CN114365983A - Cleaning method, cleaning device, electronic apparatus, storage medium, and robot apparatus - Google Patents
Cleaning method, cleaning device, electronic apparatus, storage medium, and robot apparatus Download PDFInfo
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- CN114365983A CN114365983A CN202210080474.6A CN202210080474A CN114365983A CN 114365983 A CN114365983 A CN 114365983A CN 202210080474 A CN202210080474 A CN 202210080474A CN 114365983 A CN114365983 A CN 114365983A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract
The invention belongs to the technical field of robots, and particularly relates to a cleaning method, a cleaning device, electronic equipment, a storage medium and robot equipment. The method can enable the sweeping robot to analyze and determine the cleanliness of the current position in real time during working, and repeatedly clean the position or increase the cleaning strength when the cleanliness is found to be low, so that a better cleaning effect is achieved in a shorter time than that of the existing mode. A method of cleaning, comprising: acquiring grid unit division information on a map of an area to be cleaned; determining the current grid unit according to the grid unit division information; acquiring target cleanliness corresponding to the current grid unit; performing preliminary cleaning on a current area corresponding to the current grid unit; acquiring the actual cleanliness of the current area in real time in the cleaning process; and when the actual cleanliness is smaller than the target cleanliness, performing intensified cleaning on the current area.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a cleaning method, a cleaning device, electronic equipment, a storage medium and robot equipment.
Background
The intelligent sweeping robot product is widely applied to thousands of households, can automatically establish or update an indoor map, automatically perform cleaning work (including dust collection, cleaning, floor mopping and the like) on the ground according to a map and path algorithm, automatically increase suction force when a carpet is detected, and do not wet-mop the carpet. In addition, some intelligent floor sweeping robots have a powerful floor mopping function based on a high-frequency vibration or rotation mode so as to increase the cleaning effect of mopping the floor. However, the cleaning mode of the existing intelligent sweeping robot is blindness, that is, the workload of cleaning at any position is almost the same no matter how clean the ground is at different positions, so that when the ground is stuck with stains which are difficult to remove, the cleaning effect is limited.
Disclosure of Invention
In view of the above technical problems, the present invention provides a cleaning method, an apparatus, an electronic device, a storage medium, and a robot device. The method can enable the sweeping robot to analyze and determine the cleanliness of the current position in real time during working, and repeatedly clean the position or increase the cleaning strength when the cleanliness is found to be low, so that a better cleaning effect is achieved in a shorter time than that of the existing mode.
In order to solve the technical problem, the technical scheme adopted by the invention comprises five aspects.
In a first aspect, a cleaning method is provided, comprising: acquiring grid unit division information on a map of an area to be cleaned; determining the current grid unit according to the grid unit division information; acquiring target cleanliness corresponding to the current grid unit; performing preliminary cleaning on a current area corresponding to the current grid unit; acquiring the actual cleanliness of the current area in real time in the cleaning process; when the actual cleanliness is smaller than the target cleanliness, performing intensified cleaning on the current area; and when a preset condition is met, storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid.
In some embodiments, the storing the cleaning information of the current grid cell into the grid historical cleaning data corresponding to the current grid when a preset condition is met includes: and when the actual cleanliness is larger than or equal to the target cleanliness, storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid.
In some embodiments, when a preset condition is satisfied, the storing the cleaning information of the current grid cell into the grid historical cleaning data corresponding to the current grid further includes: acquiring the actual cleanliness of the current area in real time in the intensified cleaning process; stopping intensified cleaning when the actual cleanliness is larger than or equal to the target cleanliness; storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid; and when the actual cleanliness is less than the target cleanliness, continuing to perform intensified cleaning.
In some embodiments, in the cleaning process, when a preset condition is met, storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid, further includes: acquiring the reinforced cleaning duration of the current grid unit; stopping the intensified cleaning when the intensified cleaning duration exceeds a preset time threshold; and storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid.
In some embodiments, the enhanced cleaning comprises at least one of: and cleaning the current area again after repeatedly cleaning the current area and improving the cleaning force of the cleaning tool.
In some embodiments, the method further comprises: acquiring historical actual cleanliness corresponding to each grid unit in the historical grid cleaning data; determining target cleanliness corresponding to each grid unit according to the historical actual cleanliness; and storing the target cleanliness for obtaining in the next cleaning.
