CN113590728A

CN113590728A - Map switching method and device, cleaning equipment and storage medium

Info

Publication number: CN113590728A
Application number: CN202110778294.0A
Authority: CN
Inventors: 郑晓航
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2021-07-09
Filing date: 2021-07-09
Publication date: 2021-11-02

Abstract

The embodiment of the disclosure relates to a map switching method and device, cleaning equipment and a storage medium. The method comprises the following steps: acquiring initial characteristic data corresponding to a detection area where cleaning equipment is located, and acquiring a target map matched with the initial characteristic data; and switching to the target map so that the cleaning equipment executes a cleaning task according to the target map. In the embodiment, the detection area is automatically positioned and switched to the target map corresponding to the detection area, so that manual switching by a user is not needed, and the cleaning efficiency and the user experience are improved.

Description

Map switching method and device, cleaning equipment and storage medium

Technical Field

The present disclosure relates to the field of control technologies, and in particular, to a map switching method and apparatus, a sweeping device, and a storage medium.

Background

The cleaning equipment can automatically clean the area to be cleaned, can replace the cleaning work of a user on the ground, reduces housework burden, and is more and more accepted by users.

In practice, a part of the house has a plurality of floors, and in this case, only a map of each floor can be stored in the sweeping device. When cleaning rooms on different floors, a user needs to manually select the floors, the cleaning equipment is switched to a corresponding map according to the floors selected by the user, and cleaning tasks are executed according to the map.

Disclosure of Invention

The present disclosure provides a map switching method and apparatus, a sweeping device, and a storage medium to solve the disadvantages of the related art.

According to a first aspect of the embodiments of the present disclosure, there is provided a map switching method for a sweeping device, including:

acquiring initial characteristic data corresponding to a detection area where cleaning equipment is located, and acquiring a target map matched with the initial characteristic data;

and switching to the target map so that the cleaning equipment executes a cleaning task according to the target map.

Optionally, the detection area comprises one of: the area of the physical charging seat and the area of the virtual charging seat.

Optionally, the method further comprises the step of creating a virtual cradle, comprising:

the method comprises the steps of acquiring characteristic data by taking the current position of cleaning equipment as a reference, taking the current position as the position of a virtual charging seat and taking a circular area or a rectangular area with the virtual charging seat as the center as the area where the virtual charging seat is located.

Optionally, the method further comprises:

when the feature data different from other areas to be cleaned cannot be obtained at the current position, the feature data is continuously obtained after the current position is randomly moved for a set distance until the feature data different from other areas to be cleaned is obtained.

Optionally, the acquiring initial feature data corresponding to a detection area where the cleaning device is located, and acquiring a target map matched with the initial feature data includes:

acquiring height data acquired by a positioning module in cleaning equipment, and taking the height data as initial characteristic data corresponding to the detection area; the height data represents height difference data between a detection area where the cleaning equipment is located and a preset reference surface; and the number of the first and second groups,

and acquiring a target map matched with the height data based on the corresponding relation between the preset height data and the map.

Optionally, the positioning module comprises at least one of: GPS module, Zigbee module, UWB module, infrared module, ultrasonic wave module, laser module and degree of depth camera module.

acquiring signal intensity of a communication module in the cleaning equipment and each preset communication equipment to obtain target equipment corresponding to the maximum signal intensity; taking the target device as initial characteristic data corresponding to the detection area;

and acquiring a target map corresponding to the target equipment based on the corresponding relation between the preset communication equipment and the map.

Optionally, the preset communication device includes at least one of: WiFi module, Zigbee module, UWB module and bluetooth module.

controlling a sensor module in the cleaning equipment to transmit pulse signals to all directions and acquiring echo signals returned after the pulse signals meet an object;

calculating the distance between the sensor module and the object according to the time interval between the echo signal and the pulse signal;

constructing a spatial feature of a space around the cleaning equipment according to the distance, and taking the spatial feature as initial feature data corresponding to the detection area;

and acquiring a target map corresponding to the spatial features based on the corresponding relation between the preset spatial features and the map.

Optionally, the sensor module comprises at least one of: zigbee module, UWB module, infrared module, ultrasonic wave module, laser module and degree of depth camera module.

controlling a camera module in the cleaning equipment to acquire images in all directions;

acquiring a target object in the image, and taking the target object as initial characteristic data corresponding to the detection area; and the number of the first and second groups,

and acquiring a target map corresponding to the target object based on the corresponding relation between the preset object and the map.

