particular to a floor sweeping method and device based on a house-type map, a floor sweeping machine and a computer medium.
Background
Along with the rapid development of smart homes, more and more smart home appliances enter the lives of people, and in order to liberate the hands of people and reduce the time occupied in housework, the sweeper is widely applied to the lives of people.
The floor sweeper is also called an automatic sweeper, intelligent dust collection, a robot dust collector and the like, and is a sweeper which is one of intelligent household appliances and can automatically complete floor cleaning work in a room by means of certain artificial intelligence; the existing sweeper adopts the same cleaning scheme, cannot automatically set the cleaning scheme according to the room attribute, can only clean at will, and has low cleaning efficiency and poor cleaning effect.
Disclosure of Invention
The invention mainly aims to provide a floor sweeping method, a floor sweeping device, a floor sweeping machine and a computer medium based on a house type diagram, and aims to solve the technical problems that the floor sweeping machine adopts the same sweeping scheme, cannot automatically set the sweeping scheme according to the room attribute, can only sweep freely, and has low sweeping efficiency and poor sweeping effect.
In order to achieve the above object, the present invention provides a floor cleaning method based on a house type map, comprising the steps of:
receiving a house type graph creating instruction, and acquiring region division information, building material information and region layout information through a preset detection device in the sweeper;
generating an initial house type graph according to the region division information, adjusting the initial house type graph according to the building material information and the region layout information to obtain a standard house type graph, and sending the standard house type graph to a preset terminal;
receiving a cleaning scheme sent by the preset terminal, and associating the cleaning scheme with the standard house type diagram to generate a cleaning map;
and receiving a ground cleaning instruction, and cleaning the ground according to the cleaning scheme in the cleaning map.
Optionally, the step of receiving a house type map creating instruction, and acquiring region division information, building material information, and region layout information through a preset detection device in the sweeper includes:
receiving a house type graph creating instruction, and starting a preset detection device in the sweeper to obtain detection data;
controlling the sweeper to operate according to the detection data, and collecting area division information and building material information;
when the region division information is acquired, determining obstacle detection points according to the region division information and the monitoring range of the preset detection device;
and controlling the sweeper to run to each obstacle detection point and collecting regional layout information.
Optionally, the step of generating an initial house type graph according to the region division information, adjusting the initial house type graph according to the building material information and the region layout information to obtain a standard house type graph, and sending the standard house type graph to a preset terminal includes:
determining the region edge of each region according to the region division information, and splicing the region edges of adjacent regions to generate an initial indoor graph;
inquiring a preset first mapping table, acquiring building material image elements matched with the building material information, and adding the building material image elements to the initial floor plan;
inquiring a preset second mapping table, acquiring furniture image elements matched with the region layout information, and adding the furniture image elements to the initial house type diagram;
and taking the initial house type graph added with the building material image elements and the furniture image elements as a standard house type graph, and sending the standard house type graph to a preset terminal.
Optionally, the step of generating an initial house type graph according to the region division information, adjusting the initial house type graph according to the building material information and the region layout information to obtain a standard house type graph, and sending the standard house type graph to a preset terminal includes:
drawing and generating an initial house type graph according to the region division information;
inputting the building material information and the area layout information corresponding to each area in the initial user-type diagram into a preset neural network to obtain the area attribute of each area;
determining image characteristic elements of each region according to the region attribute of each region;
and adding image characteristic elements in each area in the initial house type graph to generate a standard house type graph, and sending the standard house type graph to a preset terminal.
Optionally, the step of receiving a cleaning scheme sent by the preset terminal, and associating the cleaning scheme with the standard house type diagram to generate a cleaning map includes:
receiving a cleaning scheme sent by the preset terminal based on the standard house type diagram;
analyzing the regional layout information of each region in the standard household type map to obtain the function of each region in the cleaning map;
and adjusting a cleaning scheme according to the function of the area, and associating the adjusted cleaning scheme with the standard house type graph to generate a cleaning map.
Optionally, the step of receiving a ground sweeping instruction and performing ground sweeping according to a sweeping scheme in the sweeping map includes:
receiving a ground cleaning instruction sent by the preset terminal, and judging whether the ground cleaning instruction contains a cleaning area;
if the ground cleaning instruction comprises a cleaning area, acquiring a cleaning scheme of the cleaning area in the cleaning map, and cleaning the ground of the cleaning area according to the cleaning scheme;
and if the ground cleaning instruction does not contain a cleaning area, acquiring an execution sequence of each cleaning scheme in the cleaning map, and executing each cleaning scheme in sequence to clean the ground.
Optionally, the step of receiving a ground sweeping instruction and performing ground sweeping according to a sweeping scheme in the sweeping map includes:
receiving a ground cleaning instruction, detecting environmental information of the environment where the sweeper is located through a preset detection device, and determining a target area where the sweeper is located according to the environmental information;
acquiring the cleaning priority of the target area in the cleaning map, and judging whether the cleaning priority of the target area is the highest priority or not;
when the cleaning priority of the target area is the highest priority, acquiring a cleaning scheme of the target area, and cleaning the ground according to the cleaning scheme;
when the cleaning priority of the target area is not the highest priority, acquiring a historical cleaning record, and judging whether an uncleaned area with higher cleaning priority than the target area exists or not according to the historical cleaning record;
if an uncleaned area with higher cleaning priority than the target area does not exist, acquiring a cleaning scheme of the target area in the cleaning map, and cleaning the ground of the target area according to the cleaning scheme;
and if an uncleaned area with higher cleaning priority than the target area exists, driving the sweeper to the uncleaned area with the highest cleaning priority, acquiring a cleaning scheme of the uncleaned area, and cleaning the ground of the uncleaned area according to the cleaning scheme.
Optionally, the step of receiving a ground sweeping instruction and performing ground sweeping according to a sweeping scheme in the sweeping map includes:
receiving a ground cleaning instruction, and judging whether the ground cleaning instruction contains cleaning time;
if the ground cleaning instruction comprises cleaning time, driving the sweeper to execute a cleaning scheme in the cleaning map for cleaning the ground at the cleaning time;
if the ground cleaning instruction does not contain cleaning time, analyzing the area layout information of each area in the cleaning map, and determining the function of each area in the cleaning map;
and setting cleaning time according to the function of the region, and executing a cleaning scheme in the cleaning map to clean the ground at the cleaning time.
