CN115969281A - Floor cleaning method and device, electronic equipment and storage medium - Google Patents
Floor cleaning method and device, electronic equipment and storage medium Download PDFInfo
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- CN115969281A CN115969281A CN202310036808.4A CN202310036808A CN115969281A CN 115969281 A CN115969281 A CN 115969281A CN 202310036808 A CN202310036808 A CN 202310036808A CN 115969281 A CN115969281 A CN 115969281A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
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Abstract
The invention relates to the technical field of ground cleaning equipment, and provides a ground cleaning method, a ground cleaning device, electronic equipment and a storage medium, wherein the ground cleaning method comprises the following steps: the sweeper acquires map information; the sweeper cleans the ground based on the map information; the sweeper sends the map information to a scrubber; the scrubber cleans the ground based on the map information. According to the floor cleaning method provided by the embodiment of the invention, the map information is sent to the floor cleaning machine through the floor cleaning machine, so that the program is simplified, and the floor cleaning process have relevance, so that the cleaning efficiency is improved.
Description
Technical Field
The invention relates to the technical field of floor cleaning equipment, in particular to a floor cleaning method, a floor cleaning device, electronic equipment and a storage medium.
Background
Floor cleaning apparatuses usually comprise a sweeping machine and a floor washing machine, wherein, in operation, the sweeping machine is used to sweep the garbage on a certain floor first, and then the floor washing machine is used to wash the dust, water stains or oil stains on the certain floor. Because the sweeper and the floor washing machine are operated independently, program redundancy is caused, moreover, the sweeping process and the floor washing process are not related, and the cleaning efficiency is low.
Disclosure of Invention
The invention provides a floor cleaning method, a floor cleaning device, electronic equipment and a storage medium, which are used for solving the defects that in the prior art, programs are redundant, a floor sweeping process and a floor washing process are not related, and the cleaning efficiency is low, simplifying the programs, and improving the cleaning efficiency because the floor sweeping process and the floor washing process are related.
The invention provides a ground cleaning method, which comprises the following steps:
the sweeper acquires map information;
the sweeper cleans the ground based on the map information;
the sweeper sends the map information to a scrubber;
the scrubber cleans the ground based on the map information.
According to the invention, the ground cleaning method further comprises the following steps: and controlling the floor cleaning machine to move along with the floor cleaning machine.
According to the ground cleaning method provided by the invention, the step of controlling the floor cleaning machine to move along with the sweeper comprises the following steps:
the floor cleaning machine detects the distance between the floor cleaning machine and the floor sweeping machine in real time;
the distance between the floor cleaning machine and the floor sweeping machine is ensured to be less than the preset distance in the moving process of the floor cleaning machine.
According to the ground cleaning method provided by the invention, the sweeper acquires map information and comprises the following steps:
the sweeper collects an environment image of an area to be cleaned;
and identifying the environment image of the area to be cleaned, removing the environment object, and obtaining the map information, the position of the object to be cleaned and the position of the first object to be cleaned.
According to the ground cleaning method provided by the invention, the sweeper cleans the ground based on the map information, and the method comprises the following steps:
the sweeper removes the position of a first object to be cleaned in the map information, and determines a cleaning path, wherein the cleaning path comprises the position of the object to be cleaned;
the sweeper cleans the ground on the cleaning path.
According to the invention, a floor cleaning method is provided, further comprising:
the sweeper will wait to clean the thing position and first object position that waits to wash send to the scrubber.
According to the ground cleaning method provided by the invention, the ground cleaning machine determines a cleaning path based on the map information, the position of an object to be cleaned and the position of the first object to be cleaned, wherein the cleaning path comprises the position of the object to be cleaned and the position of the first object to be cleaned;
the scrubber machine cleans the floor in at least partial sections of the cleaning path.
