CN113633223A - Cleaning method, cleaning device, storage medium, and electronic device - Google Patents
Cleaning method, cleaning device, storage medium, and electronic device Download PDFInfo
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- CN113633223A CN113633223A CN202110888386.4A CN202110888386A CN113633223A CN 113633223 A CN113633223 A CN 113633223A CN 202110888386 A CN202110888386 A CN 202110888386A CN 113633223 A CN113633223 A CN 113633223A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 263
- 238000000034 method Methods 0.000 title claims abstract description 104
- 238000003860 storage Methods 0.000 title claims abstract description 21
- 239000000428 dust Substances 0.000 claims abstract description 132
- 230000008569 process Effects 0.000 claims abstract description 54
- 238000010408 sweeping Methods 0.000 claims description 28
- 238000012545 processing Methods 0.000 claims description 23
- 238000004590 computer program Methods 0.000 claims description 16
- 238000000638 solvent extraction Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 11
- 241001417527 Pempheridae Species 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 6
- 238000010926 purge Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 230000003993 interaction Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- Electric Vacuum Cleaner (AREA)
Abstract
The embodiment of the invention provides a cleaning method, a cleaning device, a storage medium and an electronic device, wherein the method comprises the following steps: controlling a cleaning apparatus to repeatedly perform a first predetermined cleaning process on a target area until a ratio of a dust collection amount acquired from the target area at a single time to an area of the target area is less than a first predetermined threshold, the first predetermined cleaning process including: acquiring a first ratio, wherein the first ratio is the ratio of a first dust collection amount to the area of a target area, and the first dust collection amount is the dust collection amount in the target area acquired by performing cleaning treatment on the target area; acquiring a first cleaning gear corresponding to a first ratio based on a corresponding relation between the preset ratio and the cleaning gear; and continuing to perform the cleaning operation on the target area according to the first cleaning gear. According to the invention, the problems of single cleaning mode and low cleaning efficiency caused by adopting a fixed cleaning mode to clean the area in the related technology are solved, and the effects of improving the cleaning flexibility and the cleaning efficiency are achieved.
Description
Technical Field
The embodiment of the invention relates to the field of artificial intelligence, in particular to a cleaning method, a cleaning device, a storage medium and an electronic device.
Background
With the rapid development of artificial intelligence technology in recent years, the application field of the floor sweeping machine is continuously expanded, and particularly in the aspect of intelligent home, the floor sweeping machine is more and more favored by consumers. The existing sweeper is provided with a movable device and a vacuum dust collection device with a dust collection box, and can walk indoors according to a specified path and clean each area, but in the automatic cleaning process, the sweeper only adopts a fixed cleaning mode to perform cleaning treatment, so that the cleaning mode cannot be flexibly adjusted according to the specific situation of each room, and the cleaning efficiency of the sweeper is influenced.
Aiming at the problems that the cleaning mode is single and the cleaning efficiency is low due to the fact that a fixed cleaning mode is adopted to clean an area in the related technology, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a cleaning method, a cleaning device, a storage medium and an electronic device, which are used for at least solving the problems that a fixed cleaning mode is adopted to clean an area in the related art, so that the cleaning mode is single and the cleaning efficiency is low.
According to an embodiment of the present invention, there is provided a sweeping method including: controlling a cleaning apparatus to repeatedly perform a first predetermined cleaning process on a target area until a ratio of a dust collection amount acquired from the target area at a single time to an area of the target area is less than a first predetermined threshold, wherein the first predetermined cleaning process includes: acquiring a first ratio, wherein the first ratio is a ratio of a first dust collection amount to an area of the target area, and the first dust collection amount is a dust collection amount in the target area acquired by performing cleaning processing on the target area previously; acquiring a first cleaning gear corresponding to the first ratio based on a corresponding relation between a preset ratio and the cleaning gear; and continuing to perform cleaning operation on the target area according to the first cleaning gear.
In one exemplary embodiment, before controlling the sweeping device to repeatedly perform the first predetermined sweeping process on the target area, the method further includes: controlling the cleaning equipment to sequentially clean a plurality of areas included in a target space so as to respectively acquire the dust collection amount of the plurality of areas, wherein the plurality of areas include the target area; and calculating and storing the ratio of the dust collection amount of each region to the area of each region.
In one exemplary embodiment, the first dust collection amount includes one of: a dust collection amount in the target area obtained by performing the cleaning process on the target area last time; the average dust collection amount in the target area is obtained by performing cleaning processing on the target area for the previous preset time; an average dust collection amount in the target area obtained by performing a sweeping process on the target area within a predetermined period of time.