Optionally, after the step of receiving a ground sweeping command and performing ground sweeping according to a sweeping scheme in the sweeping map, the method includes:
receiving a map updating instruction, and acquiring historical cleaning records of all areas in the cleaning map;
extracting the cleaning frequency, the cleaning force and the cleaning water volume of each area in the historical cleaning record, and determining an optimal cleaning scheme according to the cleaning frequency, the cleaning force and the cleaning water volume;
and replacing the cleaning scheme in the cleaning map with the optimal cleaning scheme to obtain an updated cleaning map.
In order to achieve the above object, the present invention provides a floor cleaning device based on a house type figure, comprising:
the instruction receiving module is used for receiving a house type graph creating instruction and acquiring region division information, building material information and region layout information through a preset detection device in the sweeper;
the generating and sending module is used for generating an initial house type graph according to the region division information, adjusting the initial house type graph according to the building material information and the region layout information to obtain a standard house type graph, and sending the standard house type graph to a preset terminal;
the receiving and generating module is used for receiving the cleaning scheme sent by the preset terminal and associating the cleaning scheme with the standard house type diagram to generate a cleaning map;
and the cleaning execution module is used for receiving a ground cleaning instruction and cleaning the ground according to the cleaning scheme in the cleaning map.
Optionally, the instruction receiving module includes:
the starting detection unit is used for receiving a house type figure establishing instruction and starting a preset detection device in the sweeper to obtain detection data;
the first acquisition unit is used for controlling the sweeper to operate according to the detection data and acquiring area division information and building material information;
the detection point determining unit is used for determining an obstacle detection point according to the area division information and the monitoring range of the preset detection device when the area division information is acquired;
and the second acquisition unit is used for controlling the sweeper to run to each obstacle detection point and acquiring regional layout information.
Optionally, the generating and sending module includes:
the first generating unit is used for determining the region edges of all the regions according to the region division information and splicing the region edges of adjacent regions to generate an initial indoor pattern;
the second adding unit is used for inquiring a preset first mapping table, acquiring building material image elements matched with the building material information, and adding the building material image elements to the initial house type diagram;
the second adding unit is used for inquiring a preset second mapping table, acquiring furniture image elements matched with the region layout information, and adding the furniture image elements to the initial house type diagram;
and the house type graph sending unit is used for taking the initial house type graph added with the building material image elements and the furniture image elements as a standard house type graph and sending the standard house type graph to a preset terminal.
Optionally, the generating and sending module includes:
the second generating unit is used for drawing and generating an initial house type graph according to the region division information;
the attribute determining unit is used for inputting the building material information and the area layout information corresponding to each area in the initial user-type diagram into a preset neural network to obtain the area attribute of each area;
an element determining unit, configured to determine image feature elements of the respective regions according to the region attributes of the respective regions;
and the adding and sending unit is used for adding image characteristic elements in each area in the initial house type graph to generate a standard house type graph and sending the standard house type graph to a preset terminal.
Optionally, the receiving and generating module includes:
the receiving unit is used for receiving a cleaning scheme sent by the preset terminal based on the standard house type diagram;
the analysis unit is used for analyzing the area layout information of each area in the standard house type map to obtain the function of each area in the cleaning map;
and the association generating unit is used for adjusting the cleaning scheme according to the function of the area and associating the adjusted cleaning scheme with the standard house type graph to generate a cleaning map.
Optionally, the sweeping performing module includes:
the receiving and judging unit is used for receiving a ground cleaning instruction sent by the preset terminal and judging whether the ground cleaning instruction comprises a cleaning area;
the first cleaning unit is used for acquiring a cleaning scheme of the cleaning area in the cleaning map and cleaning the ground of the cleaning area according to the cleaning scheme if the ground cleaning instruction comprises the cleaning area;
and the second cleaning unit is used for acquiring the execution sequence of each cleaning scheme in the cleaning map and sequentially executing each cleaning scheme to clean the ground if the ground cleaning instruction does not contain a cleaning area.
Optionally, the sweeping performing module includes:
the receiving and determining unit is used for receiving a ground sweeping instruction, detecting environmental information of the environment where the sweeper is located through a preset detection device, and determining a target area where the sweeper is located according to the environmental information;
the acquisition and judgment unit is used for acquiring the cleaning priority of the target area in the cleaning map and judging whether the cleaning priority of the target area is the highest priority or not;
the third cleaning unit is used for acquiring a cleaning scheme of the target area when the cleaning priority of the target area is the highest priority, and cleaning the ground according to the cleaning scheme;
a record obtaining unit, configured to obtain a historical cleaning record when the cleaning priority of the target area is not the highest priority, and determine whether there is an uncleaned area with a higher cleaning priority than the target area according to the historical cleaning record;
a fourth cleaning unit, configured to, if there is no uncleaned area with a higher cleaning priority than the target area, obtain a cleaning scheme for the target area in the cleaning map, and clean the ground of the target area according to the cleaning scheme;
and the fifth cleaning unit is used for driving the sweeper to an uncleaned area with the highest cleaning priority if the uncleaned area with the higher cleaning priority than the target area exists, acquiring a cleaning scheme of the uncleaned area and cleaning the ground of the uncleaned area according to the cleaning scheme.
Optionally, the sweeping performing module includes:
the receiving and judging unit is used for receiving a ground cleaning instruction and judging whether the ground cleaning instruction contains cleaning time or not;
the sixth cleaning unit is used for driving the sweeper to execute a cleaning scheme in the cleaning map for cleaning the ground if the ground cleaning instruction contains cleaning time;
a function determination unit, configured to analyze area layout information of each area in the cleaning map and determine a function of each area in the cleaning map if the ground cleaning instruction does not include cleaning time;
and a seventh cleaning unit for setting a cleaning time at which the cleaning plan in the cleaning map is executed for cleaning the ground according to the function of the area.