According to the invention, a floor cleaning method is provided, the floor cleaning machine cleaning a floor in at least partial sections of the cleaning path, comprising:
the floor cleaning machine judges whether the to-be-cleaned area has the to-be-cleaned object in real time based on the cleaning path and the real-time position of the floor cleaning machine;
the scrubber machine cleans an area of the floor where objects to be cleaned are present.
According to the ground cleaning method provided by the invention, the ground cleaning machine judges whether the object to be cleaned exists in the area to be cleaned in real time based on the cleaning path and the real-time position of the ground cleaning machine, and the method comprises the following steps:
the floor cleaning machine collects an environment image of an area to be cleaned while cleaning the ground;
identifying the environment image of the area to be cleaned to obtain a second object position to be cleaned;
and updating the ground washing path based on the position of the second object to be washed.
According to the invention, the ground cleaning method further comprises the following steps:
and the map information is interacted and updated in real time between the sweeper and the scrubber.
The present invention also provides a floor cleaning apparatus for performing any one of the above floor cleaning methods, comprising: a sweeper and a floor washing machine,
wherein, the sweeper includes:
the sweeping module is used for sweeping the ground;
the acquisition module is used for acquiring map information;
the sending module is used for sending the map information to a ground washing machine;
the scrubber machine includes:
a receiving module for receiving the map information;
a cleaning module to clean a floor based on the map information.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements any of the above-mentioned steps of the floor cleaning method when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the above-described floor cleaning methods.
According to the floor cleaning method provided by the embodiment of the invention, the map information is sent to the floor cleaning machine through the floor cleaning machine, so that the program is simplified, and the floor cleaning process have relevance, so that the cleaning efficiency is improved.
In the floor cleaning device, the electronic device and the storage medium provided by the embodiment of the invention, the floor cleaning method is applied, so that the floor cleaning device, the electronic device and the storage medium have the advantages as described above, and are not described again.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is one of the flow diagrams of a method of floor cleaning provided by the present invention;
FIG. 2 is a second schematic flow chart of the floor cleaning method provided by the present invention;
FIG. 3 is a schematic view of a floor care appliance according to the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While the present invention will be described with reference to fig. 1 to 4, it should be understood that the following are only exemplary embodiments of the present invention and do not limit the present invention in any way.
Fig. 1 is a schematic flow chart of a floor cleaning method provided by the present invention, please refer to fig. 1. The floor cleaning method comprises the following steps:
101. the sweeper obtains map information.
102. The sweeper cleans the ground based on the map information.
103. The sweeper sends the map information to the scrubber.
104. The scrubber cleans the floor based on the map information.
According to the floor cleaning method provided by the embodiment of the invention, the map information is sent to the floor cleaning machine through the floor cleaning machine, so that the program is simplified, and the floor cleaning process have relevance, so that the cleaning efficiency is improved. The floor sweeping machine and the floor washing machine are both cleaning machines, and the floor sweeping machine and the floor washing machine are jointly used, so that the floor sweeping machine is used for sweeping the floor and the floor washing machine is used for washing the floor, the functions of each cleaning machine are improved, and the problem that all functions are weakened due to the fact that all functions are integrated on the same machine is solved.
In one embodiment provided by the present invention, the method further includes: and controlling the floor cleaning machine to move along with the sweeper.
In one embodiment provided by the present invention, controlling a scrubber to follow a sweeper includes:
detecting the distance between the floor cleaning machine and the floor sweeping machine in real time;
the distance between the floor cleaning machine and the floor sweeping machine is ensured to be less than the preset distance in the moving process of the floor cleaning machine.
In an embodiment provided by the present invention, the method for obtaining map information by a sweeper includes:
the sweeper collects an environment image of an area to be cleaned;
and identifying the environment image of the area to be cleaned, removing the environment object, and obtaining map information, the position of the object to be cleaned and the position of the first object to be cleaned.
In one embodiment provided by the present invention, a sweeper for sweeping a floor based on map information includes:
the sweeper removes the position of a first object to be cleaned in the map information, and determines a cleaning path, wherein the cleaning path comprises the position of the object to be cleaned;
the sweeper cleans the ground on a cleaning path.
