CN117898639A

CN117898639A - Cleaning method and device for object to be cleaned, storage medium and electronic device

Info

Publication number: CN117898639A
Application number: CN202211232535.2A
Authority: CN
Inventors: 盛蕴霞; 丘伟楠; 张聪; 孙佳佳
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2022-10-10
Filing date: 2022-10-10
Publication date: 2024-04-19

Abstract

The invention discloses a cleaning method and a cleaning device for an object to be cleaned, a storage medium and an electronic device, wherein the cleaning method for the object to be cleaned comprises the following steps: acquiring a first image of a first area to be cleaned from a mobile device; determining a first cleaning track of the self-moving device according to the central position of the first object to be cleaned and a boundary area when the first object to be cleaned is recognized to exist in the first area to be cleaned according to the first image, wherein the first cleaning track is in a spiral shape, the starting point position of the first cleaning track is positioned outside the boundary area, the distance between the end point position of the first cleaning track and the central position is smaller than a first preset threshold value, and the rotating direction of the first cleaning track is opposite to the setting direction of an edge brush of the self-moving device; and controlling the self-moving device to clean the first object to be cleaned according to the first cleaning track.

Description

Cleaning method and device for object to be cleaned, storage medium and electronic device

Technical Field

The present invention relates to the field of communications, and in particular, to a method and apparatus for cleaning an object to be cleaned, a storage medium, and an electronic apparatus.

Background

With the development of technology, more and more people start to use sweeping robots in daily life, wherein the sweeping robots can autonomously identify the areas to perform cleaning tasks in different areas.

The use of robot sweeps floor on the one hand brings a great deal of convenience for our life, and on the other hand, from mobile device in the in-process of using, can have not enough intelligent problem. For example:

At present, the cleaning robot generally cleans the identified stains locally in a straight line round trip mode, and the side brush is positioned at the side edge of the cleaning robot, so that the side brush may be polluted in the straight line round trip cleaning mode.

Therefore, in the related art, the sweeping robot generally cleans the identified dirt locally in a straight round trip manner, and further, the problem that the dirt is easy to be polluted by the side brush is caused, and no effective solution has been proposed yet.

Disclosure of Invention

The embodiment of the invention provides a cleaning method and device for an object to be cleaned, a storage medium and an electronic device, and aims to at least solve the problems that in the prior art, a cleaning robot generally cleans a part of a recognized spot in a straight line round trip mode, and therefore the spot is easy to be polluted when a side brush is used.

According to an embodiment of the present invention, there is provided a cleaning method of an object to be cleaned, including: acquiring a first image of a first area to be cleaned from a mobile device; determining a first cleaning track of the self-moving device according to the central position of the first object to be cleaned and a boundary area when the first object to be cleaned is recognized to exist in the first area to be cleaned according to the first image, wherein the first cleaning track is in a spiral shape, the starting point position of the first cleaning track is positioned outside the boundary area, the distance between the end point position of the first cleaning track and the central position is smaller than a first preset threshold value, and the rotating direction of the first cleaning track is opposite to the setting direction of an edge brush of the self-moving device; and controlling the self-moving device to clean the first object to be cleaned according to the first cleaning track.

In one exemplary embodiment, determining a first cleaning trajectory of the self-moving device according to a central position and a boundary region of the first object to be cleaned includes: acquiring a first width of a mop plate of the self-moving device; determining a width between the spiral-shaped lines as a second width, wherein the second width is smaller than the first width; and determining the spiral shape according to the starting point position, the ending point position and the second width to determine the first cleaning track.

In one exemplary embodiment, determining a first cleaning trajectory of the self-moving device according to a central position and a boundary region of the first object to be cleaned includes: determining a rotational direction of the first cleaning track, wherein the rotational direction of the first cleaning track is determined according to one of: determining that the rotation direction of the first cleaning track is a left-handed direction in the case that the side brush is positioned at the upper right of the self-moving device; determining that the rotation direction of the first cleaning track is a right-handed direction in the case that the side brush is positioned at the upper left of the self-moving device; and determining a first cleaning track of the self-moving device according to the central position, the boundary area and the rotation direction of the first object to be cleaned.

In one exemplary embodiment, controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory includes: controlling the work of a mop disc and a side brush of the self-moving device and controlling the lifting of a main brush of the self-moving device; and cleaning the first object to be cleaned through the mop plate and the side brush.

In one exemplary embodiment, after the first image of the first area to be cleaned is acquired from the mobile device, the method further comprises: controlling the self-moving device to move from a first position to a second position under the condition that an image acquisition device of the self-moving device acquires the first image, wherein the first position is the position of the self-moving device when the image acquisition device acquires the first image; acquiring a second image of the first area to be cleaned acquired by the image acquisition device when the self-mobile equipment is located at the second position; determining whether the first object to be cleaned exists in the first area to be cleaned according to the second image; in a case where it is determined from the second image that the first object to be cleaned exists in the first area to be cleaned, it is determined that the first object to be cleaned exists in the first area to be cleaned.

In one exemplary embodiment, after the first image of the first area to be cleaned is acquired from the mobile device, the method further comprises: transmitting first request information to a second device under the condition that an image acquisition device of the first device acquires the first image, wherein the first device and the second device are devices except the self-mobile device, and the first request information is used for requesting a third image of the first area to be cleaned acquired by the image acquisition device on the second device and requesting to acquire the third image; receiving first response information carrying the third image sent by the second equipment based on the first request information; determining whether the first object to be cleaned exists in the first area to be cleaned according to the third image; in a case where it is determined that the first object to be cleaned exists in the first area to be cleaned from the third image, it is determined that the first object to be cleaned exists in the first area to be cleaned.