Optionally, the floor sweeping device based on a house type map comprises:
the map cleaning system comprises an update receiving unit, a map cleaning unit and a map cleaning unit, wherein the update receiving unit is used for receiving a map update instruction and acquiring historical cleaning records of all areas in a cleaning map;
an extraction and determination unit, configured to extract a cleaning frequency, a cleaning force, and a cleaning water volume of each area in the historical cleaning record, and determine an optimal cleaning scheme according to the cleaning frequency, the cleaning force, and the cleaning water volume;
and the map updating unit is used for replacing the cleaning scheme in the cleaning map with the optimal cleaning scheme to obtain an updated cleaning map.
In addition, in order to realize the purpose, the invention also provides a sweeper;
the sweeper comprises: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein:
which computer program, when being executed by the processor, carries out the steps of the floor sweeping method based on a floor plan as described above.
In addition, to achieve the above object, the present invention also provides a computer medium;
the computer medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the floor sweeping method based on a house map as described above.
In the floor sweeping method, the floor sweeping device, the floor sweeper and the computer medium, which are provided by the embodiment of the invention, a floor pattern creating instruction is received, and area division information, building material information and area layout information are acquired through a preset detection device in the floor sweeper; generating an initial house type graph according to the region division information, adjusting the initial house type graph according to the building material information and the region layout information to obtain a standard house type graph, and sending the standard house type graph to a preset terminal; receiving a cleaning scheme sent by the preset terminal, and associating the cleaning scheme with the standard house type diagram to generate a cleaning map; and receiving a ground cleaning instruction, and cleaning the ground according to the cleaning scheme in the cleaning map. According to the embodiment of the invention, the standard house type map is constructed according to the sweeper and then is sent to the preset terminal, the sweeping scheme sent by the preset terminal is received, the sweeping map is generated, and sweeping is carried out according to the sweeping scheme in the sweeping map, so that the sweeping effect of the sweeper is better, ineffective sweeping is avoided, and the sweeping efficiency of the sweeper is higher.
Drawings
FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a floor sweeping method according to the present invention;
FIG. 3 is a functional block diagram of an embodiment of a floor sweeping device according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a floor sweeping device (also called a sweeper, wherein the sweeper may be composed of a floor sweeping device based on a floor plan alone or may be formed by combining other devices with the floor sweeping device based on the floor plan) based on a floor plan of a hardware operating environment according to an embodiment of the present invention.
The server in the embodiment of the invention refers to a computer for managing resources and providing services for users, and is generally divided into a file server, a database server and an application server. The computer or computer system running the above software is also referred to as a server. Compared with a common PC (personal computer), the server has higher requirements on stability, safety, performance and the like; as shown in fig. 1, the server may include: the processor 1001 includes, for example, a Central Processing Unit (CPU), a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002, a chipset, a disk system, hardware such as a network, and the like. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., WIFI interface, WIreless FIdelity, WIFI interface). The memory 1005 may be a Random Access Memory (RAM) or a non-volatile memory (e.g., a disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the server may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, and a WiFi module; the input unit is compared with a display screen and a touch screen; the network interface can be selected from the wireless interface, such as Bluetooth, a probe and the like except WiFi. Those skilled in the art will appreciate that the server architecture shown in FIG. 1 is not meant to be limiting, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the computer software product is stored in a computer medium (also called storage medium, readable storage medium, computer readable storage medium or direct storage medium, etc., the storage medium may be a non-volatile readable storage medium, such as RAM, magnetic disk, optical disk, etc.), and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the method according to the embodiments of the present invention, and a memory 1005 as a computer medium may include an operating system, a network communication module, a user interface module, and a computer program.
In the server shown in fig. 1, the network interface 1004 is mainly used for connecting to a background database and performing data communication with the background database; the user interface 1003 is mainly used for connecting a client (client, also called user side or terminal, the terminal in the embodiment of the present invention may be a fixed terminal or a mobile terminal, for example, an intelligent air conditioner with networking function, an intelligent electric lamp, an intelligent power supply, an intelligent sound box, an automatic driving car, a PC, a smart phone, a tablet computer, an electronic book reader, a portable computer, etc., the terminal includes sensors such as a light sensor, a motion sensor, and other sensors, which are not described herein again), and performs data communication with the client; and the processor 1001 may be configured to call up a computer program stored in the memory 1005 and perform the steps of the floor sweeping method based on the floor plan provided by the following embodiments of the present invention.
Based on the hardware structure, the embodiment of the floor cleaning method based on the house type diagram is provided.
Referring to fig. 2, in a first embodiment of the household-map-based floor sweeping method of the present invention, the household-map-based floor sweeping method includes:
and step S10, receiving a house type graph creating instruction, and acquiring area division information, building material information and area layout information through a preset detection device in the sweeper.
The floor sweeping method based on the house-type map in the embodiment is applied to the floor sweeping machine, and the type of the floor sweeping machine is not limited, for example, the household floor sweeping machine is a wireless machine, mainly a disc type floor sweeping machine, the household floor sweeping machine operates by using a rechargeable battery, the operation mode is a remote controller or an operation panel on the machine, and the household floor sweeping machine can set time for reservation and sweeping and can be charged by itself. The sensor is arranged in front of the vehicle body, and can detect obstacles, such as a wall or other obstacles, and can turn automatically.
The sweeper receives the house pattern creation instruction, and the triggering mode of the house pattern creation instruction is not particularly limited, that is, the house pattern creation instruction may be actively triggered, for example, the user speaks: the method comprises the steps that a user-type graph creating instruction is triggered by 'creating a user-type graph'; additionally, the house layout creation instruction may also be triggered automatically, for example, when the sweeper reaches a new sweeping environment.
After the floor sweeping machine receives a house-type map creating instruction, the floor sweeping machine starts a preset detection device, wherein the preset detection device is a sensing device for detection, such as a radar, a laser, an optical sensor, an infrared sensor and a gyroscope, the preset detection device in the floor sweeping machine collects area division information, building material information and area layout information, the area division information comprises wall length information, door panel size information and the like, and the building material information is wall color information and ground material information, such as a wall of a brick structure, a door of an alloy material and a floor of a wood material; the region layout information is furniture placement information.