According to a second aspect of the embodiments of the present disclosure, there is provided a map switching apparatus for a sweeping device, including:

the map acquisition module is used for acquiring initial characteristic data corresponding to a detection area where the cleaning equipment is located and acquiring a target map matched with the initial characteristic data;

and the map switching module is used for switching to the target map so as to enable the cleaning equipment to execute a cleaning task according to the target map.

Optionally, the apparatus further comprises a virtual creation module for creating a virtual cradle, the virtual creation module comprising:

the first option display unit is used for displaying a map creation option in a display interface;

the second option display unit is used for displaying the existing entity charging seat option and the virtual charging seat option in the display interface after the triggering operation of the map creation option is detected;

the third option display unit is used for displaying a cancel option and a confirm option in the display interface after detecting that the option for creating the virtual charging seat is triggered to operate;

and the virtual creation unit is used for acquiring the characteristic data by taking the current position of the cleaning equipment as a reference after detecting that the determination option is triggered to operate, and taking the current position as the position of the virtual charging seat and taking a circular area or a rectangular area with the virtual charging seat as the center as the area where the virtual charging seat is located.

Optionally, the virtual creating unit is further configured to, when feature data different from other areas to be cleaned cannot be obtained at the current position, randomly move a set distance and then continue to obtain the feature data until feature data different from other areas to be cleaned is obtained.

Optionally, the map obtaining module includes:

the data acquisition unit is used for acquiring height data acquired by a positioning module in the cleaning equipment and taking the height data as initial characteristic data corresponding to the detection area; the height data represents height difference data between a detection area where the cleaning equipment is located and a preset reference surface;

and the map acquisition unit is used for acquiring a target map matched with the height data based on the corresponding relation between the preset height data and the map.

Optionally, the map obtaining module includes:

the equipment acquisition unit is used for acquiring the signal intensity of the communication module in the cleaning equipment and each piece of preset communication equipment to obtain target equipment corresponding to the maximum signal intensity; taking the target device as initial characteristic data corresponding to the detection area; and the number of the first and second groups,

and the map acquisition unit is used for acquiring a target map corresponding to the target equipment based on the corresponding relation between the preset communication equipment and the map.

Optionally, the map obtaining module includes:

the signal transmitting unit is used for controlling a sensor module in the cleaning equipment to transmit pulse signals to all directions and acquiring echo signals returned after the pulse signals meet an object;

the distance acquisition unit is used for calculating the distance between the sensor module and the object according to the time interval between the echo signal and the pulse signal;

the characteristic acquisition unit is used for constructing a spatial characteristic of the space around the cleaning equipment according to the distance and taking the spatial characteristic as initial characteristic data corresponding to the detection area;

and the map acquisition unit is used for acquiring a target map corresponding to the spatial features based on the preset corresponding relation between the spatial features and the map.

Optionally, the map obtaining module includes:

the image acquisition unit is used for controlling the camera module in the cleaning equipment to acquire images in all directions;

an object acquisition unit, configured to acquire a target object in the image, and use the target object as initial feature data corresponding to the detection area;

and the map acquisition unit is used for acquiring a target map corresponding to the target object based on the preset corresponding relation between the object and the map.

According to a third aspect of the embodiments of the present disclosure, there is provided a sweeping apparatus including:

a processor;

a memory for storing a computer program executable by the processor;

wherein the processor is configured to execute the computer program in the memory to implement the method of any one of the above.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium, in which an executable computer program is capable of implementing the method according to any one of the above when executed by a processor.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

according to the scheme provided by the embodiment of the disclosure, the target map matched with the initial characteristic data can be obtained by obtaining the initial characteristic data corresponding to the detection area where the cleaning equipment is located; and then switching to a target map so that the cleaning equipment executes a cleaning task according to the target map. Like this, through automatic positioning detection area and switching to the target map that this detection area corresponds in this embodiment, need not user manual switching, be favorable to promoting and clean efficiency and user's use experience.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a flow chart illustrating a map switching method according to an example embodiment.

Fig. 2 is a flow chart illustrating another map switching method according to an example embodiment.

Fig. 3 is a flow chart illustrating yet another map switching method according to an exemplary embodiment.

Fig. 4 is a flowchart illustrating yet another map switching method according to an example embodiment.

Fig. 5 is a flowchart illustrating yet another map switching method according to an example embodiment.

Fig. 6 is a block diagram of a map switching apparatus, shown in accordance with an example embodiment.

FIG. 7 is a block diagram illustrating a sweeping device according to an exemplary embodiment.

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 following exemplary described embodiments do not represent all embodiments consistent with the present disclosure. Rather, they are merely examples of devices consistent with certain aspects of the present disclosure as recited in the claims below. In addition, features from subsequent embodiments may be combined with one another to form new embodiments without conflict.

