CN115844295A

CN115844295A - Ground cleaning method and device, electronic equipment and readable medium

Info

Publication number: CN115844295A
Application number: CN202211720373.7A
Authority: CN
Inventors: 李玲; 支涛
Original assignee: Beijing Yunji Technology Co Ltd
Current assignee: Beijing Yunji Technology Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-03-28

Abstract

The disclosure relates to the technical field of floor cleaning, and provides a floor cleaning method, a floor cleaning device, electronic equipment and a readable medium. The method comprises the following steps: determining a cleaning type of a cleaning area based on the slam map; controlling a sweeping robot to sweep the sweeping area based on the sweeping type, and determining a swept area; determining whether an uncleaned area exists based on the slam map and the cleaned area; and controlling the sweeping robot to sweep the non-cleaned area when the non-cleaned area is determined to exist. The method can automatically start different cleaning functions based on the cleaning type of the indoor ground, improves the cleaning efficiency of the sweeping robot, and improves the experience of a user.

Description

Ground cleaning method and device, electronic equipment and readable medium

Technical Field

The present disclosure relates to the field of floor cleaning technologies, and in particular, to a floor cleaning method and apparatus, an electronic device, and a readable medium.

Background

At present, with the development of intelligent electric appliances, the intelligent floor sweeping robot gradually walks into each household due to strong cleaning capability and convenient use. However, due to the difference of the ground environments in the family and the continuous change of the ground environments, the current sweeping robot cannot identify the sweeping type of the sweeping area and correspondingly calls different sweeping modes, so that the sweeping efficiency of the sweeping robot and the experience of a user are greatly reduced, and the problem to be solved at present is solved.

Disclosure of Invention

In view of the above, embodiments of the present disclosure provide a ground cleaning method, apparatus, electronic device and readable medium to solve the problems in the prior art.

In a first aspect of the disclosed embodiments, there is provided a floor cleaning method, comprising: determining a cleaning type of a cleaning area based on the slam map; controlling a sweeping robot to sweep the sweeping area based on the sweeping type, and determining a swept area; determining whether an uncleaned area exists based on the slam map and the cleaned area; and controlling the sweeping robot to sweep the non-cleaned area when the non-cleaned area is determined to exist.

In a second aspect of embodiments of the present disclosure, there is provided a floor cleaning device comprising: a first determination unit configured to determine a cleaning type of a cleaning area based on the slam map; a first cleaning unit configured to control a cleaning robot to clean the cleaning area based on the cleaning type and determine a cleaned area; a second determination unit configured to determine whether there is an uncleaned area based on the slam map and the cleaned area; and a second cleaning unit configured to control the cleaning robot to clean an uncleaned area when it is determined that the uncleaned area exists.

In a third aspect of the embodiments of the present disclosure, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.

In a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor, implements the steps of the above-mentioned method.

Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: firstly, determining the cleaning type of a cleaning area based on a slam map; then, based on the cleaning type, controlling a sweeping robot to clean the cleaning area, and determining the cleaned area; then, determining whether an uncleaned area exists or not based on the slam map and the cleaned area; and finally, controlling the sweeping robot to sweep the non-cleaned area when the non-cleaned area is determined to exist. The method provided by the disclosure can automatically start different cleaning functions based on the cleaning type of the indoor ground, improves the cleaning efficiency of the sweeping robot, and improves the experience of a user.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.

FIG. 1 is a schematic illustration of one application scenario of a floor cleaning method according to some embodiments of the present disclosure;

FIG. 2 is a flow diagram of some embodiments of a floor cleaning method according to the present disclosure;

FIG. 3 is a schematic structural view of some embodiments of a floor cleaning device according to the present disclosure;

FIG. 4 is a schematic block diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and the embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.

It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

FIG. 1 is a schematic illustration of one application scenario of a floor cleaning method according to some embodiments of the present disclosure.

In the application scenario of fig. 1, first, based on the slam map, the computing device 101 may determine a cleaning type 102 for the cleaning area. Then, based on the cleaning type 102, the computing device 101 may control the cleaning robot to clean the cleaning area, and determine the cleaned area 103. Thereafter, based on the slam map and the cleaned area 103, the computing device 101 can determine whether an uncleaned area 104 exists. Finally, in the case where it is determined that there is an uncleaned area 104, the cleaning robot is controlled to clean the uncleaned area 104, as indicated by reference numeral 105.

