CN115177178A - Cleaning method, cleaning device and computer storage medium - Google Patents
Cleaning method, cleaning device and computer storage medium Download PDFInfo
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- CN115177178A CN115177178A CN202110369413.7A CN202110369413A CN115177178A CN 115177178 A CN115177178 A CN 115177178A CN 202110369413 A CN202110369413 A CN 202110369413A CN 115177178 A CN115177178 A CN 115177178A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
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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
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- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
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- 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
Abstract
The embodiment of the invention discloses a cleaning method, a cleaning device and a computer storage medium. The method comprises the following steps: acquiring surrounding environment information; positioning according to the surrounding environment information and a target map, and determining the target position of the target map; cleaning is started from the target position.
Description
Technical Field
The invention relates to a household appliance control technology, in particular to a cleaning method, a cleaning device and a computer storage medium.
Background
The independent cleaning device provides great convenience for modern life and reduces the labor intensity. The household sweeping robot is a common autonomous cleaning device, and can suck surrounding dust or impurities while automatically moving in a household room so as to complete floor cleaning. With the continuous development of the intelligent degree of the sweeping robot, the autonomous drawing construction and the sweeping planning become the essential functions of the sweeping robot.
Along with the development of intelligent cleaning technology, the intelligent high-end sweeper walks into more and more families, and the labor of people for house sweeping is reduced to a great extent. But the following pain points still lack an effective and feasible solution: when the sweeping robot is used for sweeping, relocation failure is easy to happen due to environmental change, data on a map are lost, and sweeping cannot be carried out according to a set planned route; aiming at a family with an attic or multiple floors, one sweeping robot cannot reuse the existing map and simultaneously support multiple house types.
Disclosure of Invention
In order to solve the existing technical problems, embodiments of the present invention provide a cleaning method, a cleaning device, and a computer storage medium.
In order to achieve the above purpose, the technical solution of the embodiment of the present invention is implemented as follows:
the embodiment of the invention provides a sweeping method, which is applied to cleaning equipment and comprises the following steps:
acquiring surrounding environment information;
positioning according to the surrounding environment information and a target map, and determining the target position of the target map;
cleaning is started from the target position.
In the above aspect, the cleaning apparatus includes: a map set; the map set includes: at least one map; each of the at least one map comprises: at least one reference location and reference environmental information surrounding each of the reference locations;
the method further comprises the following steps: receiving a selected instruction; determining the target map from the at least one map according to the selected instruction;
correspondingly, the positioning according to the surrounding environment information and the target map includes:
and matching according to the ambient environment information and the reference environment information around each reference position in at least one reference position included in the target map, and determining the reference position corresponding to the reference environment information matched with the ambient environment information as the target position.
In the foregoing solution, in response to a situation that the target map is determined based on a selected instruction during a reservation operation, before the positioning is performed according to the ambient environment information and the target map, the method further includes:
matching according to the ambient environment information and reference environment information around each reference position in at least one reference position included in the target map;
and when the ambient environment information is determined not to be matched with the reference environment information, not cleaning and/or performing recharging operation.
In the above solution, the positioning according to the surrounding environment information and the target map further includes:
matching according to the ambient environment information and reference environment information around each reference position in at least one reference position included in the target map;
when it is determined that the ambient environment information is not matched with reference environment information, matching the ambient environment information with reference environment information around each reference position included in other maps except the target map, determining a reference position corresponding to the reference environment information matched with the ambient environment information as the target position, and determining a map corresponding to the reference environment information matched with the ambient environment information as the target map.
In the above aspect, the cleaning apparatus includes: a map set; the map set includes: at least one map; each of the at least one map comprises: at least one reference location and reference environmental information surrounding each of the reference locations;
the positioning according to the surrounding environment information and the target map comprises:
according to the matching between the ambient environment information and the reference environment information around each reference position included in each map, determining a reference position corresponding to the reference environment information matched with the ambient environment information as the target position, and determining a map corresponding to the reference environment information matched with the ambient environment information as the target map;
correspondingly, the cleaning from the target position comprises:
and cleaning according to the target map from the target position.
In the foregoing solution, the method further includes:
customizing each of the at least one map; the at least one map includes: the target map;
correspondingly, the cleaning from the target position comprises:
cleaning according to a customized map from the target position;
wherein the customization comprises at least one of:
carrying out region division and/or combination on the map;
setting a cleaning sequence of each area in the map;
and setting the cleaning mode of each area in the map.