In order to solve the above technical problem, embodiments of the present disclosure provide a map switching method, which is suitable for cleaning equipment, such as a (small/household) sweeping robot and a (large/commercial) cleaning robot. Fig. 1 is a flow chart illustrating a map switching method according to an example embodiment. Referring to fig. 1, a map switching method includes steps 11 to 12.

In step 11, initial feature data corresponding to a detection area where the cleaning device is located is obtained, and a target map matched with the initial feature data is obtained.

In this embodiment, it is considered that the time when the cleaning device switches the map is usually when the area to be cleaned is changed, for example, when a floor is changed, such as moving from 2 th to 3 rd; also, for example, when changing rooms, such as moving from one room to another, where there is a gap between the two rooms through which the cleaning apparatus cannot pass. Therefore, in the present embodiment, when it is necessary to clean the area to be cleaned, the cleaning apparatus may be placed into the detection area by the user and then cleaning is started from the detection area. Wherein the detection area may comprise one of: the area of the physical charging seat and the area of the virtual charging seat may be, for example, a circular area or a rectangular area, or may be areas of other shapes. Considering that the cleaning device needs to be switched to a target map before working, the position of the cleaning device where the cleaning device is started can be used as a detection area.

It will be appreciated that in some scenarios, some users may not place the cleaning device directly into the detection area, and the cleaning device may first find the detection area and then perform the disclosed method. In some scenarios, the detection areas before and after switching the area to be cleaned may be similar or even identical, and to avoid having a wrong map, the cleaning device may be moved randomly in one direction until a different characteristic is found from the other detection areas.

In an embodiment, a detection zone may be created for the sweeping device. Taking different floors as an example, a user usually sets a power socket at a certain floor, and sets an entity charging seat matched with the cleaning equipment near the power socket; when the physical charging seat is plugged into the power socket, the cleaning device can autonomously return to the physical charging seat or nearby for charging. The cleaning device can obtain the detection area by determining the position of the entity charging seat through communication with the entity charging seat and obtaining the area (such as a circular area or a rectangular area with the entity charging seat as the center) where the entity charging seat is located.

In practical applications, the cleaning device is usually configured with a physical charging base, the physical charging base is usually disposed in one of the areas to be cleaned (e.g. floor one), and no physical charging base is disposed in other areas to be cleaned. In combination with the above application scenario, in some examples, the cleaning device may create a virtual charging seat in an area to be cleaned where no physical charging seat is disposed, so that the virtual charging seat corresponds to the physical charging seat, thereby achieving an effect that each area to be cleaned is provided with one charging seat. Accordingly, the area where the virtual charging seat is located (e.g., a circular area or a rectangular area centered on the virtual charging seat, whose radius or side length can be adjusted as required) constitutes the detection area.

It can be understood that when the area of the region to be cleaned is large, the region to be cleaned can be divided into a plurality of sub-regions according to a specific scene, and then a virtual charging seat is created for each sub-region, and the corresponding scheme also falls into the protection scope of the present disclosure.

In this embodiment, the cleaning device may create a virtual charging cradle by the following method, including: the sweeping device may display a create map option within the display interface; when the map creation option is triggered to be operated, the cleaning equipment can display an existing entity charging seat option and a virtual charging seat creation option in a display interface; when detecting that the option for creating the virtual charging seat is triggered to operate, the cleaning equipment can display a cancel option and a confirm option in the display interface; when the determination option is triggered, the cleaning device may acquire feature data with reference to the current position, and when the feature data is different from the stored feature data, the current position may be used as the position of the virtual charging seat, and a circular area or a rectangular area with the virtual charging seat as the center may be used as the area where the virtual charging seat is located.

In another example, the sweeping device may be provided with an audio component that may detect an audio signal. When the cleaning device receives a preset command from the audio signal, such as "please create a virtual charging cradle". When the preset instruction is recognized, the feature data can be acquired by taking the current position as a reference, so that the current position can be taken as the position of the virtual charging seat, and a circular area or a rectangular area with the virtual charging seat as the center is taken as the area where the virtual charging seat is located. In yet another example, the sweeping device may be provided with an image capture assembly that may recognize a gesture or pose of the user. When the cleaning device recognizes a preset gesture or posture, a virtual charging seat can be created, that is, the current position can be used as a reference to acquire characteristic data, so that the current position can be used as the position of the virtual charging seat, and a circular area or a rectangular area with the virtual charging seat as the center can be used as the area where the virtual charging seat is located.