Specifically, step S10 includes:
a1, receiving a house type figure creating instruction, and starting a preset detection device in the sweeper to obtain detection data;
a2, controlling the sweeper to operate according to the detection data, and collecting area division information and building material information;
a3, when the region division information is acquired, determining an obstacle detection point according to the region division information and the monitoring range of the preset detection device;
step a4, controlling the sweeper to run to each obstacle detection point, and collecting area layout information.
In the embodiment, the sweeper receives a house type figure creating instruction, and the sweeper starts a preset detection device in the sweeper to obtain detection data; the sweeper controls the sweeper to operate according to the detection data, and collects area division information and building material information; when the region division information is acquired, the sweeper determines an obstacle detection point according to the region division information and the monitoring range of a preset detection device; the sweeper is controlled to run to each obstacle detection point, and regional layout information is collected, so that the minimum collected data is guaranteed, and the accuracy of the constructed and formed house type graph can be effectively guaranteed.
And step S20, generating an initial house type graph according to the region division information, adjusting the initial house type graph according to the building material information and the region layout information to obtain a standard house type graph, and sending the standard house type graph to a preset terminal.
The floor sweeping machine generates an initial house type graph according to the area division information, the floor sweeping machine sets image elements in the initial house type graph according to the building material information, for example, colors are added in the initial house type graph, for example, a wall body is a black door and is red, a floor is a wood stripe, the floor sweeping machine adds furniture decoration elements according to the area layout information so as to adjust the initial house type graph, a standard house type graph is obtained, and the floor sweeping machine sends the standard house type graph to a preset terminal, wherein the preset terminal is a terminal in communication connection with the floor sweeping machine.
Specifically, step S20 in this embodiment includes:
b1, determining the zone edge of each zone according to the zone division information, and splicing the zone edges of adjacent zones to generate an initial indoor graph;
b2, inquiring a preset first mapping table, acquiring building material image elements matched with the building material information, and adding the building material image elements to the initial floor plan;
b3, inquiring a preset second mapping table, acquiring furniture image elements matched with the region layout information, and adding the furniture image elements to the initial house type diagram;
and b4, taking the initial house type graph added with the building material image elements and the furniture image elements as a standard house type graph, and sending the standard house type graph to a preset terminal.
Namely, the sweeper determines the area edges of each area according to the area division information, and the sweeper splices the area edges of adjacent areas to generate an initial house type graph; the sweeper queries a preset first mapping table (the preset first mapping table refers to preset building material information and a building material image element mapping table), obtains building material image elements matched with the building material information, and adds the building material image elements to the initial floor plan; the sweeper queries a preset second mapping table (the preset second mapping table refers to preset region layout information and a furniture image element mapping table), the sweeper acquires furniture image elements matched with the region layout information, and the sweeper adds the furniture image elements to the initial house type map; the sweeper takes the initial house type graph added with the building material image elements and the furniture image elements as a standard house type graph and sends the standard house type graph to a preset terminal.
In this embodiment, different data are detected by a preset detection device in the sweeper, and a standard house type diagram is constructed, so that the ground can be cleaned conveniently according to the standard house type diagram, specifically:
and step S30, receiving the cleaning scheme sent by the preset terminal, and associating the cleaning scheme with the standard house type diagram to generate a cleaning map.
The sweeping machine receives a sweeping scheme sent by a preset terminal, namely the sweeping scheme is used for setting the sweeping scheme of each area on the preset terminal according to a received standard house type diagram, the preset terminal sends the sweeping scheme set by a user to the sweeping machine, and the sweeping machine receives the sweeping scheme and associates the sweeping scheme with the standard house type diagram to generate a sweeping map; specifically, step S30 in this embodiment includes:
step c1, receiving a cleaning scheme sent by the preset terminal based on the standard house type diagram;
step c2, analyzing the area layout information of each area in the standard household type map to obtain the function of each area in the cleaning map;
and c3, adjusting the cleaning scheme according to the function of the area, and associating the adjusted cleaning scheme with the standard house type graph to generate a cleaning map.
The sweeping machine receives a sweeping scheme sent by a preset terminal based on a standard house type diagram; the sweeper analyzes the regional layout information of each region in the standard house-type map to obtain the function of cleaning each region in the map; for example, if a treadmill is arranged in a xxx area in the standard house type map, the xxx area is a fitness area, if a washing machine is arranged in the xxx area, the xxx area is a washing area, and the like, the sweeper adjusts a sweeping scheme according to the function of the area, and the sweeper associates the adjusted sweeping scheme with the standard house type map to generate a sweeping map. Namely, after the sweeper determines the functions of each area, the use frequency and the cleaning damage degree of each area can be determined, and the sweeper can adjust the set sweeping scheme according to the functions of the areas, so that the generated sweeping map is more reasonable.
And step S40, receiving a ground cleaning instruction, and cleaning the ground according to the cleaning scheme in the cleaning map.
The sweeper receives a ground sweeping instruction, wherein the triggering mode of the ground sweeping instruction is not particularly limited, that is, the ground sweeping instruction can be actively triggered by a user, for example, the user speaks to "sweep xxx bedroom" to actively trigger the ground sweeping instruction; in addition, the ground sweeping command can also be triggered automatically, for example, the sweeper is preset with an automatic ground sweeping command of 8:00 morning every day, and when the sweeper detects that 8 am is reached, the ground sweeping command is triggered automatically.
After the sweeper receives the ground sweeping instruction, the sweeper acquires a sweeping map associated with the ground sweeping instruction, the sweeper detects environment information of an environment where the sweeper is located through a preset detection device (the preset detection device refers to a preset environment detection instrument, such as a brightness sensor, a radar, a laser and an angular velocity sensor, and the like), and the sweeper determines an area where the sweeper is located according to the environment information and the sweeping map, for example, the position information may be that the sweeper is located at a corner of a living room.