The computing device 101 may be hardware or software. When the computing device 101 is hardware, it may be implemented as a distributed cluster composed of a plurality of servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device 101 is embodied as software, it may be installed in the hardware devices listed above. It may be implemented, for example, as multiple software or software modules to provide distributed services, or as a single software or software module. And is not particularly limited herein.

It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices, as implementation needs dictate.

Fig. 2 is a flow chart of some embodiments of a floor cleaning method according to the present disclosure. The floor cleaning method of fig. 2 may be performed by the computing device 101 of fig. 1. As shown in fig. 2, the floor cleaning method includes:

step S201, based on the slam map, determining the cleaning type of the cleaning area.

In some embodiments, based on the slam map, the performing agent of the floor cleaning method (e.g., computing device 101 shown in fig. 1) can determine the type of sweep for the swept area by:

in the first step, the executive agent may obtain a slam map. Wherein the slam map is constructed based on slam (synchronous positioning and mapping) technology. As an example, the execution main body may adopt a visual slam technology, construct a slam map from images acquired by a camera device or other image sensors preset in a body of the sweeping robot, and combine the images with information uploaded by other sensors, so as to realize positioning of the sweeping robot on the slam map, where the information uploaded by the other sensors includes, but is not limited to, inertial Measurement Unit (IMU) information for measuring physical quantities such as speed and direction, and the like.

And secondly, establishing a cleaning task based on the slam map, wherein the execution main body can calibrate at least one cleaning area. Specifically, a cleaning task is newly established, and a cleaning area of the current cleaning task is calibrated based on the slam map.

In the third step, the execution body may set a cleaning type to each of the at least one cleaning zone. As an example, each cleaning area or each small range in the cleaning area in the current cleaning task is identified, and the cleaning function started by the cleaning robot is different due to different cleaning types, so that the cleaning type needs to be set for each cleaning area or each small range in the cleaning area, so as to control the cleaning robot to start different functions when cleaning is performed.

Fourth, the execution body may set a cleaning route based on the at least one cleaning region and the cleaning type.

In some alternative implementations of some embodiments, the above sweeping types include floor types and carpet types.

In some optional implementations of some embodiments, based on the at least one cleaning zone and the cleaning type, the executing body may set the cleaning route by the following sub-steps:

in the first sub-step, the executing body can connect the cleaning areas with the same cleaning type, and the number of the connected areas is obtained. As an example, a cleaning area or a small area where cleaning types are floor types and are communicated with each other is taken as one communication area; the cleaning type is a carpet type and the cleaning areas or small areas which are communicated with each other are used as a communicated area, when only one cleaning type exists in the cleaning area, only one communicated area is obtained, the number of the communicated areas is 1, when two cleaning types exist in the cleaning area, at least two communicated areas are obtained, and the number of the communicated areas is larger than 1.

And a second substep, when the number of the connected areas is 1, the execution main body can take a charging pile of the sweeping robot as a starting point, and obtain a point on the boundary of the connected areas, which is adjacent to the charging pile in distance, as a starting point of the connected areas. For example, the point adjacent to the charging pile on the boundary of the connected region may be selected as the point closest to the charging pile on the boundary of the connected region.

And a third substep, wherein the executing body can set a cleaning route based on the starting point. As an example, based on the start point, the execution main body may set a cleaning route from outside to inside with the start point as a starting point, and the cleaning route may be set under a condition that the cleaning robot can clean all of the connected region.

And a fourth substep, when the number of connected regions is greater than 1, the execution subject may sort the connected regions to obtain a connected region sequence. As an example, a point closest to the charging pile on the boundary of each connected region may be obtained, and each connected region may be sorted according to the distance between the point and the charging pile to obtain a connected region sequence.

And a fifth substep, wherein the execution main body can use a charging pile of the sweeping robot as a starting point, and use a point, which is closest to the charging pile, on a boundary of a first connected region in the connected region sequence as the first starting point.