In some embodiments, the method further comprises: determining whether the area to be cleaned is cleaned for the first time; under the condition that the area to be cleaned is determined to be cleaned for the first time, a map of the area to be cleaned is newly built; performing mesh division on the map so that the map forms a plurality of mesh cells; performing intensified cleaning on the area corresponding to each grid unit; acquiring initial actual cleanliness of each grid unit in the intensified cleaning process; and initializing the historical grid cleaning data of the corresponding grid unit according to the initial actual cleanliness.
In some embodiments, the method further comprises: detecting the residual electric quantity of the battery; when the residual electric quantity of the battery is smaller than an electric quantity threshold value, setting a cleaning breakpoint and executing charging operation; and after the charging is completed, continuing cleaning from the cleaning breakpoint.
In a second aspect, the present application provides a cleaning device comprising: the first acquisition module is used for acquiring grid unit division information on a map of an area to be cleaned; the first determining module is used for determining the current grid unit according to the grid unit division information; the second acquisition module is used for acquiring the target cleanliness corresponding to the current grid unit; the first execution module is used for preliminarily cleaning the current area corresponding to the current grid unit; the third acquisition module is used for acquiring the actual cleanliness of the current area in real time in the cleaning process; the second execution module is used for performing intensified cleaning on the current area when the actual cleanliness is smaller than the target cleanliness; and the third execution module is used for storing the cleaning information of the current grid unit into the grid historical cleaning data corresponding to the current grid when a preset condition is met.
In a third aspect, the present application provides an electronic device comprising a storage storing a computer program and a processor implementing the steps of a cleaning method when executing the computer program.
In a fourth aspect, the present application provides a storage medium storing a computer program executable by one or more processors, the computer program being operable to implement the steps of the cleaning method of any one of the first aspects.
In a fifth aspect, the present application provides a robot device comprising a device body and the electronic device according to the third aspect, the electronic device being connected to the device body.
The beneficial effects created by the invention are as follows: the method can enable the sweeping robot to analyze and determine the actual cleanliness of the current area in real time during working, and repeatedly clean the area or increase the cleaning intensity when the cleanliness is found to be low, so that the cleaning effect better than that of the existing mode can be achieved in a short time.
Drawings
The scope of the present disclosure may be better understood by reading the following detailed description of exemplary embodiments in conjunction with the accompanying drawings. Wherein the included drawings are:
FIG. 1 is a general flow chart of a cleaning method according to an embodiment of the present disclosure;
fig. 2 is a block diagram of a cleaning device according to an embodiment of the present disclosure.
Detailed Description
In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the attached drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.
The following description will be added if a similar description of "first \ second \ third" appears in the application file, and in the following description, the terms "first \ second \ third" merely distinguish similar objects and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may be interchanged under certain circumstances in a specific order or sequence, so that the embodiments of the application described herein can be implemented in an order other than that shown or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.
Example 1:
in view of the problems in the background art, as shown in fig. 1, the present application provides a cleaning method, which is applied to an electronic device, and the electronic device may be a server, a mobile terminal, a computer, a cloud platform, and the like. The functions realized by the device data processing provided by the embodiment of the application can be realized by calling a program code by a processor of the electronic device, wherein the program code can be stored in a computer storage medium, and the cleaning method comprises the following steps:
step S11: and acquiring grid unit division information on a map of the area to be cleaned.
The cleaning robot in the application can set grid cells on a map and then clean according to the grid cells, so that grid cell division information on the map of an area to be cleaned needs to be acquired here.
Step S12: and determining the current grid unit according to the grid unit division information.
Here, the grid cell corresponding to the position where the cleaning robot is located may be selected as the current grid cell.
Step S13: and acquiring the target cleanliness corresponding to the current grid unit.
And acquiring the target cleanliness corresponding to the current grid unit, and storing the target cleanliness in a storage device of the cleaning robot.
Step S14: and performing preliminary cleaning on the current area corresponding to the current grid unit.
When cleaning, firstly, the area corresponding to the current grid unit is preliminarily cleaned, and the cleaning mode of the preliminary cleaning is a common cleaning mode.
Step S15: and acquiring the actual cleanliness of the current area in real time in the cleaning process.
After ordinary cleaning, the actual cleanliness of the current area is detected by a sensor of the cleaning robot. The actual cleanliness detection is mainly achieved through a sensor of the cleaning robot. The sensors will obtain information on the characteristics of the ground in real time, which is related to the cleanliness. The ground characteristic information includes at least one of: ground roughness, ground color, ground reflectance, and ground dust residue.
Step S16: and when the actual cleanliness is smaller than the target cleanliness, performing intensified cleaning on the current area.