In the above solution, when the number of maps included in the map set is at least two; any at least two maps correspond to the same or different house types;
any at least two maps correspond to the same or different floors;
any at least two of the maps customize the same or different configurations; the configuration comprises: cleaning area, cleaning sequence, cleaning mode.
The embodiment of the invention provides a sweeping device, which is applied to cleaning equipment and comprises: the device comprises a first processing module and a second processing module; wherein the content of the first and second substances,
the first processing module is used for acquiring surrounding environment information; positioning according to the surrounding environment information and a target map, and determining the target position of the target map;
and the second processing module is used for starting cleaning from the target position.
In the above aspect, the cleaning apparatus includes: a map set; the map set includes: at least one map; each of the at least one map comprises: at least one reference location and reference environmental information surrounding each of the reference locations;
the first processing module is also used for receiving a selected instruction; determining the target map from the at least one map according to the selected instruction;
correspondingly, the first processing module is specifically configured to perform matching according to the ambient environment information and reference environment information around each of the at least one reference location included in the target map, and determine a reference location corresponding to the reference environment information matched with the ambient environment information as the target location.
In the foregoing solution, in response to a situation that the target map is determined based on a selected instruction during a reservation operation, before the positioning is performed according to the ambient environment information and the target map, the first processing module is further configured to perform matching according to the ambient environment information and reference environment information around each of at least one reference position included in the target map;
and when the ambient environment information is determined not to be matched with the reference environment information, not cleaning and/or performing recharging operation.
In the above solution, the first processing module is configured to perform matching according to the ambient environment information and reference environment information around each of at least one reference location included in the target map;
when it is determined that the ambient environment information is not matched with reference environment information, matching the ambient environment information with reference environment information around each reference position included in other maps except the target map, determining a reference position corresponding to the reference environment information matched with the ambient environment information as the target position, and determining a map corresponding to the reference environment information matched with the ambient environment information as the target map.
In the above aspect, the cleaning apparatus includes: a map set; the map set includes: at least one map; each of the at least one map comprises: at least one reference location and reference environmental information surrounding each of the reference locations;
the first processing module is configured to perform matching according to the ambient environment information and reference environment information around each reference location included in each map, determine a reference location corresponding to the reference environment information matched with the ambient environment information as the target location, and determine a map corresponding to the reference environment information matched with the ambient environment information as the target map;
correspondingly, the second processing module is configured to perform sweeping from the target position according to the target map.
In the above scheme, the apparatus further comprises: a third processing module for customizing each of the at least one map; the at least one map includes: the target map;
correspondingly, the second processing module is used for cleaning from the target position according to the customized map;
wherein the customization comprises at least one of:
carrying out region division and/or combination on the map;
setting a cleaning sequence of each area in the map;
and setting the cleaning mode of each area in the map.
In the above scheme, when the number of the maps included in the map set is at least two; any at least two maps correspond to the same or different house types;
any at least two maps correspond to the same or different floors;
any at least two of the maps customize the same or different configurations; the configuration comprises the following steps: cleaning area, cleaning sequence, cleaning mode.
An embodiment of the present invention further provides a cleaning apparatus, including: a processor and a memory for storing a computer program capable of running on the processor; wherein the processor is configured to execute the steps of any one of the above cleaning methods when the computer program is executed.
Embodiments of the present invention further provide a computer storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the steps of the cleaning method described in any one of the above are implemented.
The cleaning method, the cleaning device and the computer storage medium provided by the embodiment of the invention comprise the following steps: acquiring surrounding environment information; positioning according to the surrounding environment information and a target map, and determining a target position of the target map; cleaning is started from the target position. By adopting the technical scheme of the embodiment of the invention, the relocation can be rapidly carried out in the target map, and the positioning efficiency and the positioning accuracy are improved.
Drawings
FIG. 1 is a schematic flow chart of a cleaning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a multi-floor and multi-family map according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another cleaning apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the embodiments of the present application better understood, the technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments.
The terms "first," "second," and "third," etc. in the description and claims of the present application and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprises" and "comprising," as well as any variations thereof, are intended to cover a non-exclusive inclusion, such that a list of steps or elements is included. A method, system, article, or apparatus is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, system, article, or apparatus.
In various embodiments of the invention, a cleaning device obtains ambient environment information; positioning according to the surrounding environment information and a target map, and determining the target position of the target map; cleaning is started from the target position.