In an exemplary embodiment, after controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: controlling the self-moving device to move to a first position under the condition that an image acquisition device of the self-moving device acquires the first image, wherein the first position is the position of the self-moving device when the image acquisition device acquires the first image; acquiring a fourth image of the first area to be cleaned acquired by the image acquisition device when the self-mobile equipment is located at the first position; determining whether a second object to be cleaned exists in the first area to be cleaned or not according to the fourth image, wherein the second object to be cleaned is part or all of the first object to be cleaned; and determining an execution strategy of the self-moving device according to whether the second object to be cleaned exists in the first area to be cleaned.

In an exemplary embodiment, after controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: transmitting second request information to a first device under the condition that an image acquisition device of the first device acquires the first image, wherein the first device is a device except the self-mobile device, and the second request information is used for requesting the image acquisition device on the first device to acquire a fifth image of the first area to be cleaned and requesting to acquire the fifth image; receiving second response information carrying the fifth image, which is sent by the first device based on the second request information; determining whether a second object to be cleaned exists in the first area to be cleaned or not according to the fifth image, wherein the second object to be cleaned is part or all of the first object to be cleaned; and determining an execution strategy of the self-moving device according to whether the second object to be cleaned exists in the first area to be cleaned.

In one exemplary embodiment, determining an execution policy of the self-moving device according to whether the second object to be cleaned is present in the first area to be cleaned includes: determining the cleaning times of the self-moving equipment for cleaning the first object to be cleaned under the condition that the second object to be cleaned exists in the first area to be cleaned; determining a second cleaning track of the self-moving device according to the central position of the second object to be cleaned and the boundary area of the second object to be cleaned under the condition that the cleaning times are smaller than or equal to a second preset threshold value, and controlling the self-moving device to clean the second object to be cleaned according to the second cleaning track, wherein the second cleaning track is in a spiral shape, the starting point position of the second cleaning track is positioned outside the boundary area of the second object to be cleaned, the distance between the end point position of the second cleaning track and the central position of the second object to be cleaned is smaller than a first preset threshold value, and the rotating direction of the second cleaning track is opposite to the setting direction of the side brush of the self-moving device; controlling the self-moving device to move into a cleaning device of the self-moving device in the case that the second object to be cleaned is not present in the first area to be cleaned, so that the cleaning device cleans a cleaning component of the self-moving device, wherein the cleaning component comprises: mop dish, main brush and limit brush.

In one exemplary embodiment, after determining the number of times the self-moving device cleans the first object to be cleaned, the method further includes: controlling the self-moving device to move into the cleaning device of the self-moving device under the condition that the cleaning times are larger than the second preset threshold value, so that the cleaning device cleans a cleaning component of the self-moving device; determining a second cleaning track of the self-moving device according to the central position of the second object to be cleaned and the boundary area of the second object to be cleaned under the condition that the cleaning device cleans the cleaning component of the self-moving device; and controlling the self-moving equipment to clean the second object to be cleaned according to the second cleaning track.

In one exemplary embodiment, determining the second cleaning trajectory of the self-moving device according to the center position of the second object to be cleaned and the boundary region of the second object to be cleaned includes at least one of: acquiring a first width of a mop plate of the self-moving device; determining a width between the spiral-shaped lines as a second width, wherein the second width is smaller than the first width; determining the spiral shape according to the start position of the second cleaning track, the end position of the second cleaning track and the second width to determine the first cleaning track; determining a ratio of a region size of the boundary region of the second object to be cleaned to a region size of the boundary region of the first object to be cleaned; and determining the second cleaning track in the first cleaning tracks according to the ratio and the center position of the second object to be cleaned.

In an exemplary embodiment, after determining that the second object to be cleaned is present in the first area to be cleaned, the method further comprises: determining a shape of a second object to be cleaned; determining a second cleaning track of the self-moving device according to a central position of the second object to be cleaned and a boundary area of the second object to be cleaned, wherein the width between the lines of the spiral shape of the second cleaning track is smaller than the width between the lines of the spiral shape of the first cleaning track; and under the condition that the second object to be cleaned is in the second shape, the position of the mop disc is adjusted downwards so that the distance between the mop disc and the floor is smaller than a third preset threshold value.

In an exemplary embodiment, after controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: determining a cleaning mode when the self-moving device executes a cleaning event in the condition that the self-moving device cleans the first object to be cleaned, wherein the cleaning event is executed for a time earlier than the cleaning of the object to be cleaned, and the cleaning mode comprises one of the following steps: a sweeping mode, a sweeping and dragging mode; and controlling the self-mobile device to start the cleaning mode, and continuing to execute the cleaning event through the cleaning mode.

In an exemplary embodiment, after controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: storing a first distance set of the boundary area and the central position and a first cleaning track corresponding to the first distance set; obtaining a sixth image of a second area to be cleaned from the mobile device; determining a second distance set between the central position of the third object to be cleaned and the boundary area of the third object to be cleaned when the third object to be cleaned exists in the second area to be cleaned according to the sixth image; and determining the cleaning track of the self-mobile device as the first cleaning track under the condition that the matching degree of the second distance set and the first distance set is larger than a fourth preset threshold value.