And comparing the detected actual cleanliness of the current grid unit with the target cleanliness corresponding to the current grid unit. And when the actual cleanliness is larger than or equal to the target cleanliness, the current grid unit is cleaned completely, and the next grid unit is cleaned.
And when the actual cleanliness is smaller than the target cleanliness, determining that the current area corresponding to the current grid unit is not clean. The current grid cell is intensively cleaned.
In some embodiments, the enhanced cleaning in step S16 includes at least one of: and cleaning the current area again after repeatedly cleaning the current area and improving the cleaning force of the cleaning tool.
The mode of strengthening the cleaning can be to clean repeatedly, also can be to clean the current area again after promoting the cleaning power of the cleaning tool. The main ways in which the cleaning power of the cleaning implement is increased include, but are not limited to: the intensity of dust collection, the rotating speed of the rotating mop head and the vibration frequency of the vibrating mop are improved.
For the cleaning robot with adjustable supporting working strength, a target deviation degree can be obtained according to actual cleanliness and target cleanliness during intensive cleaning, and the cleaning force of the cleaning tool is set according to the target deviation degree.
Step S17: and when a preset condition is met, storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid.
After determining that cleaning of the current grid cell is complete, the cleaning information is stored in the corresponding grid cell historical cleaning data. Wherein the cleaning information includes: actual cleanliness of the wheel and target cleanliness of the wheel.
Therefore, the method can enable the sweeping robot to analyze and determine the actual cleanliness of the current area in real time during working, and repeatedly clean the area or increase the cleaning force when the cleanliness is found to be low, so that the cleaning effect better than that of the existing mode can be achieved in a short time.
The satisfaction of the preset condition in step S17 is to determine that the cleaning of the current grid cell is completed. There are three cases involved in determining that cleaning of the current grid cell is complete.
Therefore, in some embodiments, the step S17 of storing the cleaning information of the current grid cell into the grid historical cleaning data corresponding to the current grid when the preset condition is met includes:
step S171: and when the actual cleanliness is larger than or equal to the target cleanliness, storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid.
When the actual cleanliness of the current region has been made greater than or equal to the target cleanliness at the time of the preliminary cleaning process, it is considered that the cleaning of the current grid cell is completed. At this time, the cleaning information of the current grid unit can be stored in the grid historical cleaning data corresponding to the current grid. This is one of the conditions in determining that cleaning of the current grid cell is complete.
In some embodiments, the step S17 "when a preset condition is satisfied, store the cleaning information of the current grid cell into the grid historical cleaning data corresponding to the current grid", further includes:
step S172: and in the intensified cleaning process, acquiring the actual cleanliness of the current area in real time.
Step S173: and stopping intensified cleaning when the actual cleanliness is larger than or equal to the target cleanliness.
Step S174: and storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid.
And when the actual cleanliness is smaller than the target cleanliness in the intensified cleaning process, continuously carrying out intensified cleaning. Of course, in the intensified cleaning process, because the target area is too difficult to clean or has other situations, under the intensified cleaning for a certain time period, the actual cleanliness still cannot be larger than or equal to the target cleanliness, and at this time, the cleaning of the current area is continued, which may result in the overall cleaning efficiency being reduced.
Therefore, in some embodiments, the step S17 "when the preset condition is satisfied, store the cleaning information of the current grid cell into the grid historical cleaning data corresponding to the current grid", further includes:
step S175: acquiring the intensified cleaning duration of the current grid unit.
Step S176: and stopping the intensified cleaning when the intensified cleaning time exceeds a preset time threshold.
Step S177: and storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid.
When the fact that the actual cleanliness of the current area still cannot reach the corresponding target cleanliness after the preset time period of cleaning is found, the cleaning of the area is given up temporarily, and other areas are cleaned continuously, so that the phenomenon that a large amount of time is wasted in one area, and the whole cleaning efficiency is reduced is avoided.
In some embodiments, the present application further discloses a method of determining target cleanliness, the method further comprising:
step S21: and acquiring historical actual cleanliness corresponding to each grid unit in the historical grid cleaning data.
Step S22: and determining the target cleanliness corresponding to each grid unit according to the historical actual cleanliness.
Step S23: and storing the target cleanliness for obtaining in the next cleaning.