In one exemplary embodiment, the method further comprises: acquiring a first region that satisfies a predetermined relationship with the target region in a case where a ratio of a dust collection amount acquired from the target region at a single time to an area of the target region is smaller than the first predetermined threshold; controlling the cleaning equipment to move into the first area, and controlling the cleaning equipment to perform cleaning operation on the first area.
In one exemplary embodiment, controlling the sweeping device to perform a sweeping operation on the first area includes: controlling the cleaning apparatus to repeatedly perform a second predetermined cleaning process on the first region until a ratio of a dust collection amount acquired from the first region at a single time to an area of the first region is less than a second predetermined threshold, wherein the second predetermined cleaning process includes: acquiring a second ratio, wherein the second ratio is a ratio of a second dust collection amount to the area of the first area, and the second dust collection amount is a dust collection amount in the first area acquired by performing cleaning processing on the first area previously; acquiring a second cleaning gear corresponding to the second ratio based on the preset corresponding relation; and continuing to perform cleaning operation on the first area according to the second cleaning gear.
In one exemplary embodiment, the method further comprises: dividing a region for a target space according to a preset dividing mode to determine a plurality of regions included in the target space, wherein the plurality of regions include the target region and the first region; determining an area of each of the regions included in the plurality of regions; and correspondingly storing the identification of each region and the area of each region.
In one exemplary embodiment, dividing the region for the target space in accordance with the predetermined division manner includes at least one of: dividing regions for the target space according to a fixed area value; dividing the target space into regions according to a fixed shape; dividing the target space into regions according to the purpose; dividing the target space into regions according to the received dividing instruction; and dividing the region for the target space according to a default dividing mode.
In an exemplary embodiment, after dividing the region for the target space according to a predetermined division manner to determine a plurality of regions included in the target space, the method further includes: configuring a corresponding preset threshold value for each area, wherein the preset threshold value corresponding to the target area is the first preset threshold value, the preset threshold value corresponding to the first area is the second preset threshold value, and the preset threshold values corresponding to different areas are the same or different; and storing the predetermined threshold corresponding to each region.
According to another embodiment of the present invention, there is also provided a sweeping device including: a first control module, configured to control a cleaning apparatus to repeatedly perform a first predetermined cleaning process on a target area until a ratio of a dust collection amount acquired from the target area at a single time to an area of the target area is smaller than a first predetermined threshold, where the first predetermined cleaning process includes: acquiring a first ratio, wherein the first ratio is a ratio of a first dust collection amount to an area of the target area, and the first dust collection amount is a dust collection amount in the target area acquired by performing cleaning processing on the target area previously; acquiring a first cleaning gear corresponding to the first ratio based on a corresponding relation between a preset ratio and the cleaning gear; and continuing to perform cleaning operation on the target area according to the first cleaning gear.
According to a further embodiment of the present invention, there is also provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
With the present invention, a first predetermined cleaning process is repeatedly performed on a target area by controlling a cleaning apparatus until a ratio of a dust collection amount acquired from the target area at a single time to an area of the target area is smaller than a first predetermined threshold, wherein the first predetermined cleaning process includes: the method comprises the steps of obtaining a first ratio, wherein the first ratio is the ratio of a first dust collection amount to the area of a target area, the first dust collection amount is the dust collection amount in the target area obtained by cleaning the target area, obtaining a first cleaning gear corresponding to the first ratio based on the corresponding relation between the ratio and the cleaning gear which are configured in advance, and then continuously performing cleaning operation on the target area according to the first cleaning gear. Combine the dust degree of target area promptly, take the gear that cleans that corresponds to the target area of different dust degrees to continue to carry out and clean the operation to reach the purpose of effective clearance, consequently, solved the fixed mode of cleaning of adoption that exists among the correlation technique and cleaned the region, thereby lead to cleaning the mode singleness, clean the problem of inefficiency, reached the flexibility that improves and cleaned and improved the effect of cleaning efficiency.