According to another aspect of the embodiment of the present invention, there is also provided a cleaning apparatus for an object to be cleaned, including: the acquisition module is used for acquiring a first image of a first area to be cleaned of the mobile equipment; a determining module, configured to determine, when it is identified according to the first image that a first object to be cleaned exists in the first area to be cleaned, a first cleaning track of the self-moving device according to a central position of the first object to be cleaned and a boundary area, where the first cleaning track is in a spiral shape, a start position of the first cleaning track is located outside the boundary area, a distance between an end position of the first cleaning track and the central position is smaller than a first preset threshold, and a rotation direction of the first cleaning track is opposite to a setting direction of an edge brush of the self-moving device; and the control module is used for controlling the self-moving equipment to clean the first object to be cleaned according to the first cleaning track.

According to still another aspect of the embodiments of the present invention, there is further provided an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the cleaning method for the object to be cleaned described in any one of the above through the computer program.

According to the invention, a first image of a first area to be cleaned of the mobile equipment is acquired; determining a first cleaning track of the self-moving device according to the central position of the first object to be cleaned and a boundary area when the first object to be cleaned is recognized to exist in the first area to be cleaned according to the first image, wherein the first cleaning track is in a spiral shape, the starting point position of the first cleaning track is positioned outside the boundary area, the distance between the end point position of the first cleaning track and the central position is smaller than a first preset threshold value, and the rotating direction of the first cleaning track is opposite to the setting direction of an edge brush of the self-moving device; controlling the self-moving device to clean the first object to be cleaned according to the first cleaning track; the technical scheme is adopted, so that the problem that the cleaning robot can locally clean the identified stains in a straight line reciprocating manner in the prior art, and then the side brush is easy to pollute the stains is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:

FIG. 1 is a block diagram of a hardware configuration of a self-moving device of an alternative method of cleaning an object to be cleaned according to an embodiment of the present invention;

FIG. 2 is a flow chart of an alternative method of cleaning an object to be cleaned according to an embodiment of the invention;

FIG. 3 is a flow chart of an alternative method of cleaning an object to be cleaned according to an embodiment of the invention;

FIG. 4 is a schematic illustration of an alternative self-cleaning apparatus detecting an object to be cleaned according to an embodiment of the invention;

FIG. 5 is a schematic illustration of an alternative cleaning trajectory in accordance with an embodiment of the invention;

fig. 6 is a block diagram showing a structure of an alternative cleaning device for an object to be cleaned in the embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The method embodiments provided in the embodiments of the present invention may be performed in a self-mobile device or similar computing device. Taking the self-moving device as an example, fig. 1 is a block diagram of a hardware structure of the self-moving device according to an alternative cleaning method for an object to be cleaned according to an embodiment of the present invention. As shown in fig. 1, the self-mobile device may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor (Microprocessor Unit, abbreviated MPU) or programmable logic device (Programmable logic device, abbreviated PLD)) and a memory 104 for storing data, and in one exemplary embodiment, the self-mobile device may further include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the switching device described above. For example, the self-mobile device may also include more or fewer components than shown in fig. 1, or have a different configuration than the equivalent functionality shown in fig. 1 or more than the functionality shown in fig. 1.

The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a cleaning method of an object to be cleaned in an embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104, thereby performing various functional applications and data processing, that is, implementing the above-mentioned method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located with respect to the processor 102, which may be connected to the self-mobile device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the switching device. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as a NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.

In this embodiment, a cleaning method for an object to be cleaned is provided, which is applied to the self-mobile device. Fig. 2 is a flowchart of a cleaning method of an object to be cleaned according to an embodiment of the present invention, the flowchart including the steps of:

step S202, a first image of a first area to be cleaned of the mobile device is acquired;

it should be noted that, the first image may be an image obtained from an image capturing device of the mobile device during the moving process, or may be an image obtained from another device of the mobile device, which is not limited in the embodiment of the present invention. The first area to be cleaned may be understood as an accessible area of the self-moving device, for example, if the self-moving device is a sweeping robot purchased by a home need, the first area to be cleaned may refer to the entire home area.

Step S204, when the first to-be-cleaned object exists in the first to-be-cleaned area according to the first image, determining a first cleaning track of the self-moving device according to the central position of the first to-be-cleaned object and a boundary area, wherein the first cleaning track is in a spiral shape, the starting point position of the first cleaning track is positioned outside the boundary area, the distance between the ending point position of the first cleaning track and the central position is smaller than a first preset threshold value, and the rotating direction of the first cleaning track is opposite to the setting direction of an edge brush of the self-moving device;

The spiral shape may be a square spiral shape or a circular spiral shape. And when the distance between the end position of the first cleaning track and the central position is 0, the end position of the cleaning track coincides with the central position.

Step S206, controlling the self-mobile device to clean the first object to be cleaned according to the first cleaning track.

Through the steps, a first image of a first area to be cleaned of the mobile device is acquired; determining a first cleaning track of the self-moving device according to the central position of the first object to be cleaned and a boundary area when the first object to be cleaned is recognized to exist in the first area to be cleaned according to the first image, wherein the first cleaning track is in a spiral shape, the starting point position of the first cleaning track is positioned outside the boundary area, the distance between the end point position of the first cleaning track and the central position is smaller than a first preset threshold value, and the rotating direction of the first cleaning track is opposite to the setting direction of an edge brush of the self-moving device; controlling the self-moving device to clean the first object to be cleaned according to the first cleaning track; the technical scheme is adopted, so that the problem that the cleaning robot can locally clean the identified stains in a straight line reciprocating manner in the prior art, and then the side brush is easy to pollute the stains is solved.

In an embodiment of the present invention, the above step S204 may be implemented in a variety of ways, and in an alternative embodiment, may be implemented by the following ways: acquiring a first width of a mop plate of the self-moving device; determining a width between the spiral-shaped lines as a second width, wherein the second width is smaller than the first width; and determining the spiral shape according to the starting point position, the ending point position and the second width to determine the first cleaning track.