Since the actual cleanliness of each grid cell at each cleaning round is recorded in the grid historical cleaning data. Therefore, the normal state of the region corresponding to each grid unit can be obtained by acquiring the historical actual cleanliness corresponding to each grid unit in the grid historical cleaning data. Therefore, the cleaning robot can calculate the target cleanliness of the cleaning robot at the next time by using the loaded statistical analysis algorithm and the historical actual cleanliness, can provide the target of the cleaning robot at the next time, and further can improve the cleaning efficiency and the cleaning effect of the cleaning robot.
In addition to the disclosure of how to clean the floor, the present application also discloses how to construct map information. In some embodiments, therefore, the method further comprises:
step S51: and judging whether the area to be cleaned is cleaned for the first time.
The cleaning robot scans the area to be cleaned and judges whether map information corresponding to the area to be cleaned exists or not. If there is no map information corresponding to the area to be cleaned, it is determined that the area to be cleaned is first cleaned.
Step S52: in the case that the area to be cleaned is determined to be cleaned for the first time, a map of the area to be cleaned is newly created
And under the condition that the area to be cleaned is determined to be cleaned for the first time, acquiring the ground information of the area to be cleaned.
Step S53: performing mesh division on the map such that the map forms a plurality of mesh cells.
And forming a map corresponding to the area to be cleaned according to the collected ground information, and performing grid division on the map to form a plurality of grid units on the map. Each grid cell is a partial sub-area of the map.
Step S54: and performing reinforced cleaning on the area corresponding to each grid unit.
Step S55: and acquiring the initial actual cleanliness of each grid unit in the intensified cleaning process.
Step S56: and initializing the historical grid cleaning data of the corresponding grid unit according to the initial actual cleanliness.
After the grid cells of the map are divided, the areas corresponding to the grid cells are intensively cleaned. And after the intensified cleaning, the actual cleanliness of each area is the initial actual cleanliness of the area to be cleaned. And finally, initializing the historical grid cleaning data corresponding to each grid unit, and storing the initial actual cleanliness of each grid unit into the historical grid cleaning data corresponding to each grid unit. The initial actual cleanliness recorded in the grid cell historical cleaning data may be used as reference data for determining the next target cleanliness. See steps S21, S22, and S23 for how to determine the target cleanliness.
The cleaning robot has the advantages that the area to be cleaned is divided in a gridding mode, and the cleaning robot is more orderly and planished in the cleaning process. Meanwhile, the robot cleaner has more pertinence when strengthening cleaning is carried out on some areas, and the efficiency and the cleaning effect of the cleaning robot when cleaning tasks are carried out can be further improved.
Of course, in some embodiments, if the area to be cleaned is not first cleaned. Then, the actual floor information of the area to be cleaned is collected simultaneously in the cleaning process, the changed area is supplemented into the map, and the grid cell division is carried out on the changed area again. And performing reinforced cleaning on the area corresponding to the newly divided grid unit. And acquiring the initial actual cleanliness of the region corresponding to the newly divided grid unit. And initializing the grid historical cleaning data of the newly divided grid units according to the initial actual cleanliness.
When the cleaning robot works, the electric quantity also influences the cleaning efficiency and the cleaning effect of the cleaning robot. In some embodiments, therefore, the method further comprises:
step S61: and detecting the residual capacity of the battery.
Step S62: and when the residual electric quantity of the battery is smaller than the electric quantity threshold value, setting a cleaning breakpoint and executing charging operation.
Step S63: and after the charging is completed, continuing cleaning from the cleaning breakpoint.
Through real-time supervision cleaning machines people's residual capacity, when residual capacity is not enough, in time charge, avoid because the electric quantity is not enough and lead to the condition emergence that the robot can't work, guaranteed the normal clear job.
Certainly, the cleaning robot in the method can also monitor the working module and the sensor module of the cleaning robot in the working process, if the working module and the sensor module work abnormally, the abnormal module is tried to be automatically recovered, and when the abnormal module cannot be recovered, an error is reported through the man-machine interaction interface and the cloud upgrading module.
In addition, the method can also bind the device with the mobile terminal of the user. The user can set the maximum duration of the intensive cleaning through the mobile terminal and select to turn on or off the cleaning mode based on cleanliness. After a round of cleaning work is completed, the cleaning effect can also be fed back to the user. The cleaning effect includes an enhanced cleaning effect, a change of grid cells, and a region where the actual cleanliness still does not reach the target cleanliness after the enhanced cleaning.