If the characteristic data different from other areas to be cleaned cannot be obtained at the current position, the cleaning equipment moves randomly for a set distance (such as 5-10 cm) and then continues to obtain the characteristic data until the characteristic data different from the stored characteristic data is obtained. Thus, the current position can be used as the position of the virtual charging seat, and the area corresponding to the characteristic data is obtained as the area where the virtual charging seat is located, that is, the detection area corresponding to the virtual charging seat.

In other words, in this example, a starting area is set for the cleaning device at each floor, when the cleaning device is located in the starting area, the characteristic data corresponding to the starting area can be determined, and the floor can be uniquely determined by the characteristic data. Then, the cleaning device may perform the cleaning task and create a map of the floor, where the manner of creating the map may refer to the related art and is not described herein. Then, the cleaning device may associate the feature data with the map, and obtain a correspondence between the feature data and the map, that is, a correspondence between the floor and the map. In this way, the cleaning device can acquire the feature data and obtain the map by combining the correspondence when the cleaning device is located in the detection area next time.

In this embodiment, be provided with the module that can gather characteristic data in cleaning the equipment, this module can include following at least one: location module, communication module and sensor module. The module can acquire and acquire the characteristic data according to a set period or in real time and output the characteristic data to a processor in the cleaning equipment or store the characteristic data to a designated position. The designated location may be a cache, a local memory, or a cloud of the cleaning device.

In this embodiment, the processor in the cleaning device may directly communicate with the module until the characteristic data is acquired, or may read the characteristic data from a predetermined position. In some examples, the processor directly takes the above-mentioned feature data (e.g., height data) as initial feature data; in some examples, the processor may process the feature data (e.g., echo signals) to obtain desired feature data, and use the processed feature data as initial feature data. It should be noted that the scheme of acquiring the initial characteristic data by the cleaning device will be described in detail in the following embodiments, and will not be described here.

In this embodiment, after the initial feature data is acquired, the cleaning device may acquire a target map matched with the initial feature data, and a manner of acquiring the target map will be described in detail in the following embodiments. It can be understood that the target map includes cleaning routes, such as a minimum time cleaning route, a cleanest cleaning route, a shortest cleaning route, a commonly used cleaning route, and the like.

In step 12, the cleaning device is switched to the target map so as to execute the cleaning task according to the target map.

In this embodiment, the cleaning device may switch to the target map and perform the cleaning task according to the target map. In an example, when a cleaning task is executed according to a target map, if a collision occurs more than a set number of times (e.g., 5 times), the cleaning device may start a map reconstruction function, associate a new map with a detected area after cleaning is completed, and the original target map may be retained or replaced according to specific situations, which is not limited herein.

By the scheme provided by the embodiment of the disclosure, the target map matched with the initial characteristic data can be obtained by obtaining the initial characteristic data corresponding to the detection area where the cleaning equipment is located; and then switching to a target map so that the cleaning equipment executes a cleaning task according to the target map. Like this, through automatic positioning detection area and switching to the target map that this detection area corresponds in this embodiment, need not user manual switching, be favorable to promoting and clean efficiency and user's use experience.

The embodiment of the disclosure provides a map switching method, which is suitable for cleaning equipment, wherein the cleaning equipment can comprise a positioning module. This location module can gather the height data who cleans equipment, can include following at least one: GPS module, Zigbee module, UWB module, infrared module, ultrasonic wave module, laser module and degree of depth camera module. The height data represents height difference data between a detection area where the cleaning equipment is located and a preset reference plane; the preset reference plane may include a horizontal plane or a designated plane (e.g., a plane where a first floor is located), and may be set according to a specific scene. Fig. 2 is a flow chart illustrating a map switching method according to an example embodiment. Referring to fig. 2, a map switching method includes steps 21 to 23.

In step 21, height data collected by a positioning module in the cleaning equipment is obtained, and the height data is used as initial characteristic data corresponding to the detection area.

In this embodiment, the height data collected by the positioning module in the cleaning device may be according to a set period or in real time, and in some possible implementations, the height data may be an altitude of the detection point or a height from a ground plane or a height from a floor-specific ground.

Taking the positioning module as the GPS module as an example, first, the GPS module can obtain the heights of the plurality of detection points in the detection area from the ground. Then, a part of the detection points are selected from the plurality of detection points as key points, and the number and positions of the key points need to satisfy a certain condition, for example, the positions of two key points need to exceed a set distance threshold and/or the number of key points exceeds a set number threshold. Thereafter, the height of each keypoint is calculated using a leveling method, and the difference between the height of each keypoint from the ground and the leveling height (i.e., an elevation anomaly). And performing elevation fitting by using a plane or curved surface fitting mode on the basis of the elevation abnormal value to obtain height data of other detection points in the detection area.