In one embodiment provided by the present invention, the method further includes:
the sweeper sends the position of the object to be swept and the position of the first object to be swept to the sweeper.
In one embodiment provided by the invention, the floor washing machine determines a washing path based on the map information, the position of the object to be cleaned and the position of the first object to be cleaned, wherein the washing path comprises the position of the object to be cleaned and the position of the first object to be cleaned;
the scrubber machine cleans the floor in at least partial sections of the cleaning path.
In one embodiment provided by the present invention, a floor washing machine for washing a floor surface in at least a partial section of a washing path includes:
the floor cleaning machine judges whether the to-be-cleaned area has the to-be-cleaned object in real time based on the cleaning path and the real-time position of the floor cleaning machine;
the scrubber machine cleans an area of the floor where objects to be cleaned are present.
In one embodiment of the present invention, a floor cleaning machine, which determines whether an object to be cleaned exists in an area to be cleaned in real time based on a cleaning path and a real-time position of the floor cleaning machine, includes:
the method comprises the following steps that a floor cleaning machine collects an environment image of an area to be cleaned while cleaning the ground;
identifying an environment image of the area to be cleaned to obtain a second object position to be cleaned;
and updating the ground washing path based on the position of the second object to be cleaned.
In one embodiment provided by the present invention, the method further comprises:
and the map information is interacted and updated in real time between the sweeper and the scrubber.
Fig. 2 is a second schematic flow chart of the floor cleaning method provided by the present invention, please refer to fig. 2. The floor cleaning method comprises the following steps:
201. the sweeper collects an environmental image of an area to be cleaned.
In this step, the sweeper can capture an environmental image with a camera disposed therein. In particular, the camera can be a high-definition camera, and the image shot by the high-definition camera has high definition, so that obstacles, garbage, water stains, stains and the like can be conveniently recognized from the high-definition camera.
In this step, the sweeper may collect while sweeping, or may collect alone, which is not limited in this embodiment.
After the environmental image is collected for the first time in multiple uses of the sweeper, the environmental image can be stored for multiple uses.
202. The sweeper identifies the environment image of the area to be cleaned, removes the environment object, and obtains map information, the position of the object to be cleaned and the position of the first object to be cleaned.
The environment image may include an environment object, map information, a position of the object to be cleaned, and a position of the first object to be cleaned. In particular, the environmental object includes obstacles disposed on the ground, i.e., objects that do not require cleaning, such as sofas, cabinets, table legs, etc. For environmental objects, bypass is sufficient. Since the environmental object does not need to be cleaned, the area map information to be cleaned is constructed by removing the environmental object, so as to guide the sweeper and the scrubber to avoid the obstacle.
For objects needing to be cleaned, a cleaning strategy can be determined according to the material of the objects, so that a good cleaning effect is achieved. For example, the object to be cleaned is garbage that needs to be cleaned, such as packaging bags, waste paper, dust, etc., and the object to be cleaned may be cleaned only or cleaned first and then cleaned. The first object to be cleaned refers to water stain or oil stain, and the first object to be cleaned can be cleaned only without cleaning.
It should be noted that, in multiple uses of the sweeper, after the map information is acquired each time, the map information can be stored for multiple uses. In the second and later use processes of the sweeper, the map information can be obtained again, and any one of the stored map information with at least one version can be adopted. If the stored map information is used, it can be updated during operation.
203. The sweeper cleans the ground based on the map information.
The method specifically comprises the following steps: in order to avoid the first object to be cleaned such as water stain or oil stain being cleaned by the sweeper, in the step, the sweeper removes the position of the first object to be cleaned in the map information, and determines a cleaning path. That is, the cleaning path includes the object position to be cleaned, excluding the first object position to be cleaned. Then, the sweeper cleans the ground on the cleaning path, so that a better cleaning effect can be realized, and meanwhile, the subsequent sweeping work of the sweeper is facilitated.