It can be understood that in the practical solution, when determining the cleaning track, in order to fully clean the object to be cleaned, the self-cleaning device makes the width between the lines of the spiral shape corresponding to the cleaning track smaller than the width of the mop plate, and further determines the spiral shape according to the start position, the end position and the second width, and determines the first cleaning track.

The embodiment of the invention also provides a method for determining the first cleaning track of the self-mobile device, which comprises the following steps: determining a rotational direction of the first cleaning track, wherein the rotational direction of the first cleaning track is determined according to one of: determining that the rotation direction of the first cleaning track is a left-handed direction in the case that the side brush is positioned at the upper right of the self-moving device; determining that the rotation direction of the first cleaning track is a right-handed direction in the case that the side brush is positioned at the upper left of the self-moving device; and determining a first cleaning track of the self-moving device according to the central position, the boundary area and the rotation direction of the first object to be cleaned.

That is, when the side brush position is located at the upper right side of the self-moving device, the rotation direction of the first cleaning track is counterclockwise, as shown in fig. 5, and when the side brush position is located at the upper left side of the self-moving device, the rotation direction of the first cleaning track is clockwise, so as to obtain the first width of the mop tray of the self-moving device; determining a width between the spiral-shaped lines as a second width, wherein the second width is smaller than the first width; and determining the spiral shape according to the starting point position, the end point position, the second width and the rotation direction of the first cleaning track so as to determine the first cleaning track.

The step S206 can be implemented in various ways, and in an alternative embodiment, the mop tray and the side brush of the self-moving device are controlled to work, and the main brush of the self-moving device is controlled to lift; and cleaning the first object to be cleaned through the mop plate and the side brush.

According to the technical scheme, the problem that the side brush is easy to pollute the stains due to the fact that the cleaning robot cleans the stains locally in a straight line round trip mode in the prior art is solved.

In order to reduce the occurrence of the problem of erroneous recognition, therefore, in the case where it is determined for the first time that the first object to be cleaned exists in the first area to be cleaned from the first image, and the first image is an image acquired from the image acquisition device of the mobile apparatus, it is necessary to perform the following steps:

Step 1: controlling the self-moving equipment to move from a first position to a second position, wherein the first position is the position of the self-moving equipment when the image acquisition device acquires the first image; acquiring a second image of the first area to be cleaned acquired by the image acquisition device when the self-mobile equipment is located at the second position;

step 2: determining whether the first object to be cleaned exists in the first area to be cleaned according to the second image;

step 3: in a case where it is determined from the second image that the first object to be cleaned exists in the first area to be cleaned, it is determined that the first object to be cleaned exists in the first area to be cleaned.

That is, in the case where the first image is an image acquired from an image pickup device on the mobile device, controlling the mobile device to move to a second position different from the first position, wherein the second position can acquire a second image including the first region to be cleaned; detecting whether a first object to be cleaned exists in a second image acquired from a second position of the mobile device, and determining that the first object to be cleaned exists in the first area to be cleaned under the condition that the first object to be cleaned still exists in the second image; under the condition that the first object to be cleaned does not exist in the second image, the first object to be cleaned does not exist in the first area to be cleaned, and therefore the occurrence of the problem of false identification is reduced, and the technical effect of improving the efficiency of identifying the object to be cleaned is achieved.

For example, a self-moving device is taken as an example of a sweeping robot. When the sweeping robot moves to the living room, if the condition that the sweeping robot has a first object to be cleaned in a first image acquired at the position A (corresponding to the first position of the embodiment) of the living room is detected, the sweeping robot is controlled to move from the position A to the position B (corresponding to the second position of the embodiment), and then the sweeping robot is controlled to acquire a second image again at the position B so as to detect whether the first object to be cleaned exists in a first area to be cleaned in the second image.

In order to reduce the occurrence of the problem of erroneous recognition, therefore, in the case where it is determined for the first time from the first image that the first object to be cleaned exists in the first area to be cleaned and the first image is an image acquired from the image acquisition means of the device other than the mobile device, the following steps are also required to be performed:

Step 1: transmitting first request information to a second device under the condition that an image acquisition device of the first device acquires the first image, wherein the first device and the second device are devices except the self-mobile device, and the first request information is used for requesting a third image of the first area to be cleaned acquired by the image acquisition device on the second device and requesting to acquire the third image;

step 2: receiving first response information carrying the third image sent by the second equipment based on the first request information;

step 3: determining whether the first object to be cleaned exists in the first area to be cleaned according to the third image;

step 4: in a case where it is determined that the first object to be cleaned exists in the first area to be cleaned from the third image, it is determined that the first object to be cleaned exists in the first area to be cleaned.

That is, in the case that the first image is an image acquired by an image acquisition device on another device, sending request information for acquiring a third image to a second device in a target area according to a target area image corresponding to the self-mobile device, detecting whether a first object to be cleaned exists in the third image acquired by the second device, and determining that the first object to be cleaned exists in the first area under the condition that the first object to be cleaned still exists in the third image; under the condition that the first object to be cleaned does not exist in the third image, the first object to be cleaned does not exist in the first area to be cleaned, and therefore the occurrence of the problem of false identification is reduced, and the technical effect of improving the efficiency of identifying the object to be cleaned is achieved.

For example, a self-moving device is taken as an example of a sweeping robot. When the sweeping robot moves to a living room, if the condition that a first object to be cleaned exists in a first image acquired by first equipment with an image acquisition function at the position C of the living room is detected, transmitting request information for acquiring a third image to second equipment with the image acquisition function at the position D according to a living room equipment distribution diagram; and further controlling the sweeping robot to acquire a third image again so as to detect whether the first to-be-cleaned object exists in the first to-be-cleaned area in the third image.