Taking the positioning module as the laser module as an example, firstly, the laser module can emit laser signals to the surroundings in the detection area, for example, emit laser signals to the ceiling; then, the laser module can acquire the distance value between each detection point and the ceiling. Then, the cleaning device may acquire the distance values corresponding to the respective detection points, and calculate an average value corresponding to the detection area, thereby taking the average value as the height data. Because the heights of different floors are different, when the detection area is fixed, the corresponding height data are also fixed, so that the detection area can be determined through the height data, and the floor can be further determined.

In the above embodiment, the distance value of each detection point is determined with reference to the ceiling. However, in practical applications, the method for determining the detection area is not limited to this, for example, the cleaning device may obtain the height data and further determine the floor based on the nearest corner, wall edge, column, air conditioner outlet and other objects within the floor from the detection area, and the corresponding solution falls within the protection scope of the present disclosure.

It should be noted that, considering that the height difference of different floors may be relatively small (e.g. less than 0.5cm), the distances between the front, rear, left and right walls and the laser module may be increased when detecting each detection point, that is, the distance between the front, rear, left and right walls and the laser module includes the distance to at least one of the front, rear, left and right walls in addition to the distance to the ceiling, so as to more accurately identify the floor where the floor is located and apply the corresponding map, and the corresponding scheme falls within the protection scope of the present disclosure.

It should be noted that, when the positioning module adopts other modules, such as a Zigbee module, a UWB module, an infrared module, an ultrasonic module, and/or a depth camera module, the detection principle is similar. Taking the UWB module as an example, at least 3 UWB base stations may be disposed in each area to be cleaned, or at least 3 UWB base stations may be disposed in a common area on each floor, and the 3 UWB base stations are not on one plane. The UWB module in the cleaning device can receive the UWB signals transmitted by the UWB base stations, thereby calculating the spatial position of the cleaning device, i.e., obtaining height data from a reference. It is understood that the skilled person combines the positioning modules according to the above-described manner, thereby obtaining a solution for height data, and the corresponding solution falls within the scope of the present disclosure.

In step 22, a target map matching the height data is acquired based on the preset correspondence between the height data and the map.

In this embodiment, the cleaning device may store a correspondence between preset height data and a map. For example, each map corresponds to a group of height data or a height data range, and a first map corresponds to a height data range of 0-2 m, namely a first map corresponds to a first floor; the height data range corresponding to the second map is 2-4 m, namely the second map corresponds to the second floor; the height data range corresponding to the third map is 4-6 m, namely the third map corresponds to the third floor, and so on.

In this embodiment, after obtaining the height data corresponding to the detection data, the cleaning device may obtain a corresponding relationship between the height data and the map, and obtain a target map matched with the height data based on the height data and the corresponding relationship.

And if the height data is 2.5m, the height data is within the range of 2-4 m, and correspondingly, the second map is a target map matched with the height data.

In step 23, the cleaning device is switched to the target map so as to execute the cleaning task according to the target map.

In this embodiment, the content of step 23 is the same as that of step 12, and refer to the content of step 12 and fig. 1 specifically, which is not described herein again.

By the scheme provided by the embodiment of the disclosure, the height data corresponding to the detection area where the cleaning equipment is located is obtained, so that the target map matched with the height data can be obtained; and then switching to a target map so that the cleaning equipment executes a cleaning task according to the target map. Therefore, the detection area can be automatically positioned and switched to the target map corresponding to the detection area, manual switching by a user is not needed, and cleaning efficiency and user experience are improved; in addition, the required computing resources are less in the embodiment, the computing efficiency is improved, and the effect of rapidly switching the map for cleaning is achieved.

The embodiment of the disclosure provides a map switching method, which is suitable for cleaning equipment, wherein the cleaning equipment comprises a communication module, the communication module is used for receiving a communication signal, and the map switching method comprises at least one of the following steps: WiFi module, Zigbee module, UWB module and bluetooth module. Fig. 3 is a flow chart illustrating a map switching method according to an example embodiment. Referring to fig. 3, a map switching method includes steps 31 to 33.

In step 31, acquiring signal strengths of a communication module in the cleaning device and each preset communication device to obtain a target device corresponding to the maximum signal strength; and taking the target equipment as initial characteristic data corresponding to the detection area.

In this embodiment, the communication module in the cleaning device may acquire the communication signal transmitted by each preset communication device, so as to acquire the signal strength of each preset communication device. Then, the cleaning device may rank the signal strengths to obtain the maximum signal strength and the target device corresponding to the maximum signal strength. It can be understood that the cleaning device can use the target device as the initial characteristic data corresponding to the detection area.

In step 32, a target map corresponding to the target device is obtained based on the correspondence between the preset communication device and the map.