It should be noted that the cleaning path refers to a traveling path of the sweeper, and the sweeper may always clean or only clean the area to be cleaned on the traveling path, which is not limited in this embodiment.
It should be noted that, in multiple uses of the sweeper, after the sweeping path is acquired each time, the sweeping path can be stored for multiple uses. During the second and later use of the sweeper, the sweeping path can be obtained again, and any one of the stored sweeping paths of at least one version can be adopted. If the stored cleaning path is used, the cleaning path can be updated in the working process.
204. The sweeper sends the map information to the scrubber.
The step may be performed while the sweeper is sweeping, or may be performed after the sweeper returns to the base station after the sweeper is sweeping, which is not limited in this embodiment. After the floor cleaning machine starts cleaning, a trigger signal can be sent to the floor cleaning machine, so that the floor cleaning machine starts cleaning the ground after receiving the information.
The map information may be transmitted through home internet of things technologies such as a WiFi (wireless fidelity, wireless internet access) module or a bluetooth module in the sweeper and the scrubber. Or may be transmitted via a base station.
It should be noted that, in multiple uses of the scrubber, after the map information is acquired each time, the map information may be stored for multiple uses. In the second and subsequent uses of the scrubber, the map information may be retrieved, or any one of the stored at least one version of map information may be used. If the stored map information is used, it can be updated during operation.
In one embodiment provided by the present invention, the method further includes:
205. the sweeper sends the position of the object to be swept and the position of the first object to be swept to the sweeper.
In this step, the object position to be cleaned and the first object position to be cleaned are positions of the floor washing machine where cleaning is required.
206. The floor cleaning machine determines a cleaning path based on the map information, the position of the object to be cleaned, and the position of the first object to be cleaned.
The cleaning path refers to a traveling path of the scrubber, and the scrubber may be always cleaned or cleaned only in an area to be cleaned on the traveling path, which is not limited in this embodiment.
Wherein the cleaning path comprises an object position to be cleaned and a first object position to be cleaned. Of course, the washing path of the scrubber may also include other areas to be washed, which may be user-set, e.g., the scrubber may also be set to wash a whole house. The area to be cleaned may also be determined autonomously by the scrubber, which is not limited in this embodiment. When a plurality of areas need to be cleaned, the floor cleaning machine carries out the planned cleaning path of the working areas according to the sequence.
It should be noted that in multiple uses of the scrubber, the cleaning path may be stored for multiple uses after each acquisition. During a second and subsequent use of the scrubber machine, the cleaning path may be retrieved or any of the at least one version of the cleaning path that has been stored may be used. If the stored cleaning path is used, it can be updated during operation.
207. The scrubber machine cleans the floor in at least partial sections of the cleaning path.
It should be noted that, in this step, while the floor washing machine cleans the floor, the method may further include: and controlling the floor cleaning machine to move along with the sweeper.
In one embodiment, the scrubber can detect the distance to the sweeper in real time via a sensor; the distance between the floor cleaning machine and the floor sweeping machine is ensured to be less than the preset distance in the moving process of the floor cleaning machine.
In another embodiment, the sweeper can also send coordinates to the sweeper in real time to allow the sweeper to follow the sweeper movement.
In another embodiment, the sweeper can also send speed and angular velocity information to the scrubber in real time, allowing the scrubber to follow the sweeper based on the speed and angular velocity information.
By the mode, cleaning and washing are carried out in a short time, working time is shortened, and working efficiency is improved.
In an embodiment provided by the present invention, the step 207 specifically includes:
2071. and the floor cleaning machine judges whether the to-be-cleaned area has the to-be-cleaned object or not in real time based on the cleaning path and the real-time position of the floor cleaning machine.