In the case where the first device is a mobile device, the second device and the first device may be the same device.

In order to reduce the occurrence of the problem of unclean, therefore, after the image capturing device of the self-mobile device acquires the first image and the self-mobile device cleans the first object to be cleaned, the following steps are further required to be performed:

Step 1: controlling the self-moving equipment to move to a first position, wherein the first position is the position of the self-moving equipment when the image acquisition device acquires the first image;

step 2: acquiring a fourth image of the first area to be cleaned acquired by the image acquisition device when the self-mobile equipment is located at the first position;

Step 3: determining whether a second object to be cleaned exists in the first area to be cleaned or not according to the fourth image, wherein the second object to be cleaned is part or all of the first object to be cleaned;

Step 4: and determining an execution strategy of the self-moving device according to whether the second object to be cleaned exists in the first area to be cleaned.

That is, after the first image is an image acquired from the image acquisition device on the mobile device and the mobile device cleans the first object to be cleaned according to the cleaning track, the mobile device still needs to move to the first position again, so that the mobile device acquires a third image at the first position, and the mobile device determines whether to clean the first object to be cleaned according to the third image. Thereby reducing the occurrence of the problem of unclean cleaning and achieving the technical effect of improving the cleaning efficiency of the object to be cleaned.

In order to reduce the occurrence of the problem of unclean, therefore, after the first image is an image acquired by the image acquisition means of the device other than the self-moving device and the self-moving device cleans the first object to be cleaned, the following steps are also required to be performed:

Step 1: sending second request information to the first device, wherein the first device is a device other than the self-mobile device, and the second request information is used for requesting an image acquisition device on the first device to acquire a fifth image of the first area to be cleaned and requesting to acquire the fifth image;

Step 2: receiving second response information carrying the fifth image, which is sent by the first device based on the second request information;

step 3: determining whether a second object to be cleaned exists in the first area to be cleaned or not according to the fifth image, wherein the second object to be cleaned is part or all of the first object to be cleaned;

That is, in the case where the first image is an image acquired by the image acquisition means on the first device, the self-moving device transmits request information for acquiring a fifth image to the first device, and the self-moving device determines whether or not cleaning of the first object to be cleaned is completed based on the fifth image. Thereby reducing the occurrence of the problem of unclean cleaning and achieving the technical effect of improving the cleaning efficiency of the object to be cleaned.

In the case where the first device is a mobile device, after the request information for acquiring the fifth image is sent from the mobile device to the first device, the first device needs to acquire the fifth image at a location where the first image is acquired.

In one exemplary embodiment, determining an execution policy of the self-moving device according to whether the second object to be cleaned is present in the first area to be cleaned includes: determining the cleaning times of the self-moving equipment for cleaning the first object to be cleaned under the condition that the second object to be cleaned exists in the first area to be cleaned; determining a second cleaning track of the self-moving device according to the central position of the second object to be cleaned and the boundary area of the second object to be cleaned under the condition that the cleaning times are smaller than or equal to a second preset threshold value, and controlling the self-moving device to clean the second object to be cleaned according to the second cleaning track; controlling the self-moving device to move into a cleaning device of the self-moving device in the case that the second object to be cleaned is not present in the first area to be cleaned, so that the cleaning device cleans a cleaning component of the self-moving device, wherein the cleaning component comprises: mop dish, main brush and limit brush.

Optionally, if the cleaning frequency is greater than the second preset threshold value, controlling the self-moving device to move into a cleaning device of the self-moving device, so that the cleaning device cleans a cleaning component of the self-moving device; determining a second cleaning track of the self-moving device according to the central position of the second object to be cleaned and the boundary area of the second object to be cleaned under the condition that the cleaning device cleans the cleaning component of the self-moving device; and controlling the self-moving equipment to clean the second object to be cleaned according to the second cleaning track.

It can be understood that in the case where the second cleaning object exists in the first cleaning-to-be-cleaned area, it is determined whether the number of cleaning times for the same cleaning object reaches the upper limit of the number of cleaning times (for example, 3 times); when the cleaning times of the same object to be cleaned do not reach the upper limit of the cleaning times, determining the cleaning track again and cleaning the cleaning track; and returning to the cleaning device of the mobile device to clean the cleaning component of the mobile device when the cleaning times of the same object to be cleaned reach the upper limit of the cleaning times, and returning to the cleaning device of the mobile device to clean the cleaning component of the mobile device when the second object to be cleaned does not exist in the first area to be cleaned.

In an exemplary embodiment, two ways of determining the second cleaning trajectory of the self-moving device are given, in particular as follows:

Mode 1: acquiring a first width of a mop plate of the self-moving device; determining a width between the spiral-shaped lines as a second width, wherein the second width is smaller than the first width; determining the spiral shape according to the start position of the second cleaning track, the end position of the second cleaning track and the second width to determine the first cleaning track;

mode 2: determining a ratio of a region size of the boundary region of the second object to be cleaned to a region size of the boundary region of the first object to be cleaned; and determining the second cleaning track in the first cleaning tracks according to the ratio and the center position of the second object to be cleaned.

In the above mode 1, when determining the second cleaning track, the self-cleaning device determines the spiral shape according to the start position, the end position, and the second width, and determines the second cleaning track so that the cleaning of the object to be cleaned can be completed comprehensively.