In this embodiment, the corresponding relationship between the preset communication device and the map may be stored in the cleaning device. For example, each map corresponds to a preset communication device, and a first map corresponds to a first preset communication device, that is, the first map corresponds to a first floor; the second map corresponds to a second preset communication device, namely the second map corresponds to a second floor; the third map corresponds to a third preset communication device, namely the third map corresponds to a third floor, and so on.

In this embodiment, after obtaining the target device corresponding to the detection data, the cleaning device may obtain a corresponding relationship between the preset communication device and the map, and obtain a target map matched with the target device based on the target device and the corresponding relationship.

Take every to wait to clean the region and set up a predetermined communication equipment and predetermine communication equipment and adopt the bluetooth module as an example, after cleaning equipment and being placed detection area and open the back, cleaning equipment can scan the bluetooth communication signal in the space and acquire with the signal strength of each bluetooth module. The manner of obtaining the bluetooth signal strength may adopt related technologies, which are not described herein again. Then, the cleaning device can acquire the target bluetooth module corresponding to the maximum signal intensity. And then, the cleaning equipment can obtain a target map according to the target Bluetooth module and the corresponding relation. It should be noted that, when the communication module adopts other modules, such as a WiFi module, a Zigbee module, and a UWB module, the detection principle is similar, and the description thereof is omitted.

In step 33, switching to the target map is performed to cause the cleaning apparatus to perform a cleaning task according to the target map.

In this embodiment, the content of step 33 is the same as that of step 12, and refer to the content of step 12 and fig. 1 specifically, which is not described herein again.

The embodiment of the disclosure provides a map switching method, which is suitable for cleaning equipment, wherein the cleaning equipment comprises a sensor module, and the sensor module comprises at least one of the following components: zigbee module, UWB module, infrared module, ultrasonic wave module, laser module and degree of depth camera module. Fig. 4 is a flow chart illustrating a map switching method in accordance with an exemplary embodiment. Referring to fig. 4, a map switching method includes steps 41 to 45.

In step 41, the sensor module in the cleaning device is controlled to transmit pulse signals to all directions, and echo signals returned after the pulse signals meet the object are obtained.

In this embodiment, clean equipment can control the sensor module to each direction transmission pulse signal. The pulse signal can form an echo signal after meeting an object, and the cleaning equipment can acquire the echo signal.

In step 42, the distance between the sensor module and the object is calculated according to the time interval between the echo signal and the pulse signal.

In this embodiment, the cleaning device may obtain a time interval between the receiving time of the echo signal and the transmitting time of the pulse signal, and calculate a distance between the sensor module and the object by combining the speed (light speed) of the electromagnetic wave signal, that is, a distance d is c × T/2, c represents the light speed, and T represents the time interval.

In step 43, a spatial feature of the space around the cleaning device is constructed based on the distance, and the spatial feature is used as initial feature data corresponding to the detection area.

In this embodiment, the cleaning device may obtain the distances obtained in each direction to construct a spatial feature of the space around the cleaning device, that is, obtain a 3D spatial feature. At this time, the cleaning device may detect the initial feature data corresponding to the area. It will be appreciated that the spatial characteristics described above may reflect the spatial layout of the objects when the cleaning apparatus is located in the detection zone. Because the object layout of each floor is different, the floor can be determined when the spatial characteristics are acquired.

In step 44, a target map corresponding to the spatial feature is obtained based on a preset correspondence between the spatial feature and the map.

In this embodiment, the cleaning device may store a preset corresponding relationship between the spatial feature and the map, that is, the cleaning device obtains feature data of the floor in the detection area of each floor, creates the map of the floor after completing the cleaning task, associates the spatial feature and the map of the floor, and finally obtains the corresponding relationship between the spatial feature and the map. In this embodiment, after obtaining the spatial feature, the cleaning device may obtain a target map corresponding to the spatial feature by combining the spatial feature and the map.

In step 45, switching to the target map is performed to cause the cleaning apparatus to perform a cleaning task according to the target map.

In this embodiment, the content of step 45 is the same as that of step 12, and refer to the content of step 12 and fig. 1 specifically, which is not described herein again.

By the scheme provided by the embodiment of the disclosure, the target map matched with the spatial characteristics can be acquired by acquiring the spatial characteristics corresponding to the detection area where the cleaning equipment is located; and then switching to a target map so that the cleaning equipment executes a cleaning task according to the target map. Like this, can reach the automatic positioning detection area and switch to the target map that this detection area corresponds in this embodiment, need not user manual switching, be favorable to promoting and clean efficiency and user's use experience.