Drawings
Fig. 1 is a block diagram of a hardware structure of a mobile terminal of a cleaning method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a sweeping method according to an embodiment of the present invention;
FIG. 3 is a block diagram of a hardware configuration of a purge controller according to an embodiment of the present invention;
FIG. 4 is a flow chart of a cleaning method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of region partitioning according to an embodiment of the present invention;
FIG. 6 is a first schematic diagram of a purge according to an embodiment of the present invention;
FIG. 7 is a second schematic diagram of a purge according to an embodiment of the invention;
fig. 8 is a block diagram of a cleaning apparatus according to an embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings in conjunction with the embodiments.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking the example of operating on a mobile terminal, fig. 1 is a hardware structural block of the mobile terminal of the cleaning method according to the embodiment of the present invention. As shown in fig. 1, the mobile terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 104 for storing data, wherein the mobile terminal may further include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 can be used for storing computer programs, for example, software programs and modules of application software, such as computer programs corresponding to the cleaning method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, so as to implement the above-mentioned method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
In the present embodiment, a cleaning method is provided, and fig. 2 is a flowchart of a cleaning method according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, controlling a cleaning device to repeatedly execute a first preset cleaning process on a target area until the ratio of the dust collection amount acquired from the target area once to the area of the target area is smaller than a first preset threshold value, wherein the first preset cleaning process comprises the following steps: acquiring a first ratio, wherein the first ratio is a ratio of a first dust collection amount to an area of the target area, and the first dust collection amount is a dust collection amount in the target area acquired by performing cleaning processing on the target area previously; acquiring a first cleaning gear corresponding to the first ratio based on a corresponding relation between a preset ratio and the cleaning gear; and continuing to perform cleaning operation on the target area according to the first cleaning gear.
Through the steps, the dust degree of the target area is combined, the corresponding cleaning gear is adopted for the target areas with different dust degrees to continuously perform cleaning operation, so that the purpose of effective cleaning is achieved, therefore, the problems that the cleaning mode is single and the cleaning efficiency is low due to the fact that the cleaning mode is fixed to clean the areas in the related technology are solved, and the effects of improving the cleaning flexibility and improving the cleaning efficiency are achieved.
The main body of the above steps may be a controller, for example, a controller integrated in the cleaning device, or a processor, or a machine with related processing capability (for example, a sweeper, etc.), or a processor with human-computer interaction capability disposed on a storage device, or a processing device or a processing unit with similar processing capability, but is not limited thereto. The following description is given by taking an example (which is only an exemplary description, and other devices or modules may be used to perform the above operations in actual operations) of a machine with related processing capability (hereinafter, referred to as a "machine") to perform the above operations:
in the above-described embodiment, the machine repeatedly performs the first predetermined cleaning process on the target area by controlling the cleaning apparatus until the ratio of the dust collection amount acquired from the target area at a single time to the area of the target area is smaller than the first predetermined threshold, for example, 5mg/m2Or 10mg/m2Or other values, that is, if the ratio of the collected dust amount acquired from the target area at a time to the area of the target area is greater than or equal to a first predetermined threshold, the machine will control the cleaning device to repeatedly perform a first predetermined cleaning process on the target area, where the first predetermined cleaning process includes: a first ratio is obtained, the first ratio is a ratio of a first dust collection amount to an area of the target area, the first dust collection amount is a first dust collection amount in the target area obtained by performing the cleaning process on the target area before, for example, in practical applications, a dust collection box is generally provided in the cleaning apparatus, and the first dust collection amount obtained by performing the cleaning process on the target area can be obtained by a sensor in the dust collection box, wherein the first dust collection amount may be a dust collection amount obtained by performing the cleaning process on the target area for a certain time before or an average of a plurality of dust collection amounts obtained by performing the cleaning process on the target area for a plurality of times (for example, N times) beforeIn practical applications, the area of the target area may be stored in a storage unit of the cleaning device in advance, or in a storage unit of the machine, so that the first ratio may be a ratio of a first dust collection amount obtained after a cleaning operation is performed on the target area for a certain time before to the area of the target area, or the first ratio may be an average value of a ratio of a first dust collection amount obtained after cleaning operations are performed on the target area for a plurality of times (for example, N times) before to the area of the target area, after the first ratio is obtained, a first cleaning gear corresponding to the first ratio is obtained based on a preset corresponding relationship between the ratio and the cleaning gear, and then the cleaning operation is continuously performed on the target area according to the first cleaning gear, that is, for target areas with different dust degrees, the cleaning operation is continuously performed by adopting different cleaning gears. Through this embodiment, combine the dust degree of target area, take the gear that cleans that corresponds to the target area of different dust degrees and carry out the operation of cleaning to reach the purpose of effective clearance, consequently, solved the fixed mode of cleaning of adoption that exists among the correlation technique and cleaned the region, thereby lead to cleaning the mode singleness, clean the problem of inefficiency, reached the flexibility that improves and cleaned and improved the effect of cleaning efficiency.