Meanwhile, the method can also automatically provide the parameters set by the user and the historical information of the cleaning result for the manufacturer of the cleaning robot, so that the manufacturer can analyze and evaluate the stability and the effectiveness of hardware equipment (such as a sensor, a powerful cleaning device and the like) related to cleanliness and software based on data provided by a large number of users, and effective support is provided for the manufacturer to improve the hardware equipment and upgrade the software. Meanwhile, the system can also automatically receive a software upgrading package provided by a manufacturer, so that the cleaning robot can be upgraded remotely.
Example 2:
based on the foregoing embodiments, the present application provides a cleaning apparatus, where the cleaning apparatus includes modules and units included in the modules, and the modules may be implemented by a processor in a computer device; of course, the implementation can also be realized through a specific logic circuit; in the implementation process, the processor may be a Central Processing Unit (CPU), a Microprocessor Unit (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.
As shown in fig. 2, the second aspect provides a cleaning device. The cleaning device includes: the device comprises a first obtaining module 1, a first determining module 2, a second obtaining module 3, a first executing module 4, a third obtaining module 5, a second executing module 6 and a third executing module 7.
The first obtaining module 1 is used for obtaining grid cell division information on a map of an area to be cleaned. The first determining module 2 is configured to determine a current grid cell according to the grid cell division information. The second obtaining module 3 is configured to obtain the target cleanliness corresponding to the current grid unit. The first execution module 4 is configured to perform preliminary cleaning on the current area corresponding to the current grid unit. The third acquiring module 5 is used for acquiring the actual cleanliness of the current area in real time in the cleaning process. And the second execution module 6 is used for performing intensified cleaning on the current area when the actual cleanliness is smaller than the target cleanliness. The third executing module 7 is configured to, when a preset condition is met, store the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid.
In some embodiments, the third execution module 7 comprises: and a fourth execution module. And the fourth execution module is used for storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid when the actual cleanliness is greater than or equal to the target cleanliness.
In some embodiments, the third execution module 7 further comprises: the device comprises a fourth acquisition module, a fifth execution module and a sixth execution module.
And the fourth obtaining module is used for storing the cleaning information of the current grid unit into the grid historical cleaning data corresponding to the current grid when the actual cleanliness is greater than or equal to the target cleanliness. And the fifth execution module is used for stopping intensified cleaning when the actual cleanliness is larger than or equal to the target cleanliness. And the sixth execution module is used for storing the cleaning information of the current grid unit into the grid historical cleaning data corresponding to the current grid.
In some embodiments, the third execution module 7 further includes: a fifth obtaining module, a seventh executing module and an eighth executing module.
The fifth acquisition module is used for acquiring the intensified cleaning duration of the current grid unit. The seventh execution module is used for stopping the intensified cleaning when the intensified cleaning time length exceeds a preset time threshold. The eighth execution module is configured to store the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid.
In some embodiments, the cleaning device further comprises: the device comprises a sixth acquisition module, a second determination module and a ninth execution module.
The sixth obtaining module is used for obtaining the historical actual cleanliness corresponding to each grid unit in the grid historical cleaning data. And the second determining module is used for determining the target cleanliness corresponding to each grid unit according to the historical actual cleanliness. And the ninth execution module is used for storing the target cleanliness for obtaining in the next cleaning.
In some embodiments, the cleaning device further comprises: the device comprises a second determination module, a tenth execution module, an eleventh execution module, a twelfth execution module, a seventh acquisition module and a thirteenth execution module.
The second determination module is used for determining whether the area to be cleaned is cleaned for the first time. The tenth execution module is used for newly building a map of the area to be cleaned under the condition that the area to be cleaned is determined to be cleaned for the first time. The eleventh execution module is configured to perform mesh division on the map, so that the map forms a plurality of mesh cells. And the twelfth execution module is used for performing reinforced cleaning on the area corresponding to each grid unit. The seventh acquisition module is used for acquiring the initial actual cleanliness of each grid unit in the intensified cleaning process. And the thirteenth execution module is used for initializing grid historical cleaning data of the corresponding grid unit according to the initial actual cleanliness.
In some embodiments, the cleaning device further comprises: the device comprises a first detection module, a fifteenth execution module and a sixteenth execution module.
The first detection module is used for detecting the residual electric quantity of the battery. And the fifteenth execution module is used for setting a cleaning breakpoint and executing charging operation when the residual electric quantity of the battery is less than the electric quantity threshold value. And the sixteenth execution module is used for continuing cleaning from the cleaning breakpoint after charging is finished.
The various modules in a cleaning device of the type described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the robot equipment, and can also be stored in a memory in the processing device in a software form, so that the processor can call and execute the corresponding operations of the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.