The embodiment of the disclosure provides a map switching method, which is suitable for cleaning equipment, wherein the cleaning equipment can comprise a camera module. Fig. 5 is a flow chart illustrating a map switching method in accordance with an exemplary embodiment. Referring to fig. 5, a map switching method includes steps 51 to 54.

In step 51, the camera module in the cleaning device is controlled to acquire images in all directions.

In this embodiment, the cleaning device may control the camera module to acquire images in various directions. For example, the camera module may capture an image in the current direction, and then continue to acquire the image after shifting according to the preset shift angle until images in all directions around are acquired. A processor in the cleaning device may communicate with the camera module to obtain the image.

In step 52, a target object in the image is acquired, and the target object is used as initial feature data corresponding to the detection area.

In this embodiment, preset image recognition models, such as VGGNe, google lenet, ResNet, densnet, sennet, and the like, may be stored in the cleaning device. In this way, the cleaning device can input the obtained image to the image recognition model, recognize the target object in the image by the image recognition model, and use the target object as the initial feature data corresponding to the detection area. The target object may be an object capable of distinguishing different floors, such as corners, stairs, wall lines, decorative lights, floors, floor tiles, and the like.

In step 53, a target map corresponding to the target object is obtained based on a preset correspondence between the object and the map.

In this embodiment, a preset corresponding relationship between the object and the map may be stored in the cleaning device, for example, the object corresponding to the first map is a floor tile, that is, the floor tile in the first corresponding floor of the map; the object corresponding to the second map is a stair, namely the stair in the second floor corresponding to the second map; the object corresponding to the third map is a wall line, namely the third map corresponds to the wall line in the third floor.

In this embodiment, when obtaining the target object, the cleaning device may obtain a target map corresponding to the target object by combining the correspondence between the object and the map. For example, when a tile is identified in the image, it can be determined that the map three corresponding to the tile is the target map.

In step 54, switching to the target map is performed to cause the cleaning apparatus to perform a cleaning task in accordance with the target map.

In this embodiment, the content of step 54 is the same as that of step 12, and refer to the content of step 12 and fig. 1 specifically, which is not described herein again.

By the scheme provided by the embodiment of the disclosure, the target map matched with the target object can be obtained by obtaining the target object corresponding to the detection area where the cleaning equipment is located; and then switching to a target map so that the cleaning equipment executes a cleaning task according to the target map. Therefore, the target object can be accurately acquired through image identification in the embodiment, so that the effect of accurately acquiring the target map is achieved, and the cleaning efficiency and the user experience are favorably improved.

On the basis of a map switching method provided by the embodiment of the present disclosure, a map switching apparatus is further provided by the embodiment of the present disclosure, with reference to fig. 6, including:

the map acquisition module 61 is used for acquiring initial characteristic data corresponding to a detection area where the cleaning equipment is located and acquiring a target map matched with the initial characteristic data;

and a map switching module 62, configured to switch to the target map, so that the cleaning device executes a cleaning task according to the target map.

In one embodiment, the map acquisition module comprises:

the equipment acquisition unit is used for acquiring the signal intensity of the communication module in the cleaning equipment and each piece of preset communication equipment to obtain target equipment corresponding to the maximum signal intensity; taking the target device as initial characteristic data corresponding to the detection area;

In one embodiment, the map acquisition module comprises:

It should be noted that the apparatus shown in this embodiment matches the content of the method embodiment shown in fig. 1 to fig. 5, and reference may be made to the content of the method embodiment, which is not described herein again.

FIG. 7 is a block diagram illustrating a sweeping device according to an exemplary embodiment. For example, the cleaning apparatus 700 may be a small/household sweeping robot or a large/commercial cleaning robot, etc.

Referring to fig. 7, sweeping device 700 may include one or more of the following components: a processing component 702, a memory 704, a power component 706, a multimedia component 708, an audio component 710, an input/output (I/O) interface 712, a sensor component 714, a communication component 716, and an image capture component 718.

The processing component 702 generally controls the overall operation of the sweeping device 700, such as operations associated with display, data communication, and sensor component 714 controls recording operations. The processing component 702 may include one or more processors 720 to execute computer programs. Further, the processing component 702 may include one or more modules that facilitate interaction between the processing component 702 and other components. For example, the processing component 702 may include a multimedia module to facilitate interaction between the multimedia component 708 and the processing component 702.

The memory 704 is configured to store various types of data to support operation at the cleaning device 700. Examples of such data include computer programs for any application or method operating on the cleaning device 700. The memory 704 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 706 provides power to the various components of the sweeping device 700. The power components 706 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the cleaning device 700. The power supply 706 may include a power chip, and the controller may communicate with the power chip to control the power chip to turn on or off the switching device, so that the battery supplies power or does not supply power to the motherboard circuit.