In an optional embodiment, before controlling the sweeping device to repeatedly perform the first predetermined sweeping process on the target area, the method further includes: controlling the cleaning equipment to sequentially clean a plurality of areas included in a target space so as to respectively acquire the dust collection amount of the plurality of areas, wherein the plurality of areas include the target area; and calculating and storing the ratio of the dust collection amount of each region to the area of each region. In this embodiment, before controlling the cleaning device to repeatedly perform the first predetermined cleaning process on the target area, the cleaning device may be controlled to perform the cleaning process on the plurality of areas included in the target space to respectively obtain the dust collection amounts of the plurality of areas, and with the dust collection amount obtained in the previous cleaning as a reference, a first ratio is calculated, and the first ratio is used as a reference value of the first ratio in the current cleaning operation, so that a corresponding cleaning gear may be adopted; in practical application, before the cleaning device is controlled to repeatedly execute the first preset cleaning treatment on the target area, multiple times (such as 5 times, 10 times or N times) of cleaning treatment can be further performed on multiple areas included in the target space, so that an average value of multiple dust collection amounts is obtained and used as a reference of the current cleaning operation.
In an alternative embodiment, the first dust collection amount comprises one of: a dust collection amount in the target area obtained by performing the cleaning process on the target area last time; the average dust collection amount in the target area is obtained by performing cleaning processing on the target area for the previous preset time; an average dust collection amount in the target area obtained by performing a sweeping process on the target area within a predetermined period of time. The first dust collection amount described above may be obtained by: by the present embodiment, the purpose of providing a strong reference value for the current or subsequent cleaning operation can be achieved, and the cleaning efficiency can be further improved, either by the dust collection amount in the target area obtained by performing the cleaning process on the target area last time, or by the average dust collection amount in the target area obtained by performing the cleaning process on the target area last predetermined times (e.g., 5 times, 10 times, or N times), or by the average dust collection amount in the target area obtained by performing the cleaning process on the target area within a predetermined time period (e.g., one week, one month, or other time period).
In an optional embodiment, the method further includes: acquiring a first region that satisfies a predetermined relationship with the target region in a case where a ratio of a dust collection amount acquired from the target region at a single time to an area of the target region is smaller than the first predetermined threshold; controlling the cleaning equipment to move into the first area, and controlling the cleaning equipment to perform cleaning operation on the first area. In the present embodiment, when the ratio of the dust collection amount acquired from the target area at a single time to the area of the target area is smaller than a first predetermined threshold (e.g., 5 mg/m)2Or 10mg/m2Or other value), a first region (the next region) satisfying a predetermined relationship with the target region is acquiredA field), for example, a first area adjacent to the target area, or a first area satisfying a predetermined interval from the target area, and then controls the cleaning apparatus to move into the first area and to perform a cleaning operation on the first area. Through the embodiment, the purpose of automatically cleaning the next area after the cleaning of the target area is completed is achieved.
In an alternative embodiment, controlling the sweeping device to perform a sweeping operation on the first zone comprises: controlling the cleaning apparatus to repeatedly perform the second predetermined cleaning process on the first area until a ratio of a dust collection amount acquired from the first area at a single time to an area of the target area is less than a second predetermined threshold, wherein the second predetermined cleaning process includes: acquiring a second ratio, wherein the second ratio is a ratio of a second dust collection amount to the area of the first area, and the second dust collection amount is a dust collection amount in the first area acquired by performing cleaning processing on the first area previously; acquiring a second cleaning gear corresponding to the second ratio based on the preset corresponding relation; and continuing to perform cleaning operation on the first area according to the second cleaning gear. Similar to the above-mentioned control of the cleaning device to repeatedly perform the first predetermined cleaning process on the target area, in the present embodiment, the control of the cleaning device to repeatedly perform the second predetermined cleaning process on the first area until the ratio of the dust collection amount acquired from the first area at a time to the area of the target area is smaller than the second predetermined threshold, where the second predetermined cleaning process is also similar to the above-mentioned first predetermined cleaning process, and the second predetermined threshold may be the same as or different from the above-mentioned first predetermined threshold, and in practical applications, may be flexibly set as needed. By analogy, after the cleaning operation of the first area is completed, the cleaning device can continue to perform the cleaning operation on the next first area until the cleaning operation of all the areas is completed, it should be noted that the corresponding relationship between the ratio pre-configured in the cleaning of the first area and the cleaning gear may be the same as or different from the corresponding relationship based on the target area, and in practical application, the corresponding relationship may be flexibly set. Through this embodiment, realized combining the dust degree in first region, take the gear that cleans that corresponds to the first region of different dust degrees and continue to carry out and clean the operation to reach the purpose of effective clearance, still can realize cleaning the purpose of operation to the execution in all regions, reach the effect that improves and clean the equipment intellectuality, also reached the effect that promotes user experience.