In the above-described mode 2, since the second cleaning object is a cleaning object obtained after cleaning the first cleaning object, theoretically, the area size of the second cleaning object should be smaller than the size of the first cleaning object, and therefore, the ratio of the area size of the second cleaning object to the size of the first cleaning object is determined, and the second cleaning track is determined in the first cleaning track according to the ratio, wherein the second ratio of the length of the second cleaning track to the length of the first cleaning track is the same as the first ratio of the area size of the second cleaning object to the size of the first cleaning object, and the distance between the end position of the second cleaning track and the center position of the second cleaning object is smaller than the first preset threshold.

In an exemplary embodiment, after determining that the second object to be cleaned is present in the first area to be cleaned, the method further includes: determining a shape of a second object to be cleaned; determining a second cleaning track of the self-moving device according to a central position of the second object to be cleaned and a boundary area of the second object to be cleaned, wherein the width between the lines of the spiral shape of the second cleaning track is smaller than the width between the lines of the spiral shape of the first cleaning track; and under the condition that the second object to be cleaned is in the second shape, the position of the mop disc is adjusted downwards so that the distance between the mop disc and the floor is smaller than a third preset threshold value.

It can be understood that, in the case that the self-mobile device does not clean the first object to be cleaned, determining the shape of the second object to be cleaned to determine the reason of the cleaning, and further adjusting the self-mobile device; for example, if the second object to be cleaned is in a plurality of strips, the width between two strips corresponding to the cleaning track is too large, and the width between the strips in the spiral shape can be reduced; if the mop is not wiped clean in a large area, the distance between the mop plate and the ground is considered to be too large, and the position of the mop plate can be adjusted downwards at the moment so that the mop plate is more attached to the ground.

It is understood that the self-moving device is performing a cleaning event before the self-moving device cleans the first object to be cleaned, wherein the cleaning mode of the self-moving device when performing the cleaning event is a sweeping mode or a sweeping mode; and continuing to execute the cleaning event through the cleaning mode when the first object to be cleaned is cleaned from the mobile device.

It can be understood that after the cleaning of the first object to be cleaned is completed, a first distance set between the boundary area of the first object to be cleaned and the central position of the first object to be cleaned and a first cleaning track corresponding to the first distance set may be saved, and when a second distance set between the boundary area of the third object to be cleaned and the central position of the third object to be cleaned is obtained again, a cleaning track corresponding to the third object to be cleaned is determined from a plurality of cleaning tracks saved locally according to the second distance set, so as to achieve the technical effect of reducing the calculation amount.

It should be apparent that the above-described embodiments are only some embodiments, but not all embodiments, of the present invention, and in order to better understand the cleaning method of the object to be cleaned, the following description of the above-described process is provided with reference to the alternative embodiments, which are not intended to limit the technical solutions of the embodiments of the present invention.

In this embodiment, a method for cleaning an object to be cleaned is provided, which is a schematic flow chart of an alternative method for cleaning an object to be cleaned according to an embodiment of the present invention, as shown in fig. 3, and specifically includes the following steps:

step S301: the sweeping robot (equivalent to the self-moving device in the above embodiment) performs a sweeping event;

During the cleaning event, the stain avoidance mode is executed.

Step S302: whether or not the AI does recognize the stain (equivalent to the first object to be cleaned in the above-described embodiment); when AI finds a suspected stain, step S303 is performed; otherwise, executing step S301; as shown in fig. 4;

step S303: performing secondary confirmation on the stains;

Optionally, AI soil identification is performed again from a different angle at a different location.

Step S304: determining whether the suspected stain is a stain; if the suspected stain is determined to be a stain, executing step S305, otherwise executing step S301;

Step S305: when confirming the dirt, taking the dirt position as the center, planning a square spiral cleaning track (corresponding to the first cleaning track in the embodiment), and performing spiral fine dragging along the spiral cleaning track from outside to inside; as shown in fig. 5;

Step S306: after finishing the fine mopping, returning the sweeping robot to the position where the stains are identified, and performing secondary confirmation again to determine whether the stains are cleaned; executing step S307 if the stain is not cleaned, otherwise executing step S301;

Step S307: determining whether the number of times of cleaning the stain reaches an upper limit of the number of times of cleaning; executing step S308 when the cleaning times of the stains reach the upper limit of the cleaning times; otherwise, step S305 is performed;

step S308: returning to the base station to clean the cleaning component of the sweeping robot.

Through the embodiment, under the condition that the cleaning robot recognizes the dirt, the cleaning track of the cleaning robot is determined according to the central position and the boundary area of the dirt, wherein the cleaning track is in a spiral shape, and the rotating direction of the cleaning track is opposite to the setting direction of the side brush of the cleaning robot; the cleaning robot cleans the stains according to the cleaning track; the cleaning robot can clean the object to be cleaned through the spiral cleaning track opposite to the setting direction of the side brush of the cleaning robot, and the problem that the side brush is easy to pollute the dirt due to the fact that the cleaning robot cleans the dirt locally in a straight line reciprocating mode for the identified dirt in the prior art is solved.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.

In this embodiment, a cleaning device for an object to be cleaned is further provided, and the cleaning device is used to implement the foregoing embodiments and preferred embodiments, and will not be described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware, are also possible and contemplated.

Fig. 6 is a block diagram of an alternative cleaning apparatus for an object to be cleaned, according to an embodiment of the present invention, the apparatus including:

an acquisition module 62 for acquiring a first image of a first area to be cleaned from the mobile device;

A determining module 64, configured to determine, when it is identified from the first image that a first object to be cleaned exists in the first area to be cleaned, a first cleaning track of the self-moving device according to a central position of the first object to be cleaned and a boundary area, where the first cleaning track is in a spiral shape, a start position of the first cleaning track is located outside the boundary area, a distance between an end position of the first cleaning track and the central position is less than a first preset threshold, and a rotation direction of the first cleaning track is opposite to a setting direction of an edge brush of the self-moving device;

and a control module 66, configured to control the self-moving device to clean the first object to be cleaned according to the first cleaning track.