In the sixth substep, the execution body may use a midpoint of a coincidence boundary between a second connected component and the first connected component in the sequence of connected components as a second starting point. Further, the execution body may use a midpoint of a coincidence boundary between each subsequent connected region in the sequence of connected regions and the previous connected region in turn as a start point of each subsequent connected region.

The seventh substep, the executing body may set a cleaning route based on the first starting point and the second starting point. Specifically, based on the first start point location, the second start point location, and the subsequent start point location of each communication area as the start point of the corresponding communication area, a cleaning route is set from outside to inside, and the cleaning route setting condition is that the cleaning robot can clean all the corresponding communication areas.

And step S202, controlling the sweeping robot to sweep the sweeping area based on the sweeping type, and determining the swept area.

In some embodiments, based on the cleaning type, the execution main body may control the cleaning robot to clean the cleaning area to determine the cleaned area by:

first, when the cleaning type of the cleaning area is a floor type, the execution body may control the sweeping robot to start suction, washing, and mopping functions based on the cleaning route, and clean the cleaning area.

And a second step of controlling the sweeping robot to start a sucking and mopping function based on the cleaning route to clean the cleaning area when the cleaning type of the cleaning area is a carpet type.

And thirdly, when the cleaning is determined to be finished, the execution body can determine the cleaned area.

In some optional implementations of some embodiments, after step S202, the method further includes the following steps:

in the first step, in the cleaning process, when the cleaning robot does not reach the start point, the execution main body may control the cleaning robot to retry. Specifically, in the cleaning process, when the sweeping robot cannot reach the start point for various reasons, the execution main body may control the sweeping robot to retry.

And secondly, if the retry is unsuccessful and the number of the connected areas is 1, the execution main body can control the sweeping robot to return to the charging pile. Further, if the retry is unsuccessful and the number of the connected areas is 1, the execution main body can control the sweeping robot to return to the charging pile; if the retry is unsuccessful and the number of the connected areas is larger than 1, the execution main body can control the sweeping robot to skip the connected area corresponding to the starting point location, continue to sweep the next connected area, and control the sweeping robot to return to the charging pile when the connected area corresponding to the starting point location is the last connected area.

And step S203, determining whether an uncleaned area exists or not based on the slam map and the cleaned area.

In some embodiments, the executive may determine whether an uncleaned area exists based on the slam map and the cleaned area.

And a step S204 of controlling the sweeping robot to sweep the non-cleaned area under the condition that the non-cleaned area is determined to exist.

In some embodiments, the execution body may control the sweeping robot to sweep the non-cleaning region in a case where it is determined that the non-cleaning region exists. Further, under the condition that it is determined that no region which is not cleaned exists, the execution main body can control the sweeping robot to return to a charging pile and record that the current cleaning task is completed; when the cleaning area is determined to exist, the execution main body can control the sweeping robot to clean the non-cleaned area, when the cleaning is unsuccessful, the non-cleaned area is recorded, meanwhile, the current cleaning task is not completed, and when the cleaning is successful, the execution main body can control the sweeping robot to return to the charging pile, and the current cleaning task is completed.

In some optional implementations of some embodiments, the method further includes:

first, in a preset time period, when a cleaning area calibrated based on the slam map is the same as a cleaning area of an adjacent historical cleaning task, the execution main body can acquire the completion condition of the adjacent historical cleaning task. As an example, the preset time period may be 10h, 24h, and the like, which is not limited herein.

And a second step of acquiring a history non-cleaning area of the adjacent history cleaning task when the adjacent history cleaning task is not completed.

And thirdly, based on the adjacent historical cleaning tasks, the execution main body can control the cleaning robot to clean the historical non-cleaned area.

And fourthly, when the adjacent historical cleaning task is completed, the execution main body can control the cleaning robot to clean again based on the adjacent historical cleaning task. Specifically, since the cleaning area calibrated by the slam map is the same as the cleaning area of the adjacent historical cleaning task, the cleaning type does not need to be determined again, and when the adjacent historical cleaning task is completed, the execution main body can control the cleaning robot to clean again based on the adjacent historical cleaning task.

All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.

The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.