In an optional embodiment, the method further includes: dividing a region for a target space according to a preset dividing mode to determine a plurality of regions included in the target space, wherein the plurality of regions include the target region and the first region; determining an area of each of the regions included in the plurality of regions; and correspondingly storing the identification of each region and the area of each region. In this embodiment, the target space may be divided into regions according to a predetermined dividing manner, for example, the target space is a set of houses, and each region of each bedroom, living room, dining room, kitchen, etc. included in the house may be divided according to the predetermined dividing manner, of course, each region may be subdivided as needed to determine a plurality of regions included in the target space, where the plurality of regions includes the target region and the first region, in practical applications, the target region and the first region may be a certain room of the target space, or may be a certain region subdivided in the room, that is, the target region and the first region are part of the target space, and after the cleaning operation of the target region and the first region is completed, the cleaning operation of other regions may be continuously performed; after the target space is divided into the plurality of regions, the area of each region included in the plurality of regions is determined, and the identification of each region and the area of each region are stored correspondingly, so that the cleaning apparatus can recognize each region and judge the degree of dust of each region for convenience.
In an alternative embodiment, the dividing the region for the target space according to the predetermined division manner includes at least one of: dividing regions for the target space according to a fixed area value; dividing the target space into regions according to a fixed shape; dividing the target space into regions according to the purpose; dividing the target space into regions according to the received dividing instruction; and dividing the region for the target space according to a default dividing mode. In this embodiment, the target space may be divided into regions according to different division manners, for example, the target space may be divided into regions according to a fixed area value, for example, the target space may be divided according to a fixed area 50cm by 50cm, and the actual area of the target space which is less than the fixed area may be calculated; the target space may also be partitioned into regions according to a fixed shape, such as a rectangular shape; of course, in practical applications, the region may be divided into the target space according to the received dividing instruction, and the region may be divided into the target space according to a default dividing manner. Through the embodiment, the aim of flexibly dividing the target space is fulfilled, and the flexibility of setting the cleaning area is improved.
In an optional embodiment, after dividing the region for the target space according to a predetermined dividing manner to determine a plurality of regions included in the target space, the method further includes: configuring a corresponding preset threshold value for each area, wherein the preset threshold value corresponding to the target area is the first preset threshold value, the preset threshold value corresponding to the first area is the second preset threshold value, and the preset threshold values corresponding to different areas are the same or different; and storing the predetermined threshold corresponding to each region. In this embodiment, after dividing a plurality of areas into a target space according to a predetermined dividing manner, a corresponding predetermined threshold is configured for each area, for example, in practical applications, different predetermined thresholds may be configured for each area according to different requirements of each area on cleanliness, of course, the same predetermined threshold may also be configured, where the predetermined threshold corresponding to the target area is a first predetermined threshold, the predetermined threshold corresponding to the first area is a second predetermined threshold, and the predetermined thresholds corresponding to different areas may be the same or different, and similarly, the predetermined threshold corresponding to each area is stored in the storage unit.
In an optional embodiment, before dividing the region for the target space according to the predetermined division manner, the method further includes: creating map information of the target space, wherein the map information is used for indicating plane distribution information of the target space; after dividing the region for the target space in a predetermined division manner, the method further comprises: and determining sub-map information respectively corresponding to a plurality of the areas based on the division result, and storing the sub-map information corresponding to each area. In this embodiment, before dividing the target space into regions according to a predetermined division manner, map information of the target space is created, for example, in practical applications, the cleaning device may construct map information of the target space by a laser radar, an ultrasonic sensor, other sensors, an automatic identification module, and the like which are internally configured, and then divide the target space on the basis of the map information; and after the regions are divided for the target space in a predetermined division manner, sub-map information corresponding to the plurality of regions, respectively, is determined based on the division result, and the sub-map information corresponding to each region is stored.
In an optional embodiment, before controlling the sweeping device to repeatedly perform the first predetermined sweeping process on the target area, the method further includes: and configuring and storing the corresponding relation. In this embodiment, the corresponding relationship between the ratio of the dust collection amount to the area and the cleaning gear in different regions, that is, the corresponding relationship between the ratio (dust collection amount/area) and the cleaning gear, may be configured and stored in advance, and in practical applications, after multiple rounds of cleaning, the average value of the ratio of each region may be obtained according to the average value of the dust collection amount in each region, so that a more reasonable cleaning gear may be selected.
It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention.