Through the device, the acquisition module acquires a first image of a first area to be cleaned from the mobile equipment; a determining module, configured to determine, when it is recognized that a first object to be cleaned exists in the first area to be cleaned according to the first image, a first cleaning track of the self-moving device according to a central position of the first object to be cleaned and a boundary area, where the first cleaning track is in a spiral shape, a start position of the first cleaning track is located outside the boundary area, a distance between an end position of the first cleaning track and the central position is smaller than a first preset threshold, and a rotation direction of the first cleaning track is opposite to a setting direction of an edge brush of the self-moving device; the control module is used for controlling the self-moving device to clean the first object to be cleaned according to the first cleaning track; the technical scheme is adopted, so that the problem that the cleaning robot can locally clean the identified stains in a straight line reciprocating manner in the prior art, and then the side brush is easy to pollute the stains is solved.

In an exemplary embodiment, a determining module 64 is provided for obtaining a first width of the mop pan of the self-moving device; determining a width between the spiral-shaped lines as a second width, wherein the second width is smaller than the first width; and determining the spiral shape according to the starting point position, the ending point position and the second width to determine the first cleaning track.

In one exemplary embodiment, the determining module 64 is configured to determine a rotational direction of the first cleaning track, wherein the rotational direction of the first cleaning track is determined according to one of: determining that the rotation direction of the first cleaning track is a left-handed direction in the case that the side brush is positioned at the upper right of the self-moving device; determining that the rotation direction of the first cleaning track is a right-handed direction in the case that the side brush is positioned at the upper left of the self-moving device; and determining a first cleaning track of the self-moving device according to the central position, the boundary area and the rotation direction of the first object to be cleaned.

In one exemplary embodiment, a control module 66 for controlling the mop pan and side brush operation of the self-moving device and controlling the main brush lift of the self-moving device; and cleaning the first object to be cleaned through the mop plate and the side brush.

In an exemplary embodiment, the control module 66 is configured to control, in a case where the image capturing device of the self-mobile device captures the first image, the self-mobile device to move from a first position to a second position, where the first position is a position of the self-mobile device when the image capturing device captures the first image; an acquiring module 62, configured to acquire a second image of the first area to be cleaned acquired by the image acquisition device when the self-mobile device is located at the second position; a determining module 64 for determining whether the first object to be cleaned exists in the first area to be cleaned according to the second image; in a case where it is determined from the second image that the first object to be cleaned exists in the first area to be cleaned, it is determined that the first object to be cleaned exists in the first area to be cleaned.

In an exemplary embodiment, the above apparatus further includes: the sending module is used for sending first request information to second equipment under the condition that an image acquisition device of the first equipment acquires the first image, wherein the first equipment and the second equipment are equipment except the self-mobile equipment, and the first request information is used for requesting a third image of the first area to be cleaned acquired by the image acquisition device on the second equipment and requesting to acquire the third image; the receiving module is used for receiving first response information which is sent by the second equipment based on the first request information and carries the third image; a determining module configured to determine whether the first object to be cleaned exists in the first area to be cleaned according to the third image; in a case where it is determined that the first object to be cleaned exists in the first area to be cleaned from the third image, it is determined that the first object to be cleaned exists in the first area to be cleaned.

In an exemplary embodiment, the control module is configured to control the self-mobile device to move to a first position when the image acquisition device acquires the first image, where the first position is a position of the self-mobile device when the image acquisition device acquires the first image; the acquisition module is used for acquiring a fourth image of the first area to be cleaned, acquired by the image acquisition device when the self-mobile equipment is located at the first position; a determining module, configured to determine whether a second object to be cleaned exists in the first area to be cleaned according to the fourth image, where the second object to be cleaned is part or all of the first object to be cleaned; and determining an execution strategy of the self-moving device according to whether the second object to be cleaned exists in the first area to be cleaned.

In an exemplary embodiment, a sending module is configured to send second request information to a first device when an image capturing device of the first device captures the first image, where the first device is a device other than the self-mobile device, and the second request information is used to request the image capturing device on the first device to capture a fifth image of the first area to be cleaned, and request to capture the fifth image; the receiving module is used for receiving second response information which is sent by the first equipment based on the second request information and carries the fifth image; a determining module, configured to determine whether a second object to be cleaned exists in the first area to be cleaned according to the fifth image, where the second object to be cleaned is part or all of the first object to be cleaned; and determining an execution strategy of the self-moving device according to whether the second object to be cleaned exists in the first area to be cleaned.

In an exemplary embodiment, the determining module is configured to determine a cleaning number of times the self-mobile device cleans the first object to be cleaned in a case where the second object to be cleaned exists in the first area to be cleaned; determining a second cleaning track of the self-moving device according to the central position of the second object to be cleaned and the boundary area of the second object to be cleaned under the condition that the cleaning times are smaller than or equal to a second preset threshold value, and controlling the self-moving device to clean the second object to be cleaned according to the second cleaning track, wherein the second cleaning track is in a spiral shape, the starting point position of the second cleaning track is positioned outside the boundary area of the second object to be cleaned, the distance between the end point position of the second cleaning track and the central position of the second object to be cleaned is smaller than a first preset threshold value, and the rotating direction of the second cleaning track is opposite to the setting direction of the side brush of the self-moving device; controlling the self-moving device to move into a cleaning device of the self-moving device in the case that the second object to be cleaned is not present in the first area to be cleaned, so that the cleaning device cleans a cleaning component of the self-moving device, wherein the cleaning component comprises: mop dish, main brush and limit brush.