The sweeper acquires a sweeping scheme of a region in a sweeping map, executes the sweeping scheme to sweep the ground, for example, the sweeper firstly determines position information during sweeping, determines a house price sweeping sequence, then plans a path according to the position information, and sweeps a kitchen and a toilet (the kitchen and the toilet are swept finally) after rooms such as a living room and a bedroom are swept; the cleaning machine can automatically clean rooms such as hallways, corridors, living rooms, bedrooms and the like for multiple times. According to the embodiment, the sweeper automatically sets a sweeping scheme according to the room attribute (name, shape and the like) and performs sweeping, for example, final sweeping is performed on a kitchen and a toilet, and multiple times of sweeping is performed on a vestibule, a corridor, a living room, a bedroom and the like, so that the sweeping effect is better, and ineffective sweeping is avoided.
According to the embodiment, the standard household type map is constructed according to the sweeper, then the standard household type map is sent to the preset terminal, the cleaning scheme sent by the preset terminal is received, the cleaning map is generated, and cleaning is carried out according to the cleaning scheme in the cleaning map, so that the cleaning effect of the sweeper is better, invalid cleaning is avoided, and the sweeping efficiency of the sweeper is higher.
Furthermore, a second embodiment of the floor sweeping method based on a house type map is proposed on the basis of the first embodiment of the present invention.
This embodiment is a refinement of the step S20 in the first embodiment, and the difference between this embodiment and the first embodiment of the present invention is:
drawing and generating an initial house type graph according to the region division information;
inputting the building material information and the area layout information corresponding to each area in the initial user-type diagram into a preset neural network to obtain the area attribute of each area;
determining image characteristic elements of each region according to the region attribute of each region;
and adding image characteristic elements in each area in the initial house type graph to generate a standard house type graph, and sending the standard house type graph to a preset terminal.
The sweeper is used for drawing and generating an initial house type graph according to the region division information; the method comprises the following steps of presetting a neural network in the sweeper, wherein the preset neural network is used for analyzing collected building material information and area layout information and determining the function, type and the like of each area in an initial house-type diagram; the sweeper inputs building material information and area layout information corresponding to each area in an initial house type graph to a preset neural network to obtain area attributes (the area attributes comprise functions and attributes) of each area; the sweeper determines image characteristic elements of each area according to the area attribute of each area; and adding image characteristic elements in each area in the initial house type graph to generate a standard house type graph, and sending the standard house type graph to a preset terminal.
In this embodiment, through analysis of a neural network preset in the sweeper, the collected building material information and the collected area layout information are analyzed, the area attribute of each area is determined, and the image feature elements corresponding to the area attributes are added, so that the generated standard house type map is more regular, and the user can conveniently check the standard house type map.
Further, a third embodiment of the floor cleaning method based on a house type map is proposed on the basis of the above-mentioned embodiments of the present invention.
This embodiment is a refinement of the step S40 in the first embodiment, and the difference between this embodiment and the above-described embodiment of the present invention is:
receiving a ground cleaning instruction sent by the preset terminal, and judging whether the ground cleaning instruction contains a cleaning area;
if the ground cleaning instruction comprises a cleaning area, acquiring a cleaning scheme of the cleaning area in the cleaning map, and cleaning the ground of the cleaning area according to the cleaning scheme;
and if the ground cleaning instruction does not contain a cleaning area, acquiring an execution sequence of each cleaning scheme in the cleaning map, and executing each cleaning scheme in sequence to clean the ground.
The sweeper receives a ground sweeping instruction sent by a preset terminal, and the sweeper judges whether the ground sweeping instruction contains a sweeping area; if the ground cleaning instruction comprises a cleaning area, the sweeper acquires a cleaning scheme of the cleaning area in the cleaning map, and the sweeper cleans the ground of the cleaning area according to the cleaning scheme; and if the ground cleaning instruction does not contain the cleaning area, the sweeper acquires the execution sequence of each cleaning scheme in the cleaning map, and sequentially executes each cleaning scheme to clean the ground. In this embodiment, because the trigger mode of the cleaning instruction is not limited, when the cleaning instruction is triggered manually, the cleaning area in the cleaning instruction can be mainly cleaned, and when the cleaning instruction is triggered automatically, the cleaning can be performed globally, so that the cleaning integrity is ensured.
Further, a fourth embodiment of the floor cleaning method based on a house type map is proposed on the basis of the above-mentioned embodiments of the present invention.
This embodiment is a refinement of the step S40 in the first embodiment, and the difference between this embodiment and the above-described embodiment of the present invention is:
receiving a ground cleaning instruction, detecting environmental information of the environment where the sweeper is located through a preset detection device, and determining a target area where the sweeper is located according to the environmental information;
acquiring the cleaning priority of the target area in the cleaning map, and judging whether the cleaning priority of the target area is the highest priority or not;
when the cleaning priority of the target area is the highest priority, acquiring a cleaning scheme of the target area, and cleaning the ground according to the cleaning scheme;
when the cleaning priority of the target area is not the highest priority, acquiring a historical cleaning record, and judging whether an uncleaned area with higher cleaning priority than the target area exists or not according to the historical cleaning record;
if an uncleaned area with higher cleaning priority than the target area does not exist, acquiring a cleaning scheme of the target area in the cleaning map, and cleaning the ground of the target area according to the cleaning scheme;
and if an uncleaned area with higher cleaning priority than the target area exists, driving the sweeper to the uncleaned area with the highest cleaning priority, acquiring a cleaning scheme of the uncleaned area, and cleaning the ground of the uncleaned area according to the cleaning scheme.
The method comprises the steps that a sweeper receives a ground sweeping instruction, environment information of the environment where the sweeper is located is detected through a preset detection device, and a target area where the sweeper is located is determined according to the environment information, namely, the sweeper carries out ground detection through a radar detection module in the preset detection device to obtain ground attributes of the ground where the sweeper is located; wherein, the ground attribute can be understood as information such as a floor material, a concave-convex state of the ground and the like; the sweeper detects obstacles through a radar detection module and/or a laser detection module in a preset detection device to obtain regional layout information of the environment where the sweeper is located, wherein the regional layout information can be corner position information, furniture shape information, furniture position information, animal position information or human position information; the sweeper carries out brightness detection through a brightness detection module in a preset detection device to obtain brightness information of the environment where the sweeper is located; the sweeper takes the ground attribute, the area layout information and the brightness information as environment information, and the sweeper performs combined analysis on the environment information to obtain a target area where the sweeper is located. For example, the sweeper detects that the ground is a wood floor, the regional layout information comprises a bed, a wardrobe and a bookcase, and the brightness information is dark, and the sweeper comprehensively determines that the floor is currently located below bedroom furniture.