The present invention will be described in detail with reference to the following examples:
fig. 3 is a block diagram of a hardware configuration of a sweeping controller according to an embodiment of the present invention, and as shown in fig. 3, the configuration includes: a storage unit 302 for storing constructed map information, a cleaning program of the cleaning device, data (dust collection amount/area) of each room (or area), etc., a processing unit 304 for processing relevant data, instructions, etc., and a control unit 306 for controlling the cleaning device to perform cleaning operation, which may be integrated into a single chip system in practical applications.
Fig. 4 is a flowchart of a cleaning method according to an embodiment of the present invention, as shown in fig. 4, the flowchart includes the following steps:
s402, constructing map information, dividing room regions (corresponding to the aforementioned divided regions of the target space), and storing area information of each room, where fig. 5 is a schematic diagram of region division according to an embodiment of the present invention, as shown in fig. 5, dividing the whole house into: a plurality of areas such as a living room, a restaurant, a room 1, a room 2, a room 3, and a corridor, and storing areas in a storage unit;
s404, starting cleaning from a room (corresponding to the aforementioned target area, or the first area) and recording the dust collection amount in the room, fig. 6 is a first schematic diagram of cleaning according to an embodiment of the present invention, as shown in fig. 6, starting cleaning from the living room area shown in fig. 6 and recording the dust collection amount in the living room area, acquiring the dust collection amount by a sensor in the dust box, and calculating the dust collection amount in the area by increasing the dust collection amount after cleaning the area;
s406, after the dust collection amount data is obtained, calculating the ratio of the dust collection amount to the room area (including the first ratio or the second ratio);
it should be noted that, until all rooms are cleaned, the ratio of the dust collection amount/the room area of each room is calculated, fig. 7 is a cleaning schematic diagram according to a specific embodiment of the present invention, and in practical application, a path may be planned in advance, so that the sweeper cleans according to a specified path (as shown in fig. 7) until all rooms are cleaned;
a threshold value (corresponding to the aforementioned predetermined threshold value) may be set for each room (or area), for example 5mg/m2When the ratio is larger than the threshold value, continuously cleaning the room (or the area) until the ratio is smaller than the threshold value, and when the ratio of the area is smaller than the threshold value, cleaning the next area;
s408, after all the ratios are obtained, according to the cleaning gears corresponding to the ratio range, the corresponding cleaning gears are adopted for cleaning when the next round of cleaning is carried out, in practical application, after the sweeper is used for accumulating a plurality of rounds (for example, 5 rounds, or 10 rounds, or N rounds) of cleaning, the ratios of each round of cleaning in each room are accumulated, an average value is obtained, and the cleaning gears corresponding to the average value are adopted for cleaning in the next period of time.
The main principle of the above embodiment is as follows: the sweeper (equivalent to the sweeping device) can construct global map information through internally-arranged devices such as a laser radar, an ultrasonic sensor, an infrared sensor, a collision sensor, a motion control module, a room automatic identification module and the like, and divide each room area, and meanwhile, the map information and the area information of each room are stored in a storage unit; after the sweeper starts to work, calculating and storing the dust collection amount of each room through a sensor in the dust collection box; after the dust collection amount of all rooms is obtained, calculating the ratio of the dust collection amount to the room area, wherein the higher the ratio is, the higher the dust amount of the room is; the sweeper supports a plurality of sweeping gears and corresponds to different ratio ranges. For example: ratio of<5mg/m2When the suction force is applied, the gear with the suction force of 1000pa in the quiet mode is adopted; 5mg/m2<Ratio of<＝10mg/m2When the suction force is in the normal mode 2000pa, the gear of the suction force is adopted; ratio of>10mg/m2When the suction force is applied, the gear with the powerful mode of 4000pa is adopted. After the sweeper cleans one round and obtains the ratios of all rooms, different cleaning gears can be adopted according to the range of the ratio during the next round of cleaning.
Further, the stored ratios are accumulated after each round of cleaning is completed, and when a plurality of rounds (for example, 10 rounds) of cleaning are completed, the ratios of the rooms are accumulated separately. And after the average value of each room is taken, cleaning is carried out by adopting a cleaning gear corresponding to the average value. By doing so, the average dust degree of each room in a period of time can be obtained, and in the next period of time, the cleaning gear corresponding to the average value is adopted.