The invention is described in further detail below with reference to the drawings and specific embodiments.
Fig. 1 is a schematic flow chart of a cleaning method according to an embodiment of the present invention; as shown in fig. 1, applied to a cleaning apparatus, the method includes:
102, positioning according to the surrounding environment information and a target map, and determining a target position of the target map;
and 103, cleaning from the target position.
Here, the method may be applied to a cleaning device; for example: a sweeping robot, an intelligent sweeper, a sweeper and the like.
The cleaning device can be connected with at least one terminal (the terminal can be a mobile phone, a tablet computer, a personal computer, a notebook computer and other terminal devices which can be accessed to a network) held by a user, and the terminal can receive map related information collected and sent by the cleaning device; correspondingly, the terminal can also send an instruction to the cleaning device to perform corresponding control operation on the cleaning device.
Here, the cleaning device has an environment acquisition module, such as a radar; ambient information can be acquired by the radar.
In practical application, during positioning, the cleaning device can be set to preferentially use the currently selected map, and based on this characteristic, the user can specify to sweep according to a certain map, that is, set a target map, and specify a dedicated sweeping configuration for each area in the target map, for example: suction, water speed, number of cleanings, etc.
That is, the user may choose to pre-select the respective map, i.e. the cleaning device determines the target map, so that the cleaning device only needs to determine its own position in the current target map.
Based on this, in an embodiment, the cleaning apparatus comprises: a map set; the map set includes: at least one map; each of the at least one map comprises: at least one reference location and reference environmental information surrounding each of the reference locations;
the method further comprises one of:
receiving a selected instruction; determining the target map from the at least one map according to the selected instruction;
correspondingly, the positioning according to the surrounding environment information and the target map includes:
and matching according to the ambient environment information and the reference environment information around each reference position in at least one reference position included in the target map, and determining the reference position corresponding to the reference environment information matched with the ambient environment information as the target position.
Wherein the selected instruction can be determined by the user through the man-machine interaction interface operation of the cleaning device; or, the cleaning device is connected with a terminal (such as a mobile phone, a tablet computer and the like), and a user generates a selected instruction and sends the selected instruction to the cleaning device after the terminal is operated.
The surrounding environment information can be acquired by a radar of the cleaning equipment based on the current position of the cleaning equipment; for example, surrounding objects (charging piles, shelters, etc.) are acquired.
The reference environment information around each of the reference locations in each map reflects the environment around the corresponding reference location, such as surrounding objects (charging posts, obstructions, etc.).
Therefore, the reference position corresponding to the reference environment information matched with the surrounding environment information can be determined by whether the surrounding objects are matched.
In practical application, the cleaning device is provided with an appointment scheme, namely a user can select to clean a certain map at a certain time point later; there may be situations where the user has an erroneous map selection.
Based on this, in an embodiment, corresponding to the situation that the target map is determined based on the selected instruction at the time of the reservation operation, before the positioning according to the surrounding environment information and the target map, the method further includes:
matching according to the ambient environment information and reference environment information around each reference position in at least one reference position included in the target map;
when the ambient environment information is determined not to be matched with the reference environment information, cleaning and/or recharging operation is not carried out;
and when the ambient environment information is determined to be matched with the reference environment information, determining a reference position corresponding to the reference environment information matched with the ambient environment information as the target position, and further executing cleaning.
Here, in the reservation scenario, the cleaning and/or recharging operations are not performed when the reference environmental information is not matched, considering that the general user is not near the cleaning device at this time, and in order to avoid other problems caused by a cleaning error (such as some fields are not usable and the cleaning device is mistakenly mopped with water), the cleaning and/or recharging operations are not performed. In addition, the cleaning apparatus may also send an error warning to a terminal held by the user at this time to inform the user that cleaning is not performed.
In practical application, the user may select the target map incorrectly, that is, the cleaning device cannot be matched with the corresponding target position, and at this time, the cleaning device may be matched with other maps by itself to determine the position of the cleaning device.
Based on this, in an embodiment, the positioning according to the surrounding environment information and the target map further includes:
matching according to the ambient environment information and the reference environment information around each reference position in at least one reference position included in the target map;
when it is determined that the ambient environment information is not matched with reference environment information, matching the ambient environment information with reference environment information around each reference position included in other maps except the target map, determining a reference position corresponding to the reference environment information matched with the ambient environment information as the target position, and determining a map corresponding to the reference environment information matched with the ambient environment information as the target map.