The sweeping machine is used for presetting the sweeping priority of each area, for example, a bedroom is the first, a kitchen is the second, and a toilet is the third, the sweeping machine obtains the sweeping priority of a target area in a sweeping map, and whether the sweeping priority of the target area is the highest priority is judged; when the cleaning priority of the target area is the highest priority, the sweeper acquires the cleaning scheme of the target area, and the sweeper cleans the ground according to the cleaning scheme; when the cleaning priority of the target area is not the highest priority, the sweeper acquires a historical cleaning record, and the sweeper judges whether an uncleaned area with the cleaning priority higher than that of the target area exists or not according to the historical cleaning record; if an uncleaned area with higher cleaning priority than a target area does not exist, the sweeper acquires a cleaning scheme for cleaning the target area in a map, and performs ground cleaning on the target area according to the cleaning scheme; and if an uncleaned area with higher cleaning priority than the target area exists, driving the sweeper to the uncleaned area with the highest cleaning priority, acquiring a cleaning scheme of the uncleaned area, and cleaning the ground of the uncleaned area according to the cleaning scheme.
The environmental information of the environment that the sweeper is located is detected through presetting the detection device to the sweeper in this embodiment, and the sweeper confirms the target area that the sweeper is located according to environmental information, and the sweeper acquires the priority of cleaning of target area, cleans according to the priority of cleaning of target area for it is more reasonable to clean the scheme, has avoided cleaning earlier dirty region and has cleaned cleaner region again, leads to cleaner region to receive the circumstances emergence of polluting.
Further, a fifth embodiment of the floor cleaning method based on a house type figure is proposed on the basis of the above embodiments of the present invention.
This embodiment is a refinement of the step S40 in the first embodiment, and the difference between this embodiment and the above-described embodiment of the present invention is:
receiving a ground cleaning instruction, and judging whether the ground cleaning instruction contains cleaning time;
if the ground cleaning instruction comprises cleaning time, driving the sweeper to execute a cleaning scheme in the cleaning map for cleaning the ground at the cleaning time;
if the ground cleaning instruction does not contain cleaning time, analyzing the area layout information of each area in the cleaning map, and determining the function of each area in the cleaning map;
and setting cleaning time according to the function of the region, and executing a cleaning scheme in the cleaning map to clean the ground at the cleaning time.
The sweeper receives the ground sweeping instruction, and the sweeper judges whether the ground sweeping instruction contains sweeping time; if the ground cleaning instruction comprises cleaning time, driving the sweeper to execute a cleaning scheme in a cleaning map for cleaning the ground at the cleaning time; if the ground cleaning instruction does not contain cleaning time, analyzing the area layout information of each area in the cleaning map, and determining the function of each area in the cleaning map; and the sweeper sets cleaning time according to the function of the area, and executes the cleaning scheme in the cleaning map to clean the ground at the cleaning time.
In this embodiment, the sweeper takes the conditions of sweeping noise and regional use of the user into consideration while ensuring the use requirements of the user, so that the sweeper can carry out the sweeping scheme without disturbing the user by the sweeping noise and the motion of the sweeper, and the sweeper is more intelligent.
Further, a sixth embodiment of the floor cleaning method based on a house type figure is proposed on the basis of the above embodiments of the present invention.
This embodiment is a step after step S40 in the first embodiment, and the present embodiment is different from the above-described embodiments of the present invention in that:
receiving a map updating instruction, and acquiring historical cleaning records of all areas in the cleaning map;
extracting the cleaning frequency, the cleaning force and the cleaning water volume of each area in the historical cleaning record, and determining an optimal cleaning scheme according to the cleaning frequency, the cleaning force and the cleaning water volume;
and replacing the cleaning scheme in the cleaning map with the optimal cleaning scheme to obtain an updated cleaning map.
The sweeper receives a map updating instruction, and the sweeper acquires historical sweeping records of all areas in a sweeping map; the sweeper extracts the sweeping frequency, the sweeping force and the sweeping water volume of each area in the historical sweeping record, and the sweeper determines an optimal sweeping scheme according to the sweeping frequency, the sweeping force and the sweeping water volume; and the sweeper replaces the optimal sweeping scheme with the sweeping scheme in the sweeping map to obtain an updated sweeping map. In the embodiment, the cleaning map can be updated in real time according to the actual cleaning condition, so that the cleaning map can better meet the requirements of users.
In addition, referring to fig. 3, an embodiment of the present invention further provides a floor cleaning device based on a house type diagram, including:
the instruction receiving module is used for receiving a house type graph creating instruction and acquiring region division information, building material information and region layout information through a preset detection device in the sweeper;
the generating and sending module is used for generating an initial house type graph according to the region division information, adjusting the initial house type graph according to the building material information and the region layout information to obtain a standard house type graph, and sending the standard house type graph to a preset terminal;
the receiving and generating module is used for receiving the cleaning scheme sent by the preset terminal and associating the cleaning scheme with the standard house type diagram to generate a cleaning map;
and the cleaning execution module is used for receiving a ground cleaning instruction and cleaning the ground according to the cleaning scheme in the cleaning map.
In one embodiment, the instruction receiving module includes:
the starting detection unit is used for receiving a house type figure establishing instruction and starting a preset detection device in the sweeper to obtain detection data;
the first acquisition unit is used for controlling the sweeper to operate according to the detection data and acquiring area division information and building material information;
the detection point determining unit is used for determining an obstacle detection point according to the area division information and the monitoring range of the preset detection device when the area division information is acquired;
and the second acquisition unit is used for controlling the sweeper to run to each obstacle detection point and acquiring regional layout information.