Through the embodiment, different cleaning gears can be adopted according to the dust collection degree of each room area, and cleaning is more targeted, so that the cleaning efficiency is improved. The dust degree of each room can be learned by taking the average value, the dust condition of each room in a period of time is obtained, and the cleaning gear corresponding to the average value is adopted in the next period of time.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions 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) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, there is also provided a cleaning apparatus, and fig. 8 is a block diagram of a structure of the cleaning apparatus according to the embodiment of the present invention, and as shown in fig. 8, the cleaning apparatus includes:
a first control module 802, configured to control a cleaning apparatus to repeatedly perform a first predetermined cleaning process on a target area until a ratio of a dust collection amount acquired from the target area at a single time to an area of the target area is smaller than a first predetermined threshold, where the first predetermined cleaning process includes: acquiring a first ratio, wherein the first ratio is a ratio of a first dust collection amount to an area of the target area, and the first dust collection amount is a dust collection amount in the target area acquired by performing cleaning processing on the target area previously; acquiring a first cleaning gear corresponding to the first ratio based on a corresponding relation between a preset ratio and the cleaning gear; and continuing to perform cleaning operation on the target area according to the first cleaning gear.
In an optional embodiment, the apparatus further comprises: the cleaning device comprises a first control module, a second control module and a control module, wherein the first control module is used for controlling the cleaning device to sequentially clean a plurality of areas in a target space before controlling the cleaning device to repeatedly execute a first preset cleaning process on the target area so as to respectively acquire the dust collection amount of the areas; and the calculation module is used for calculating and storing the ratio of the dust collection amount of each region to the area of each region.
In an alternative embodiment, the first dust collection amount includes one of: a dust collection amount in the target area obtained by performing the cleaning process on the target area last time; the average dust collection amount in the target area is obtained by performing cleaning processing on the target area for the previous preset time; an average dust collection amount in the target area obtained by performing a sweeping process on the target area within a predetermined period of time.
In an optional embodiment, the apparatus further comprises: an acquisition module configured to acquire a first region that satisfies a predetermined relationship with the target region in a case where a ratio of a dust collection amount acquired from the target region at a single time to an area of the target region is smaller than a first predetermined threshold; and the third control module is used for controlling the cleaning equipment to move into the first area and controlling the cleaning equipment to clean the first area.
In an alternative embodiment, the third control module comprises: a first control unit configured to control the cleaning apparatus to repeatedly perform the second predetermined cleaning process on the first area until a ratio of a dust collection amount acquired from the first area at a single time to an area of the target area is smaller than a second predetermined threshold, wherein the second predetermined cleaning process includes: acquiring a second ratio, wherein the second ratio is a ratio of a second dust collection amount to the area of the first area, and the second dust collection amount is a dust collection amount in the first area acquired by performing cleaning processing on the first area previously; acquiring a second cleaning gear corresponding to the second ratio based on the preset corresponding relation; and continuing to perform cleaning operation on the first area according to the second cleaning gear.
In an optional embodiment, the apparatus further comprises: the dividing module is used for dividing a region for a target space according to a preset dividing mode so as to determine a plurality of regions included in the target space, wherein the plurality of regions include the target region and the first region; a determination module for determining an area of each of the regions included in the plurality of regions; and the first storage module is used for correspondingly storing the identification of each region and the area of each region.
In an alternative embodiment, the dividing module may divide the region for the target space by one of the following methods: dividing regions for the target space according to a fixed area value; dividing the target space into regions according to a fixed shape; dividing the target space into regions according to the purpose; dividing the target space into regions according to the received dividing instruction; and dividing the region for the target space according to a default dividing mode.
In an optional embodiment, the apparatus further comprises: a first configuration module, configured to configure a corresponding predetermined threshold for each region after dividing a region for a target space according to a predetermined dividing manner to determine a plurality of regions included in the target space, where the predetermined threshold corresponding to the target region is the first predetermined threshold, the predetermined threshold corresponding to the first region is the second predetermined threshold, and the predetermined thresholds corresponding to different regions are the same or different; and the second storage module is used for storing the preset threshold corresponding to each region.
In an optional embodiment, the apparatus further comprises: the system comprises a creating module, a judging module and a display module, wherein the creating module is used for creating map information of a target space before dividing a region for the target space according to a preset dividing mode, and the map information is used for indicating plane distribution information of the target space; and the third storage module is used for determining sub-map information respectively corresponding to a plurality of areas based on the dividing result after dividing the areas for the target space according to a preset dividing mode, and storing the sub-map information corresponding to each area.
In an optional embodiment, the apparatus further comprises: and the second configuration module is used for configuring and storing the corresponding relation before controlling the cleaning equipment to repeatedly execute the first preset cleaning treatment on the target area.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above-mentioned method embodiments when executed.
In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
In an exemplary embodiment, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary embodiments, and details of this embodiment are not repeated herein.