That is, in the relocation process, if the cleaning device fails to determine that the cleaning device is matched with the target map, the cleaning device may further match with other maps, specifically, the surrounding environment information is matched with the reference environment information around each of the reference positions included in other maps except the target map, so as to determine which map the cleaning device is currently located and which specific position in the map.
In practical application, in order to reduce user operation, the target map and the target position can be matched by the cleaning equipment, and the convenience of user operation is improved.
In the event that the user does not select a target map, the cleaning apparatus can be repositioned at multiple locations using multiple maps until successful. In the relocation process, all maps can be loaded, and through multi-thread concurrent processing, the success rate and the efficiency of relocation are greatly improved.
Based on this, in an embodiment, the cleaning apparatus comprises: a map set; the map set includes: at least one map; each of the at least one map comprises: at least one reference location and reference environmental information surrounding each of the reference locations;
the positioning according to the surrounding environment information and the target map comprises:
according to the matching between the ambient environment information and the reference environment information around each reference position included in each map, determining a reference position corresponding to the reference environment information matched with the ambient environment information as the target position, and determining a map corresponding to the reference environment information matched with the ambient environment information as the target map;
correspondingly, the cleaning from the target position comprises:
and cleaning according to the target map from the target position.
In practical application, the map customizing function is provided in consideration of the fact that the user cannot customize an independent cleaning mode for each floor or each room, inconvenience is brought to user operation, so that cleaning efficiency and convenience are improved, and user experience is improved.
Based on this, in an embodiment, the method further comprises:
customizing each of the at least one map; the at least one map includes: the target map;
correspondingly, the cleaning from the target position comprises:
cleaning according to a customized map from the target position;
wherein the customization includes at least one of:
carrying out regional division and/or combination on the map;
setting a cleaning sequence of each area in the map;
and setting the cleaning mode of each area in the map.
The cleaning parameters can be customized according to the room depth for each map, and various common requirements of users are met, namely, multiple groups of cleaning parameters can be customized for each map, namely, one map can have multiple cleaning sequences and cleaning modes.
In an embodiment, when the number of the maps included in the map set is at least two, any at least two maps may correspond to the same or different house types;
any at least two of the maps may correspond to the same or different floors;
any at least two of the maps may be customized to the same or different configurations; the configuration comprises the following steps: cleaning area, cleaning sequence, cleaning mode.
Specifically, each map created and stored in the cleaning device may support separate setting of exclusion zones, virtual walls, charging piles, room-dividing maps, and the like, as shown in fig. 2.
For the same room or space, after a plurality of maps are created, a plurality of sets of parameters can be configured for each map individually, so that various requirements of users are met, namely, one map can be provided with a plurality of sets of parameters, such as a plurality of sets of cleaning sequences, and the cleaning sequence and the cleaning mode of each cleaning area can be set. The cleaning mode comprises the following steps: cleaning modes (e.g., no mopping, sweeping and mopping), cleaning times (1, N), cleaning configurations (e.g., suction alone, water speed, etc.), and the like.
Aiming at the customized cleaning of a specific area of a map, the operation steps are as follows:
the cleaning equipment can obtain a complete map after completing one-time complete sweeping, and the cleaning equipment can be automatically divided into a plurality of areas according to the obtained map.
The cleaning equipment sends the map to a terminal held by a user, and the user can divide or combine the divided areas for the second time through the terminal, namely further area customization is carried out on the map.
After the area customization is completed, a user specifies a cleaning sequence and a cleaning mode for each area according to the customized area through a terminal.
In an embodiment, the method further comprises:
sending the map selection and the area customization of the user to a cloud server;
and receiving an optimal cleaning scheme which is determined and automatically recommended by the cloud server after the cloud server uses the big data for analysis.
Therefore, user operation can be reduced, and user experience is improved.
In an embodiment, the cleaning device and/or the terminal to which the cleaning device is connected has a map management function, and the map management function provides a plurality of map storages (for example, when a multi-house switch in the map management function is turned on, a table (or a card slot, a card slot in a functional sense, and different card slots for storing different maps) corresponding to a plurality of maps (also understood as maps corresponding to a plurality of houses and different floors) in the cleaning device is used for storing the maps.
When the method is applied, the method for storing the map in the form (or the card slot) comprises the following steps: automatic synchronization, manual synchronization.