Example 3:
a third aspect provides an electronic device comprising a storage storing a computer program and a processor implementing the steps of the cleaning method of any one of the first aspect when the computer program is executed by the processor.
Example 4:
a fourth aspect provides a storage medium storing a computer program executable by one or more processors, the computer program being operable to implement the steps of the cleaning method of any one of the first aspects.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
Example 5:
of course, the present application also discloses the fifth aspect. The fifth aspect provides a robot apparatus including an apparatus body and the electronic apparatus of the third aspect, the electronic apparatus being connected to the apparatus body. .
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.
Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a controller to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.
The above description is only for the embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (12)
1. A method of cleaning, comprising:
acquiring grid unit division information on a map of an area to be cleaned;
determining the current grid unit according to the grid unit division information;
acquiring target cleanliness corresponding to the current grid unit;
performing preliminary cleaning on a current area corresponding to the current grid unit;
acquiring the actual cleanliness of the current area in real time in the cleaning process;
when the actual cleanliness is smaller than the target cleanliness, performing intensified cleaning on the current area;
and when a preset condition is met, storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid.
2. The cleaning method according to claim 1, wherein when a preset condition is met, storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid comprises:
and when the actual cleanliness is larger than or equal to the target cleanliness, storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid.
3. The cleaning method according to claim 1, wherein when a preset condition is satisfied, storing the cleaning information of the current grid cell into grid historical cleaning data corresponding to the current grid, further comprises:
acquiring the actual cleanliness of the current area in real time in the intensified cleaning process;
stopping intensified cleaning when the actual cleanliness is larger than or equal to the target cleanliness;
storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid;
and when the actual cleanliness is less than the target cleanliness, continuing to perform intensified cleaning.
4. The cleaning method according to claim 3, wherein during the cleaning process, when a preset condition is met, storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid, further comprising:
acquiring the reinforced cleaning duration of the current grid unit;
stopping the intensified cleaning when the intensified cleaning duration exceeds a preset time threshold;
and storing the cleaning information of the current grid unit into grid historical cleaning data corresponding to the current grid.
5. A cleaning method according to claim 1, wherein said enhanced cleaning comprises at least one of: and cleaning the current area again after repeatedly cleaning the current area and improving the cleaning force of the cleaning tool.
6. A cleaning method according to claim 1, further comprising:
acquiring historical actual cleanliness corresponding to each grid unit in the historical grid cleaning data;
determining target cleanliness corresponding to each grid unit according to the historical actual cleanliness;
and storing the target cleanliness for obtaining in the next cleaning.
7. A cleaning method according to claim 1, further comprising:
determining whether the area to be cleaned is cleaned for the first time;
under the condition that the area to be cleaned is determined to be cleaned for the first time, a map of the area to be cleaned is newly built;
performing mesh division on the map so that the map forms a plurality of mesh cells;
performing intensified cleaning on the area corresponding to each grid unit;
acquiring initial actual cleanliness of each grid unit in the intensified cleaning process;
and initializing the historical grid cleaning data of the corresponding grid unit according to the initial actual cleanliness.
8. A cleaning method according to claim 1, further comprising:
detecting the residual electric quantity of the battery;
when the residual electric quantity of the battery is smaller than an electric quantity threshold value, setting a cleaning breakpoint and executing charging operation;
and after the charging is completed, continuing cleaning from the cleaning breakpoint.
9. A cleaning device, comprising:
the first acquisition module is used for acquiring grid unit division information on a map of an area to be cleaned;
the first determining module is used for determining the current grid unit according to the grid unit division information;
the second acquisition module is used for acquiring the target cleanliness corresponding to the current grid unit;
the first execution module is used for preliminarily cleaning the current area corresponding to the current grid unit;
the third acquisition module is used for acquiring the actual cleanliness of the current area in real time in the cleaning process;
the second execution module is used for performing intensified cleaning on the current area when the actual cleanliness is smaller than the target cleanliness;
and the third execution module is used for storing the cleaning information of the current grid unit into the grid historical cleaning data corresponding to the current grid when a preset condition is met.
10. An electronic device, comprising:
a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, performs a cleaning method as claimed in any one of claims 1 to 8.
11. A storage medium storing a computer program executable by one or more processors, the computer program being operable to implement the steps of a cleaning method as claimed in any one of claims 1 to 8.
12. A robot device characterized by comprising a device body and the electronic device according to claim 10, the electronic device being connected to the device body.
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