The multimedia component 708 includes a screen that provides an output interface between the cleaning apparatus 700 and the target object. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input information from the target object. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

The audio component 710 is configured to output and/or input audio file information. For example, the audio assembly 710 includes a Microphone (MIC) configured to receive external audio file information when the sweeping device 700 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio file information may further be stored in the memory 704 or transmitted via the communication component 716. In some embodiments, audio component 710 also includes a speaker for outputting audio file information.

The I/O interface 712 provides an interface between the processing component 702 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc.

The sensor assembly 714 includes one or more sensors for providing various aspects of status assessment for the sweeping device 700. For example, sensor assembly 714 may detect an open/closed state of cleaning device 700, the relative positioning of the components, such as a display screen and keypad of cleaning device 700, the sensor assembly 714 may also detect a change in position of cleaning device 700 or one of the components, the presence or absence of a target object in contact with cleaning device 700, orientation or acceleration/deceleration of cleaning device 700, and a change in temperature of cleaning device 700. In this example, the sensor assembly 714 may include a magnetic sensor, a gyroscope, and a magnetic field sensor, wherein the magnetic field sensor includes at least one of: hall sensor, thin film magneto-resistance sensor, magnetic liquid acceleration sensor.

The communication component 716 is configured to facilitate wired or wireless communication between the cleaning device 700 and other devices. The cleaning device 700 may have access to a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G, 5G, or a combination thereof. In an exemplary embodiment, the communication component 716 receives broadcast information or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 716 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the cleaning device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital information processors (DSPs), digital information processing devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic components.

In an exemplary embodiment, a non-transitory readable storage medium is also provided, such as the memory 704 including instructions, that includes an executable computer program that is executable by the processor. The readable storage medium may be, among others, ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A map switching method for a sweeping device, comprising:

2. The method of claim 1, wherein the detection area comprises one of: the area of the physical charging seat and the area of the virtual charging seat.

3. The method of claim 2, further comprising the step of creating a virtual cradle comprising:

4. The method of claim 3, further comprising:

5. The method of claim 1, wherein obtaining initial feature data corresponding to a detection area where the cleaning device is located and obtaining a target map matched with the initial feature data comprises:

6. The method of claim 5, wherein the positioning module comprises at least one of: GPS module, Zigbee module, UWB module, infrared module, ultrasonic wave module, laser module and degree of depth camera module.

7. The method of claim 1, wherein obtaining initial feature data corresponding to a detection area where the cleaning device is located and obtaining a target map matched with the initial feature data comprises:

8. The method of claim 7, wherein the default communication device comprises at least one of: WiFi module, Zigbee module, UWB module and bluetooth module.

9. The method of claim 1, wherein obtaining initial feature data corresponding to a detection area where the cleaning device is located and obtaining a target map matched with the initial feature data comprises:

constructing a spatial feature of a space around the cleaning equipment according to the distance, and taking the spatial feature as initial feature data corresponding to the detection area; and the number of the first and second groups,

10. The method of claim 9, wherein the sensor module comprises at least one of: zigbee module, UWB module, infrared module, ultrasonic wave module, laser module and degree of depth camera module.

11. The method of claim 1, wherein obtaining initial feature data corresponding to a detection area where the cleaning device is located and obtaining a target map matched with the initial feature data comprises:

acquiring a target object in the image, and taking the target object as initial characteristic data corresponding to the detection area;

12. A map switching device for a sweeping apparatus, comprising:

13. The apparatus of claim 12, wherein the detection area comprises one of: the area of the physical charging seat and the area of the virtual charging seat.

14. The apparatus of claim 13, further comprising a virtual creation module for creating a virtual cradle, the virtual creation module comprising:

15. The apparatus according to claim 14, wherein the virtual creation unit is further configured to, when the feature data distinguished from the other area to be cleaned cannot be obtained at the current position, randomly move a set distance and then continue to obtain the feature data until the feature data distinguished from the other area to be cleaned is obtained.

16. The apparatus of claim 12, wherein the map acquisition module comprises:

17. The apparatus of claim 12, wherein the map acquisition module comprises:

18. The apparatus of claim 12, wherein the map acquisition module comprises:

19. The apparatus of claim 12, wherein the map acquisition module comprises:

20. A sweeping apparatus, comprising:

a processor;

a memory for storing a computer program executable by the processor;

wherein the processor is configured to execute the computer program in the memory to implement the method of any of claims 1 to 11.

21. A computer-readable storage medium, characterized in that an executable computer program in the storage medium, when executed by a processor, is capable of implementing the method according to any one of claims 1 to 11.