It will be apparent to those skilled in the art that the various modules or steps of the invention described above may be implemented using a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and they may be implemented using program code executable by the computing devices, such that they may be stored in a memory device and executed by the computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into various integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A sweeping method, comprising:
controlling a cleaning apparatus to repeatedly perform a first predetermined cleaning process on a target area until a ratio of a dust collection amount acquired from the target area at a single time to an area of the target area is less than a first predetermined threshold, wherein the first predetermined cleaning process includes: acquiring a first ratio, wherein the first ratio is a ratio of a first dust collection amount to an area of the target area, and the first dust collection amount is a dust collection amount in the target area acquired by performing cleaning processing on the target area previously; acquiring a first cleaning gear corresponding to the first ratio based on a corresponding relation between a preset ratio and the cleaning gear; and continuing to perform cleaning operation on the target area according to the first cleaning gear.
2. The method according to claim 1, wherein before controlling the sweeping apparatus to repeatedly perform the first predetermined sweeping process on the target area, the method further comprises:
controlling the cleaning equipment to sequentially clean a plurality of areas included in a target space so as to respectively acquire the dust collection amount of the plurality of areas, wherein the plurality of areas include the target area;
and calculating and storing the ratio of the dust collection amount of each region to the area of each region.
3. The method of claim 1, wherein the first dust collection amount comprises one of:
a dust collection amount in the target area obtained by performing the cleaning process on the target area last time;
the average dust collection amount in the target area is obtained by performing cleaning processing on the target area for the previous preset time;
an average dust collection amount in the target area obtained by performing a sweeping process on the target area within a predetermined period of time.
4. The method of claim 1, further comprising:
acquiring a first region that satisfies a predetermined relationship with the target region in a case where a ratio of a dust collection amount acquired from the target region at a single time to an area of the target region is smaller than the first predetermined threshold;
controlling the cleaning equipment to move into the first area, and controlling the cleaning equipment to perform cleaning operation on the first area.
5. The method of claim 4, wherein controlling the sweeping device to perform a sweeping operation on the first area comprises:
controlling the cleaning apparatus to repeatedly perform a second predetermined cleaning process on the first region until a ratio of a dust collection amount acquired from the first region at a single time to an area of the first region is less than a second predetermined threshold, wherein the second predetermined cleaning process includes: acquiring a second ratio, wherein the second ratio is a ratio of a second dust collection amount to the area of the first area, and the second dust collection amount is a dust collection amount in the first area acquired by performing cleaning processing on the first area previously; acquiring a second cleaning gear corresponding to the second ratio based on the preset corresponding relation; and continuing to perform cleaning operation on the first area according to the second cleaning gear.
6. The method of claim 5, further comprising:
dividing a region for a target space according to a preset dividing mode to determine a plurality of regions included in the target space, wherein the plurality of regions include the target region and the first region;
determining an area of each of the regions included in the plurality of regions;
and correspondingly storing the identification of each region and the area of each region.
7. The method of claim 6, wherein partitioning the region for the target space according to the predetermined partitioning manner comprises at least one of:
dividing regions for the target space according to a fixed area value;
dividing the target space into regions according to a fixed shape;
dividing the target space into regions according to the purpose;
dividing the target space into regions according to the received dividing instruction;
and dividing the region for the target space according to a default dividing mode.
8. The method according to claim 6, wherein after dividing the region for the target space in a predetermined division manner to determine a plurality of regions included in the target space, the method further comprises:
configuring a corresponding preset threshold value for each area, wherein the preset threshold value corresponding to the target area is the first preset threshold value, the preset threshold value corresponding to the first area is the second preset threshold value, and the preset threshold values corresponding to different areas are the same or different;
and storing the predetermined threshold corresponding to each region.
9. A sweeping device, comprising:
a first control module, configured to control a cleaning apparatus to repeatedly perform a first predetermined cleaning process on a target area until a ratio of a dust collection amount acquired from the target area at a single time to an area of the target area is smaller than a first predetermined threshold, where the first predetermined cleaning process includes: acquiring a first ratio, wherein the first ratio is a ratio of a first dust collection amount to an area of the target area, and the first dust collection amount is a dust collection amount in the target area acquired by performing cleaning processing on the target area previously; acquiring a first cleaning gear corresponding to the first ratio based on a corresponding relation between a preset ratio and the cleaning gear; and continuing to perform cleaning operation on the target area according to the first cleaning gear.
10. A computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
11. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method as claimed in any of claims 1 to 8 are implemented when the computer program is executed by the processor.
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