For example, the case of automatic synchronization may include, but is not limited to:
the form (or the card slot) does not store a map, when cleaning equipment starts cleaning, one-time complete cleaning is completed to obtain a certain map, and the map is automatically stored in an empty form (or an empty card slot) in the form (or the card slot);
the form (or the card slot) is stored with one or more maps, and if a user wants to create other maps and store maps for other rooms, the cleaning device completes one complete cleaning for other rooms to obtain the corresponding maps and automatically stores the empty forms (or empty slots) in the form (or the card slot).
The case of manual synchronization may include, but is not limited to:
the map is stored in corresponding slot positions, each slot position corresponds to different floors or house types or rooms (such as marked as a first floor, a second floor, a house type A, a house type B, a room 001, a room 002 and the like), and a user can automatically associate the map with other slot positions through a terminal; such as: map 1 is associated with room 001, but if the user finds an error or map 1 has changed, the newly acquired map may be associated with room 001;
the map and the slot positions are not associated, or the map is failed to be stored in the corresponding slot positions, and a user can manually store the map in other slot positions through the terminal, mark house types or rooms or floors and store the map in other slot positions.
By the method provided by the embodiment of the invention, the cleaning equipment can determine the position of the cleaning equipment relative to the target map, namely the target position, based on the matching of the ambient environment information and the target map;
positioning can be carried out on the condition that multiple floors are arranged differently (such as different house types or different decorations) on each floor, namely maps are different; positioning can also be carried out on multiple floors with the same arrangement of each floor (such as the same house type and the same decoration);
the method provided by the embodiment of the invention improves the success rate and efficiency of map relocation and the cleaning efficiency; moreover, one cleaning device can support a plurality of floors, and the reusability of the cleaning device is increased.
Specific application examples are provided below.
The method provided by the embodiment of the invention can be applied to cleaning equipment, such as a sweeper;
the sweeper can sweep environments with different house types in rooms with multiple floors and each floor, and is specifically operated as follows:
after the function of creating the map in the map management function is started, the sweeper finishes one-time complete cleaning on one floor (or a house type room) to obtain the map of the floor (or the house type) room; when a map needs to be created again in another floor (or another house type), starting cleaning and completing one complete cleaning again to obtain a map of a room of another floor (or another house type); if rooms on other floors (or other house types) exist and so on, maps of a plurality of floors or house types are stored in the sweeper.
When the method is applied, the sweeper is moved to a certain house type to start sweeping, a corresponding target map is determined according to the mode shown in figure 1, and the corresponding parameters of the map are automatically loaded, wherein the method comprises the following steps: virtual walls, restricted areas, sub-rooms and charging piles (if any) configured previously.
The sweeper can also sweep the environment with multiple floors and the same house type in a room of each floor, and the specific operation is as follows:
after the function of creating the map in the map management function is started, the number of floors or house types is determined under the condition of the same house type, cleaning is started, one-time complete cleaning is completed again, and then the same number of maps as the number of the floors or the house types are stored in the sweeper.
Different parameters can be formulated for each map respectively, such as region division and/or combination of the maps; setting a cleaning sequence of each area in the map; and setting the cleaning mode of each area in the map.
During the application, move the sweeper to a certain house type and start cleaning, the sweeper can automatically adopt the map that the previous adopted to clean, namely the sweeper preferentially uses the map that the previous adopted when relocating, and after the map that the previous adopted was applied is successfully matched, the parameters configured before are automatically loaded, if: virtual walls, restricted areas, sub-rooms, and charging piles (if any), etc.
Of course, it is also possible to determine a corresponding target map according to the manner shown in fig. 1, and automatically load the parameters corresponding to the map, including: virtual walls, restricted areas, sub-rooms and charging piles (if any) configured previously.
In practical application, when a user selects a certain house type graph, the house type graph can be immediately associated with a corresponding map, the map of the house type graph is used as a target map, namely the house type graph has the corresponding map, and the target map is selected by selecting the house type graph; for example, referring to fig. 2, assuming that the user selects the user type 1, the map 1 associated with the user type 1 is directly used as the target map; if the user selects the house type 3, the map 3 associated with the house type 3 is directly used as the target map.
Of course, if the user selects the house type 2, but the cleaning device finds that the environmental information of any position of the map 2 associated with the house type 2 cannot be matched according to the matching of the surrounding environmental information, the cleaning device is matched with the maps associated with other house types, and if a certain position of the house type 3 is matched, the map 3 associated with the house type 3 is taken as a target map, and the matched position in the map 3 is taken as a target position.