Figure 3 is a schematic structural view of some embodiments of a floor cleaning device according to the present disclosure. As shown in fig. 3, the floor cleaning device comprises: a first determination unit 301, a first cleaning unit 302, a second determination unit 303, and a second cleaning unit 304. Wherein the first determination unit 301 is configured to determine a cleaning type of the cleaning area based on the slam map; a first cleaning unit 302 configured to control a cleaning robot to clean the cleaning area based on the cleaning type and determine a cleaned area; a second determining unit 303 configured to determine whether there is an uncleaned area based on the slam map and the cleaned area; and a second cleaning unit 304 configured to control the cleaning robot to clean the non-cleaned area when it is determined that the non-cleaned area exists.

In some optional implementations of some embodiments, the first determining unit 301 of the floor cleaning device is further configured to: acquiring a slam map; establishing a cleaning task based on the slam map, and calibrating at least one cleaning area; setting a sweeping type for each sweeping area in the at least one sweeping area; a cleaning route is set based on the at least one cleaning area and the cleaning type.

In some optional implementations of some embodiments, the setting a cleaning route based on the at least one cleaning area and the cleaning type includes: communicating the cleaning areas with the same cleaning type to obtain the number of the communicated areas; when the number of the connected areas is 1, taking a charging pile of the sweeping robot as a starting point, and acquiring a point on the boundary of the connected areas, which is adjacent to the charging pile in distance, as a starting point of the connected areas; setting a cleaning route based on the starting point position; when the number of the connected regions is more than 1, sequencing the connected regions to obtain a connected region sequence; taking a charging pile of the sweeping robot as a starting point, and taking a point which is closest to the charging pile on the boundary of a first connected region in the connected region sequence as a first starting point position; taking the middle point of the superposition boundary of a second communication region and the first communication region in the communication region sequence as a second starting point; and setting a cleaning route based on the first starting point position and the second starting point position.

In some optional implementations of some embodiments, the first sweeping unit 302 of the floor cleaning apparatus is further configured to: when the cleaning type of the cleaning area is a floor type, controlling the sweeping robot to start sucking, washing and mopping functions based on the cleaning route to clean the cleaning area; when the cleaning type of the cleaning area is a carpet type, controlling the sweeping robot to start a sucking and dragging function based on the cleaning route to clean the cleaning area; and when the cleaning is determined to be finished, determining the cleaned area.

In some optional implementations of some embodiments, the floor cleaning device is further configured to: in the cleaning process, when the sweeping robot does not reach a starting point, controlling the sweeping robot to retry; and if the retry is unsuccessful and the number of the connected areas is 1, controlling the sweeping robot to return to the charging pile.

In some optional implementations of some embodiments, the floor cleaning device is further configured to: in a preset time period, when a cleaning area calibrated based on the slam map is the same as the cleaning area of an adjacent historical cleaning task; acquiring the completion condition of the adjacent historical cleaning tasks; when the adjacent historical cleaning tasks are not finished, acquiring historical non-cleaning areas of the adjacent historical cleaning tasks; controlling the sweeping robot to sweep the historical non-sweeping area based on the adjacent historical sweeping tasks; and when the adjacent historical cleaning task is finished, controlling the cleaning robot to clean again based on the adjacent historical cleaning task.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

Referring now to FIG. 4, a block diagram of an electronic device (e.g., computing device 101 of FIG. 1) 400 suitable for use in implementing some embodiments of the present disclosure is shown. The server shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 4, electronic device 400 may include a processing device (e.g., central processing unit, graphics processor, etc.) 401 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage device 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic apparatus 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

Generally, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 408 including, for example, magnetic tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate wirelessly or by wire with other devices to exchange data. While fig. 4 illustrates an electronic device 400 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 4 may represent one device or may represent multiple devices, as desired.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through communications device 409, or installed from storage device 408, or installed from ROM 402. The computer program, when executed by the processing apparatus 401, performs the above-described functions defined in the methods of some embodiments of the present disclosure.

It should be noted that the computer readable medium described above in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be embodied in the apparatus described above; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining a cleaning type of a cleaning area based on the slam map; controlling a sweeping robot to sweep the sweeping area based on the sweeping type, and determining a swept area; determining whether an uncleaned area exists based on the slam map and the cleaned area; and controlling the sweeping robot to sweep the non-cleaned area when the non-cleaned area is determined to exist.

Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor includes a first determination unit, a first cleaning unit, a second determination unit, and a second cleaning unit. Where the names of the units do not in some cases constitute a limitation of the unit itself, for example, the first determination unit may also be described as a "unit for determining the type of cleaning of the cleaning area based on a slam map".

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combinations of the above-mentioned features, and other embodiments in which the above-mentioned features or their equivalents are combined arbitrarily without departing from the spirit of the invention are also encompassed. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.

Claims

1. A method of cleaning a floor surface, comprising:

determining a cleaning type of a cleaning area based on the slam map;

controlling a sweeping robot to sweep the sweeping area based on the sweeping type, and determining the swept area;

determining whether there is an unswept area based on the slam map and the swept area;

and controlling the sweeping robot to sweep the non-cleaned area under the condition that the non-cleaned area is determined to exist.

2. The method of claim 1, wherein determining a sweep type for a sweep area based on the slam map comprises:

acquiring a slam map;

establishing a cleaning task based on the slam map, and calibrating at least one cleaning area;

setting a sweeping type for each sweeping area in the at least one sweeping area;

setting a sweeping route based on the at least one sweeping area and the sweeping type.

3. A method of floor cleaning according to claim 2, wherein the sweeping types comprise floor types and carpet types.

4. A method of floor cleaning according to claim 3, wherein said setting a sweeping route based on the at least one sweeping area and the sweeping type comprises:

communicating the cleaning areas with the same cleaning type to obtain the number of the communicated areas;

when the number of the connected areas is 1, taking a charging pile of the sweeping robot as a starting point, and acquiring a point adjacent to the charging pile on the boundary of the connected areas as a starting point position of the connected areas;

setting a cleaning route based on the starting point position;

when the number of the connected regions is more than 1, sequencing the connected regions to obtain a connected region sequence;

taking a charging pile of the sweeping robot as a starting point, and taking a point which is closest to the charging pile on the boundary of a first connected region in the sequence of the connected regions as a first starting point position;

taking the middle point of the coincident boundary of a second communication region and the first communication region in the communication region sequence as a second starting point;

and setting a cleaning route based on the first starting point position and the second starting point position.

5. The floor cleaning method of claim 4, wherein controlling the sweeping robot to sweep the sweeping area based on the sweeping type and determining a swept area comprises:

when the cleaning type of the cleaning area is a floor type, controlling the sweeping robot to start sucking, washing and mopping functions based on the cleaning route to clean the cleaning area;

when the cleaning type of the cleaning area is a carpet type, controlling the sweeping robot to start a sucking and mopping function based on the cleaning route to clean the cleaning area;

and when the cleaning is determined to be finished, determining the cleaned area.

6. The floor cleaning method of claim 5, wherein the sweeping robot is controlled to sweep the sweeping area based on the sweeping type, and after determining the swept area, the method further comprises:

in the sweeping process, when the sweeping robot does not reach the starting point position, controlling the sweeping robot to retry;

and if the retry is unsuccessful and the number of the connected areas is 1, controlling the sweeping robot to return to the charging pile.

7. A method of cleaning a floor as claimed in claim 6, further comprising:

within a preset time period, when a cleaning area calibrated based on the slam map is the same as that of an adjacent historical cleaning task, acquiring the completion condition of the adjacent historical cleaning task;

when the adjacent historical cleaning tasks are not completed, acquiring historical non-cleaning areas of the adjacent historical cleaning tasks;

controlling the sweeping robot to sweep the historical non-sweeping area based on the adjacent historical sweeping tasks;

and when the adjacent historical cleaning task is completed, controlling the cleaning robot to clean again based on the adjacent historical cleaning task.

8. A floor cleaning device, comprising:

a first determination unit configured to determine a cleaning type of a cleaning area based on the slam map;

a first cleaning unit configured to control a cleaning robot to clean the cleaning area based on the cleaning type, and determine a cleaned area;

a second determination unit configured to determine whether there is an uncleaned area based on the slam map and the cleaned area;

a second cleaning unit configured to control the sweeping robot to clean an uncleaned area if it is determined that the uncleaned area exists.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of a method according to any one of claims 1 to 7.