Step 2071 specifically includes: the floor cleaning machine collects an environment image of an area to be cleaned while cleaning the ground; identifying an environment image of the area to be cleaned to obtain a second object position to be cleaned; and updating the ground washing path based on the position of the second object to be cleaned.
Specifically, the floor cleaning machine can also collect the environmental image of the area to be cleaned in real time, and judges whether the area to be cleaned has a second object to be cleaned by identifying the environmental image, wherein the second object to be cleaned refers to a substance which only needs to be cleaned, such as water stain or oil stain, and the like. And updating the ground washing path based on the result. Through the collection and the recognition of the floor cleaning machine, the floor cleaning operation of the floor cleaning machine which can be automatically judged in a preset range is realized, and the working efficiency is improved.
2072. The scrubber machine cleans an area of the floor where objects to be cleaned are present.
The objects to be cleaned include a first object to be cleaned identified by the sweeper and a second object to be cleaned identified by the scrubber, and step 2072 is to clean along the updated ground cleaning path.
In one embodiment provided by the present invention, the method further comprises:
208. and the map information is interacted and updated in real time between the sweeper and the scrubber.
Because the environment image in the environment may change at any time, the sweeper can collect the environment image while sweeping, and further update the map information stored in the sweeper. Correspondingly, the floor cleaning machine can acquire the environment image while cleaning, so that the map information stored in the floor cleaning machine can be updated, and the map information can be shared and synchronously updated by real-time interaction between the floor cleaning machine and the floor cleaning machine.
Certainly, the map information may be transmitted through home internet of things technologies such as a WiFi (wireless fidelity, wireless internet access) module or a bluetooth module in the sweeper and the scrubber. The transmission may also be performed through a base station, which is not limited in this embodiment.
And further, the sweeper and the scrubber return to the base station after completing the work.
In the base station, the sweeper and the scrubber can be charged, garbage can be removed, water can be changed, cleaning agents can be added, and the like.
According to the floor cleaning method provided by the embodiment of the invention, the map information is sent to the floor cleaning machine through the floor cleaning machine, so that the program is simplified, the floor cleaning process and the floor cleaning process have relevance, and the cleaning efficiency is improved.
Furthermore, the sweeping machine and the floor washing machine are cleaning machines, and the sweeping machine and the floor washing machine are jointly used, so that the sweeping machine is used for sweeping the ground and the floor washing machine is used for washing the ground, the functions of each cleaning machine are improved, and the problem that all functions are integrated on the same machine to weaken the functions of all parts is solved.
The floor cleaning machine can move along with the floor sweeping machine while cleaning the ground. By the mode, cleaning and washing are carried out in a short time, working time is shortened, and working efficiency is improved. The floor cleaning machine can also collect the environment image of the area to be cleaned in real time, and judge whether the area to be cleaned has the second object to be cleaned by identifying the environment image, wherein the second object to be cleaned refers to the substances which are not required to be cleaned, such as water stains or oil stains, and the like. And updating the ground washing path based on the result. Through the collection and the recognition of the floor cleaning machine, the floor cleaning operation of the floor cleaning machine which can be automatically judged in a preset range is realized, and the working efficiency is improved. Because the environment image in the environment may change at any time, the sweeper can collect the environment image while sweeping, and further update the map information stored in the sweeper. Correspondingly, the floor cleaning machine can acquire the environment image while cleaning, so that the map information stored in the floor cleaning machine can be updated, and the map information can be shared and synchronously updated by real-time interaction between the floor cleaning machine and the floor cleaning machine.
In the following, the floor cleaning device according to the invention is described, and the floor cleaning device described below and the floor cleaning method described above are referred to in correspondence with each other.
Fig. 3 is a schematic structural view of the floor cleaning device provided by the present invention, please refer to fig. 3. For performing any of the above-described floor cleaning methods, the floor cleaning apparatus 300 comprises: a sweeper 310 and a scrubber 320.