FIG. 3 is a schematic diagram illustrating the results of a cleaning apparatus according to an embodiment of the present invention; the device is applied to a cleaning apparatus, as shown in fig. 3, and comprises: the device comprises a first processing module and a second processing module;
the first processing module is used for acquiring surrounding environment information; positioning according to the surrounding environment information and a target map, and determining the target position of the target map;
and the second processing module is used for starting cleaning from the target position.
Specifically, the cleaning apparatus includes: a map set; the map set includes: at least one map; each of the at least one map comprises: at least one reference location and reference environmental information surrounding each of the reference locations;
the first processing module is also used for receiving a selected instruction; determining the target map from the at least one map according to the selected instruction;
correspondingly, the first processing module is specifically configured to perform matching according to the ambient environment information and reference environment information around each of the at least one reference location included in the target map, and determine a reference location corresponding to the reference environment information matched with the ambient environment information as the target location.
Specifically, in response to a situation that the target map is determined based on a selected instruction at the time of a reservation operation, before the positioning is performed according to the ambient environment information and the target map, the first processing module is further configured to perform matching according to the ambient environment information and reference environment information around each of at least one reference position included in the target map;
and when the ambient environment information is determined not to be matched with the reference environment information, not cleaning and/or performing recharging operation.
Specifically, the first processing module is configured to perform matching according to the ambient environment information and reference environment information around each of at least one reference location included in the target map;
when it is determined that the ambient environment information is not matched with reference environment information, matching the ambient environment information with reference environment information around each reference position included in other maps except the target map, determining a reference position corresponding to the reference environment information matched with the ambient environment information as the target position, and determining a map corresponding to the reference environment information matched with the ambient environment information as the target map.
Specifically, the cleaning apparatus includes: a map set; the map set includes: at least one map; each of the at least one map comprises: at least one reference location and reference environmental information surrounding each of the reference locations;
the first processing module is configured to match, according to the ambient environment information and reference environment information around each reference location included in each map, the reference location corresponding to the reference environment information matched with the ambient environment information is determined as the target location, and a map corresponding to the reference environment information matched with the ambient environment information is determined as the target map;
correspondingly, the second processing module is configured to perform sweeping from the target position according to the target map.
Specifically, the apparatus further comprises: a third processing module for customizing each of the at least one map; the at least one map includes: the target map;
correspondingly, the second processing module is used for cleaning from the target position according to the customized map;
wherein the customization includes at least one of:
carrying out region division and/or combination on the map;
setting a cleaning sequence of each area in the map;
and setting the cleaning mode of each area in the map.
Specifically, the map set includes at least two maps; any at least two maps correspond to the same or different house types;
any at least two maps correspond to the same or different floors;
any at least two of the maps customize the same or different configurations; the configuration comprises the following steps: cleaning area, cleaning sequence, cleaning mode.
It should be noted that: in the cleaning apparatus provided in the above embodiment, when implementing the corresponding cleaning method, only the division of the above program modules is taken as an example, and in practical applications, the above processing distribution may be completed by different program modules according to needs, that is, the internal structure of the server is divided into different program modules to complete all or part of the above-described processing. In addition, the apparatus provided in the above embodiments and the embodiments of the corresponding methods belong to the same concept, and specific implementation processes thereof are described in the method embodiments, and are not described herein again.
FIG. 4 is a schematic diagram showing the result of another sweeping apparatus provided in the embodiment of the present invention; as shown in fig. 4, the apparatus 40 is applied to a server, and includes: a processor 401 and a memory 402 for storing computer programs operable on said processor; wherein the processor 401 is configured to, when running the computer program, execute: acquiring surrounding environment information; positioning according to the surrounding environment information and a target map, and determining the target position of the target map; cleaning is started from the target position.
It should be noted that: the embodiment of the cleaning device and the embodiment of the cleaning method provided by the above embodiments belong to the same concept, and the specific implementation process thereof is described in the embodiment of the method, which is not described herein again.
In practical applications, the apparatus 40 may further include: at least one network interface 403. The various components in device 40 are coupled together by a bus system 404. It is understood that the bus system 404 is used to enable connected communication between these components. The bus system 404 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 404 in FIG. 4. The number of the processors 401 may be at least one. The network interface 403 is used for wired or wireless communication between the apparatus 40 and other devices.