In one embodiment, the generating and sending module includes:
the first generating unit is used for determining the region edges of all the regions according to the region division information and splicing the region edges of adjacent regions to generate an initial indoor pattern;
the second adding unit is used for inquiring a preset first mapping table, acquiring building material image elements matched with the building material information, and adding the building material image elements to the initial house type diagram;
the second adding unit is used for inquiring a preset second mapping table, acquiring furniture image elements matched with the region layout information, and adding the furniture image elements to the initial house type diagram;
and the house type graph sending unit is used for taking the initial house type graph added with the building material image elements and the furniture image elements as a standard house type graph and sending the standard house type graph to a preset terminal.
In one embodiment, the generating and sending module includes:
the second generating unit is used for drawing and generating an initial house type graph according to the region division information;
the attribute determining unit is used for inputting the building material information and the area layout information corresponding to each area in the initial user-type diagram into a preset neural network to obtain the area attribute of each area;
an element determining unit, configured to determine image feature elements of the respective regions according to the region attributes of the respective regions;
and the adding and sending unit is used for adding image characteristic elements in each area in the initial house type graph to generate a standard house type graph and sending the standard house type graph to a preset terminal.
In one embodiment, the receiving and generating module includes:
the receiving unit is used for receiving a cleaning scheme sent by the preset terminal based on the standard house type diagram;
the analysis unit is used for analyzing the area layout information of each area in the standard house type map to obtain the function of each area in the cleaning map;
and the association generating unit is used for adjusting the cleaning scheme according to the function of the area and associating the adjusted cleaning scheme with the standard house type graph to generate a cleaning map.
In one embodiment, the cleaning execution module includes:
the receiving and judging unit is used for receiving a ground cleaning instruction sent by the preset terminal and judging whether the ground cleaning instruction comprises a cleaning area;
the first cleaning unit is used for acquiring a cleaning scheme of the cleaning area in the cleaning map and cleaning the ground of the cleaning area according to the cleaning scheme if the ground cleaning instruction comprises the cleaning area;
and the second cleaning unit is used for acquiring the execution sequence of each cleaning scheme in the cleaning map and sequentially executing each cleaning scheme to clean the ground if the ground cleaning instruction does not contain a cleaning area.
In one embodiment, the cleaning execution module includes:
the receiving and determining unit is used for receiving a ground sweeping instruction, detecting environmental information of the environment where the sweeper is located through a preset detection device, and determining a target area where the sweeper is located according to the environmental information;
the acquisition and judgment unit is used for acquiring the cleaning priority of the target area in the cleaning map and judging whether the cleaning priority of the target area is the highest priority or not;
the third cleaning unit is used for acquiring a cleaning scheme of the target area when the cleaning priority of the target area is the highest priority, and cleaning the ground according to the cleaning scheme;
a record obtaining unit, configured to obtain a historical cleaning record when the cleaning priority of the target area is not the highest priority, and determine whether there is an uncleaned area with a higher cleaning priority than the target area according to the historical cleaning record;
a fourth cleaning unit, configured to, if there is no uncleaned area with a higher cleaning priority than the target area, obtain a cleaning scheme for the target area in the cleaning map, and clean the ground of the target area according to the cleaning scheme;
and the fifth cleaning unit is used for driving the sweeper to an uncleaned area with the highest cleaning priority if the uncleaned area with the higher cleaning priority than the target area exists, acquiring a cleaning scheme of the uncleaned area and cleaning the ground of the uncleaned area according to the cleaning scheme.
In one embodiment, the cleaning execution module includes:
the receiving and judging unit is used for receiving a ground cleaning instruction and judging whether the ground cleaning instruction contains cleaning time or not;
the sixth cleaning unit is used for driving the sweeper to execute a cleaning scheme in the cleaning map for cleaning the ground if the ground cleaning instruction contains cleaning time;
a function determination unit, configured to analyze area layout information of each area in the cleaning map and determine a function of each area in the cleaning map if the ground cleaning instruction does not include cleaning time;
and a seventh cleaning unit for setting a cleaning time at which the cleaning plan in the cleaning map is executed for cleaning the ground according to the function of the area.
In one embodiment, the floor sweeping device based on a house type map comprises:
the map cleaning system comprises an update receiving unit, a map cleaning unit and a map cleaning unit, wherein the update receiving unit is used for receiving a map update instruction and acquiring historical cleaning records of all areas in a cleaning map;
an extraction and determination unit, configured to extract a cleaning frequency, a cleaning force, and a cleaning water volume of each area in the historical cleaning record, and determine an optimal cleaning scheme according to the cleaning frequency, the cleaning force, and the cleaning water volume;
and the map updating unit is used for replacing the cleaning scheme in the cleaning map with the optimal cleaning scheme to obtain an updated cleaning map.
In this embodiment, a floor sweeping device based on a house type map receives a house type map creation instruction, and collects area division information, building material information and area layout information through a preset detection device in the sweeper; generating an initial house type graph according to the region division information, adjusting the initial house type graph according to the building material information and the region layout information to obtain a standard house type graph, and sending the standard house type graph to a preset terminal; receiving a cleaning scheme sent by the preset terminal, and associating the cleaning scheme with the standard house type diagram to generate a cleaning map; and receiving a ground cleaning instruction, and cleaning the ground according to the cleaning scheme in the cleaning map. According to the embodiment of the invention, the standard house type map is constructed according to the sweeper and then is sent to the preset terminal, the sweeping scheme sent by the preset terminal is received, the sweeping map is generated, and sweeping is carried out according to the sweeping scheme in the sweeping map, so that the sweeping effect of the sweeper is better, ineffective sweeping is avoided, and the sweeping efficiency of the sweeper is higher.
The steps implemented by the functional modules of the floor cleaning device based on the house type chart can refer to the embodiments of the floor cleaning method based on the house type chart, and are not described herein again.
In addition, the embodiment of the invention also provides a computer medium.
The computer medium has a computer program stored thereon, and the computer program, when executed by a processor, implements the operations of the floor sweeping method based on the floor plan provided by the above embodiments.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity/action/object from another entity/action/object without necessarily requiring or implying any actual such relationship or order between such entities/actions/objects; the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. 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 system that comprises the element.