The sweeper 310 includes: a cleaning module 311, an acquisition module 312, and a sending module 313. The cleaning module 311 is used for cleaning the ground based on a cleaning path, and may specifically include a cleaning brush, a dust suction unit, and the like, wherein the cleaning brush is used for cleaning dust and garbage to a dust suction port of the dust suction unit, and the dust and the garbage are sucked into the garbage accommodating box through the dust suction port. The obtaining module 312 is used for collecting an environmental image to obtain map information, and includes a camera, which can be used to collect the environmental image. In particular, the camera can be a high-definition camera, and images shot by the high-definition camera are high in definition, so that garbage, water stains, stains and the like can be conveniently identified from the images. Furthermore, the camera is a rotatable laser emitting head and a matched receiver, generates a digital map by emitting laser to scan the distance from the camera to each point of the boundary, and can update the digital map in real time according to the change of the position of furniture in a room.
The sending module 313 is configured to send the map information to the scrubber 320, and specifically, the sending module 313 may be a WiFi (wireless fidelity) module or a bluetooth module.
The acquisition module 312 of the sweeper 310 may further include a sensor, and during the sweeping process of the sweeper 310, the sensor assists the camera to identify the object to be swept and the object to be cleaned.
The scrubber 320 described above includes: a receiving module 321 and a cleaning module 322. The receiving module 321 is configured to receive map information, specifically, the receiving module 321 may be a WiFi (wireless fidelity, wireless internet access) module or a bluetooth module, and plans a cleaning path based on the received map information; the cleaning module 322 is used for cleaning the ground based on the cleaning path corresponding to the map information, the cleaning module 322 includes a wiping mechanism, a humidifying mechanism and a suction mechanism, the surface of the ground can be wetted by water carried in a clean water tank of the floor washing machine 320 through the humidifying device, mechanical cleaning is performed through the wiping mechanism, and the suction mechanism recovers sewage into a sewage tank of the floor washing machine 320 through a suction port.
Further, the floor cleaning machine 320 further comprises an acquisition module and a sending module, wherein the acquisition module is used for acquiring an environment image and acquiring map information, and the sending module is used for sharing the acquired map information with the floor cleaning machine 310.
Further, the floor cleaning unit further comprises: the base station is electrically connected with the sweeper 310 and the scrubber 320 through a water pipe, and is used for enabling the sweeper 310 and the scrubber 320 to be charged, cleaning garbage, changing water, adding a cleaning agent and the like.
According to the floor cleaning device provided by the embodiment of the invention, the map information is sent to the floor cleaning machine 320 through the floor sweeping machine 310, so that the program is simplified, the floor sweeping process and the floor cleaning process have relevance, and the cleaning efficiency is improved. The sweeping machine 310 and the floor washing machine 320 are both cleaning machines, and the sweeping machine 310 and the floor washing machine 320 are used in a combined manner, so that the sweeping of the floor by the sweeping machine 310 and the cleaning of the floor by the floor washing machine 320 are realized, the functions of each cleaning machine are improved, and the problem of function weakening of each part caused by the integration of all functions on the same machine is solved.
Fig. 4 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 4, the electronic device may include: a processor (processor) 410, a communication Interface 420, a memory (memory) 430 and a communication bus 440, wherein the processor 410, the communication Interface 420 and the memory 430 are communicated with each other via the communication bus 440. The processor 410 may invoke logic instructions in the memory 430 to perform a floor cleaning method comprising: the sweeper acquires map information; the sweeper cleans the ground based on the map information; the sweeper sends the map information to the scrubber; the scrubber cleans the floor based on the map information.
In addition, the logic instructions in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a floor cleaning method as provided by the above methods, the method comprising: the sweeper acquires map information; the sweeper cleans the ground based on the map information; the sweeper sends the map information to the scrubber; the scrubber cleans the floor based on the map information.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program that when executed by a processor is implemented to perform the floor cleaning methods provided above, the method comprising: the sweeper acquires map information; the sweeper cleans the ground based on the map information; the sweeper sends the map information to the scrubber; the scrubber cleans the floor based on the map information.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods of the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. A method of cleaning a floor surface, comprising:
the sweeper acquires map information;
the sweeper cleans the ground based on the map information;
the sweeper sends the map information to a scrubber;
the scrubber cleans the ground based on the map information.