The method disclosed by the embodiment of the invention can be applied to the processor 401, or implemented by the processor 401. The processor 401 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 401. The Processor 401 described above may be a general purpose Processor, a DiGital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. Processor 401 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 402, and the processor 401 reads the information in the memory 402 and performs the steps of the aforementioned methods in conjunction with its hardware.
In an exemplary embodiment, the apparatus 40 may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, programmable Logic Devices (PLDs), complex Programmable Logic Devices (CPLDs), field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the foregoing methods.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where when the computer program is executed by a processor, the computer program executes: acquiring surrounding environment information; positioning according to the surrounding environment information and a target map, and determining a target position of the target map; cleaning is started from the target position.
The method for executing the computer program when being executed by the processor and the cleaning method embodiment provided by the above embodiments belong to the same concept, and the specific implementation process thereof is detailed in the method embodiment, and will not be described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. 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 in 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, that is, may be located in one place, or may be 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 the functional units in the embodiments of the present invention 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 implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A sweeping method, applied to a cleaning apparatus, the method comprising:
acquiring surrounding environment information;
positioning according to the surrounding environment information and a target map, and determining the target position of the target map;
cleaning is started from the target position.
2. The method of claim 1, wherein the cleaning apparatus comprises: a map set; the map set includes: at least one map; each of the at least one map comprises: at least one reference location and reference environmental information surrounding each of the reference locations;
the method further comprises the following steps: receiving a selected instruction; determining the target map from the at least one map according to the selected instruction;
correspondingly, the positioning according to the surrounding environment information and the target map includes:
and matching according to the ambient environment information and the reference environment information around each reference position in at least one reference position included in the target map, and determining the reference position corresponding to the reference environment information matched with the ambient environment information as the target position.
3. The method of claim 2, wherein the method further comprises, prior to the locating based on the ambient information and the target map, in response to the target map being determined based on the selected instruction at the time of the reservation operation:
matching according to the ambient environment information and the reference environment information around each reference position in at least one reference position included in the target map;
and when the ambient environment information is determined not to be matched with the reference environment information, not cleaning and/or performing recharging operation.
4. The method of claim 2, wherein the locating based on the ambient information and a target map further comprises:
matching according to the ambient environment information and reference environment information around each reference position in at least one reference position included in the target map;
when it is determined that the ambient environment information is not matched with reference environment information, matching the ambient environment information with reference environment information around each reference position included in other maps except the target map, determining a reference position corresponding to the reference environment information matched with the ambient environment information as the target position, and determining a map corresponding to the reference environment information matched with the ambient environment information as the target map.
5. The method of claim 1, wherein the cleaning apparatus comprises: a map set; the map set includes: at least one map; each of the at least one map comprises: at least one reference location and reference environmental information surrounding each of the reference locations;
the positioning according to the surrounding environment information and the target map includes:
according to the matching between the ambient environment information and the reference environment information around each reference position included in each map, determining a reference position corresponding to the reference environment information matched with the ambient environment information as the target position, and determining a map corresponding to the reference environment information matched with the ambient environment information as the target map;
correspondingly, the cleaning from the target position comprises:
and cleaning according to the target map from the target position.
6. The method according to any one of claims 1 to 5, further comprising:
customizing each of the at least one map; the at least one map includes: the target map;
correspondingly, the cleaning from the target position comprises:
cleaning according to a customized map from the target position;
wherein the customization includes at least one of:
carrying out regional division and/or combination on the map;
setting a cleaning sequence of each area in the map;
and setting the cleaning mode of each area in the map.
7. The method according to any one of claims 2 to 6, wherein the map set includes at least two maps; any at least two maps correspond to the same or different house types;
any at least two maps correspond to the same or different floors;
any at least two of the maps customize the same or different configurations; the configuration comprises the following steps: cleaning area, cleaning sequence and cleaning mode.
8. A sweeping device for use in a cleaning apparatus, the device comprising: the device comprises a first processing module and a second processing module; wherein the content of the first and second substances,
the first processing module is used for acquiring surrounding environment information; positioning according to the surrounding environment information and a target map, and determining the target position of the target map;
and the second processing module is used for starting cleaning from the target position.
9. A sweeping device, characterized in that the device comprises: a processor and a memory for storing a computer program capable of running on the processor; wherein the content of the first and second substances,
the processor is adapted to perform the steps of the method of any one of claims 1 to 7 when running the computer program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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