For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to some descriptions of the method embodiment for relevant points. The above-described apparatus embodiments are merely illustrative, in that elements described as separate components may or may not be physically separate. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the invention. One of ordinary skill in the art can understand and implement it without inventive effort.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A floor sweeping method based on a house type diagram is characterized in that the floor sweeping method based on the house type diagram is applied to a sweeper, and comprises the following steps:
receiving a house type graph creating instruction, and acquiring region division information, building material information and region layout information through a preset detection device in the sweeper;
generating an initial house type graph according to the region division information, adjusting the initial house type graph according to the building material information and the region layout information to obtain a standard house type graph, and sending the standard house type graph to a preset terminal;
receiving a cleaning scheme sent by the preset terminal, and associating the cleaning scheme with the standard house type diagram to generate a cleaning map;
and receiving a ground cleaning instruction, and cleaning the ground according to the cleaning scheme in the cleaning map.
2. The floor sweeping method based on the house type map as claimed in claim 1, wherein the step of receiving the house type map creation command and collecting the area division information, the building material information and the area layout information through a preset detection device in the sweeper comprises:
receiving a house type graph creating instruction, and starting a preset detection device in the sweeper to obtain detection data;
controlling the sweeper to operate according to the detection data, and collecting area division information and building material information;
when the region division information is acquired, determining obstacle detection points according to the region division information and the monitoring range of the preset detection device;
and controlling the sweeper to run to each obstacle detection point and collecting regional layout information.
3. The floor sweeping method according to claim 1, wherein the step of generating an initial floor plan according to the area division information, adjusting the initial floor plan according to the building material information and the area layout information to obtain a standard floor plan, and transmitting the standard floor plan to a preset terminal comprises:
determining the region edge of each region according to the region division information, and splicing the region edges of adjacent regions to generate an initial indoor graph;
inquiring a preset first mapping table, acquiring building material image elements matched with the building material information, and adding the building material image elements to the initial floor plan;
inquiring a preset second mapping table, acquiring furniture image elements matched with the region layout information, and adding the furniture image elements to the initial house type diagram;
and taking the initial house type graph added with the building material image elements and the furniture image elements as a standard house type graph, and sending the standard house type graph to a preset terminal.
4. The floor sweeping method according to claim 1, wherein the step of generating an initial floor plan according to the area division information, adjusting the initial floor plan according to the building material information and the area layout information to obtain a standard floor plan, and transmitting the standard floor plan to a preset terminal comprises:
drawing and generating an initial house type graph according to the region division information;
inputting the building material information and the area layout information corresponding to each area in the initial user-type diagram into a preset neural network to obtain the area attribute of each area;
determining image characteristic elements of each region according to the region attribute of each region;
and adding image characteristic elements in each area in the initial house type graph to generate a standard house type graph, and sending the standard house type graph to a preset terminal.
5. The floor sweeping method based on the house type map as claimed in claim 1, wherein the step of receiving the sweeping scheme transmitted from the preset terminal and associating the sweeping scheme with the standard house type map to generate the sweeping map comprises:
receiving a cleaning scheme sent by the preset terminal based on the standard house type diagram;
analyzing the regional layout information of each region in the standard household type map to obtain the function of each region in the cleaning map;
and adjusting a cleaning scheme according to the function of the area, and associating the adjusted cleaning scheme with the standard house type graph to generate a cleaning map.
6. The floor sweeping method based on the house type map as set forth in claim 1, wherein the step of receiving a floor sweeping command to perform floor sweeping according to a sweeping pattern in the sweeping map comprises:
receiving a ground cleaning instruction sent by the preset terminal, and judging whether the ground cleaning instruction contains a cleaning area;
if the ground cleaning instruction comprises a cleaning area, acquiring a cleaning scheme of the cleaning area in the cleaning map, and cleaning the ground of the cleaning area according to the cleaning scheme;
and if the ground cleaning instruction does not contain a cleaning area, acquiring an execution sequence of each cleaning scheme in the cleaning map, and executing each cleaning scheme in sequence to clean the ground.
7. The floor sweeping method based on the house type map as set forth in claim 1, wherein the step of receiving a floor sweeping command to perform floor sweeping according to a sweeping pattern in the sweeping map comprises:
receiving a ground cleaning instruction, detecting environmental information of the environment where the sweeper is located through a preset detection device, and determining a target area where the sweeper is located according to the environmental information;
acquiring the cleaning priority of the target area in the cleaning map, and judging whether the cleaning priority of the target area is the highest priority or not;
when the cleaning priority of the target area is the highest priority, acquiring a cleaning scheme of the target area, and cleaning the ground according to the cleaning scheme;
when the cleaning priority of the target area is not the highest priority, acquiring a historical cleaning record, and judging whether an uncleaned area with higher cleaning priority than the target area exists or not according to the historical cleaning record;
if an uncleaned area with higher cleaning priority than the target area does not exist, acquiring a cleaning scheme of the target area in the cleaning map, and cleaning the ground of the target area according to the cleaning scheme;
and if an uncleaned area with higher cleaning priority than the target area exists, driving the sweeper to the uncleaned area with the highest cleaning priority, acquiring a cleaning scheme of the uncleaned area, and cleaning the ground of the uncleaned area according to the cleaning scheme.
8. A floor sweeping device based on a house type map, characterized in that the floor sweeping device based on the house type map comprises:
the instruction receiving module is used for receiving a house type graph creating instruction and acquiring region division information, building material information and region layout information through a preset detection device in the sweeper;
the generating and sending module is used for generating an initial house type graph according to the region division information, adjusting the initial house type graph according to the building material information and the region layout information to obtain a standard house type graph, and sending the standard house type graph to a preset terminal;
the receiving and generating module is used for receiving the cleaning scheme sent by the preset terminal and associating the cleaning scheme with the standard house type diagram to generate a cleaning map;
and the cleaning execution module is used for receiving a ground cleaning instruction and cleaning the ground according to the cleaning scheme in the cleaning map.
9. The utility model provides a sweeper which characterized in that, the sweeper includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein:
the computer program when executed by the processor realizes the steps of the floor sweeping method based on a floor plan of any one of claims 1 to 7.
10. A computer medium, characterized in that it has stored thereon a computer program which, when being executed by a processor, carries out the steps of the floor sweeping method based on a floor plan according to any one of claims 1 to 7.
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