2. A method of cleaning a floor as claimed in claim 1, further comprising: and controlling the floor cleaning machine to move along with the floor cleaning machine.
3. The method of claim 2, wherein the controlling the scrubber machine to move with the sweeper machine comprises:
the floor cleaning machine detects the distance between the floor cleaning machine and the floor sweeping machine in real time;
the distance between the floor cleaning machine and the floor sweeping machine is ensured to be less than the preset distance in the moving process of the floor cleaning machine.
4. A floor cleaning method according to any of claims 1 to 3, wherein the sweeper acquires map information comprising:
the sweeper collects an environment image of an area to be cleaned;
and identifying the environment image of the area to be cleaned, removing the environment object, and obtaining the map information, the position of the object to be cleaned and the position of the first object to be cleaned.
5. The floor cleaning method of claim 4, wherein the sweeper is sweeping the floor based on the map information, comprising:
the sweeper removes the position of a first object to be cleaned in the map information, and determines a cleaning path, wherein the cleaning path comprises the position of the object to be cleaned;
the sweeper cleans the ground on the cleaning path.
6. A method of floor cleaning according to claim 4, further comprising:
the sweeper will wait to clean the thing position and first object position that waits to wash send to the scrubber.
7. The floor cleaning method according to claim 6, characterized in that the floor cleaning machine determines a cleaning path based on the map information, an object position to be cleaned and the first object position, the cleaning path comprising the object position to be cleaned and the first object position to be cleaned;
the scrubber machine cleans the floor in at least partial sections of the cleaning path.
8. The floor cleaning method of claim 7, wherein the scrubber cleans the floor in at least partial sections of the cleaning path, comprising:
the floor cleaning machine judges whether the to-be-cleaned area has the to-be-cleaned object in real time based on the cleaning path and the real-time position of the floor cleaning machine;
the scrubber machine cleans an area of the floor where objects to be cleaned are present.
9. The floor cleaning method of claim 8, wherein the real-time determination of the presence of items to be cleaned in the area to be cleaned based on the cleaning path and the real-time position of the floor cleaning machine comprises:
the floor cleaning machine collects an environment image of an area to be cleaned while cleaning the ground;
identifying the environment image of the area to be cleaned to obtain a second object position to be cleaned;
and updating the ground washing path based on the position of the second object to be cleaned.
10. A method of cleaning a floor as claimed in claim 1, further comprising:
and the map information is interacted and updated in real time between the sweeper and the scrubber.
11. A floor cleaning device for performing the floor cleaning method of any one of claims 1 to 10, comprising: a sweeper and a floor washing machine,
wherein, the sweeper includes:
the sweeping module is used for sweeping the ground;
the acquisition module is used for acquiring map information;
the sending module is used for sending the map information to a ground washing machine;
the floor scrubber includes:
a receiving module for receiving the map information;
a cleaning module to clean a floor based on the map information.
12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, carries out the steps of the floor cleaning method according to any one of claims 1 to 10.
13. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the floor cleaning method according to any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310036808.4A CN115969281A (en) | 2023-01-10 | 2023-01-10 | Floor cleaning method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310036808.4A CN115969281A (en) | 2023-01-10 | 2023-01-10 | Floor cleaning method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115969281A true CN115969281A (en) | 2023-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310036808.4A Pending CN115969281A (en) | 2023-01-10 | 2023-01-10 | Floor cleaning method and device, electronic equipment and storage medium |
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| Country | Link |
|---|---|
| CN (1) | CN115969281A (en) |
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2023
- 2023-01-10 CN CN202310036808.4A patent/CN115969281A/en active Pending
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