In an exemplary embodiment, the control module is further configured to control the self-moving device to move into the cleaning device of the self-moving device, so that the cleaning device cleans the cleaning component of the self-moving device, if the cleaning number is greater than the second preset threshold; determining a second cleaning track of the self-moving device according to the central position of the second object to be cleaned and the boundary area of the second object to be cleaned under the condition that the cleaning device cleans the cleaning component of the self-moving device; and controlling the self-moving equipment to clean the second object to be cleaned according to the second cleaning track.

In an exemplary embodiment, the determining module is further configured to perform at least one of: acquiring a first width of a mop plate of the self-moving device; determining a width between the spiral-shaped lines as a second width, wherein the second width is smaller than the first width; determining the spiral shape according to the start position of the second cleaning track, the end position of the second cleaning track and the second width to determine the first cleaning track; determining a ratio of a region size of the boundary region of the second object to be cleaned to a region size of the boundary region of the first object to be cleaned; and determining the second cleaning track in the first cleaning tracks according to the ratio and the center position of the second object to be cleaned.

In an exemplary embodiment, the determining module is further configured to determine a shape of the second object to be cleaned; determining a second cleaning track of the self-moving device according to a central position of the second object to be cleaned and a boundary area of the second object to be cleaned, wherein the width between the lines of the spiral shape of the second cleaning track is smaller than the width between the lines of the spiral shape of the first cleaning track; and under the condition that the second object to be cleaned is in the second shape, the position of the mop disc is adjusted downwards so that the distance between the mop disc and the floor is smaller than a third preset threshold value.

In an exemplary embodiment, the control module is further configured to determine a cleaning mode when the self-mobile device performs a cleaning event if the self-mobile device cleans the first object to be cleaned, wherein the cleaning event is performed earlier than the cleaning of the object to be cleaned, and wherein the cleaning mode includes one of: a sweeping mode, a sweeping and dragging mode; and controlling the self-mobile device to start the cleaning mode, and continuing to execute the cleaning event through the cleaning mode.

In an exemplary embodiment, the determining module is further configured to save a first set of distances between the boundary region and the center location, and a first cleaning track corresponding to the first set of distances; obtaining a sixth image of a second area to be cleaned from the mobile device; determining a second distance set between the central position of the third object to be cleaned and the boundary area of the third object to be cleaned when the third object to be cleaned exists in the second area to be cleaned according to the sixth image; and determining the cleaning track of the self-mobile device as the first cleaning track under the condition that the matching degree of the second distance set and the first distance set is larger than a fourth preset threshold value.

Embodiments of the present invention also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.

Alternatively, in the present embodiment, the above-described storage medium may be configured to store a computer program for performing the steps of:

S1, acquiring a first image of a first area to be cleaned from mobile equipment;

S2, determining a first cleaning track of the self-moving device according to the central position of the first object to be cleaned and a boundary area when the first object to be cleaned is identified to exist in the first area to be cleaned according to the first image, wherein the first cleaning track is in a spiral shape, the starting point position of the first cleaning track is positioned outside the boundary area, the distance between the ending point position of the first cleaning track and the central position is smaller than a first preset threshold value, and the rotating direction of the first cleaning track is opposite to the setting direction of an edge brush of the self-moving device;

And S3, controlling the self-moving equipment to clean the first object to be cleaned according to the first cleaning track.

In one exemplary embodiment, the computer readable storage medium may include, but is not limited to: a usb disk, a read-only memory (ROM), a random access memory (Random Access Memory RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.

Specific examples in this embodiment may refer to the examples described in the foregoing embodiments and the exemplary implementation, and this embodiment is not described herein.

An embodiment of the invention also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.

Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:

It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cleaning method of an object to be cleaned, comprising:

Acquiring a first image of a first area to be cleaned from a mobile device;

Determining a first cleaning track of the self-moving device according to the central position of the first object to be cleaned and a boundary area when the first object to be cleaned is recognized to exist in the first area to be cleaned according to the first image, wherein the first cleaning track is in a spiral shape, the starting point position of the first cleaning track is positioned outside the boundary area, the distance between the end point position of the first cleaning track and the central position is smaller than a first preset threshold value, and the rotating direction of the first cleaning track is opposite to the setting direction of an edge brush of the self-moving device;

and controlling the self-moving device to clean the first object to be cleaned according to the first cleaning track.

2. The cleaning method of an object to be cleaned according to claim 1, wherein determining a first cleaning trajectory of the self-moving device from a center position and a boundary area of the first object to be cleaned includes:

Acquiring a first width of a mop plate of the self-moving device;

determining a width between the spiral-shaped lines as a second width, wherein the second width is smaller than the first width;

And determining the spiral shape according to the starting point position, the ending point position and the second width to determine the first cleaning track.

3. The cleaning method of an object to be cleaned according to claim 1, wherein determining a first cleaning trajectory of the self-moving device from a center position and a boundary area of the first object to be cleaned includes:

Determining a rotational direction of the first cleaning track, wherein the rotational direction of the first cleaning track is determined according to one of: determining that the rotation direction of the first cleaning track is a left-handed direction in the case that the side brush is positioned at the upper right of the self-moving device; determining that the rotation direction of the first cleaning track is a right-handed direction in the case that the side brush is positioned at the upper left of the self-moving device;

And determining a first cleaning track of the self-moving device according to the central position, the boundary area and the rotation direction of the first object to be cleaned.

4. The cleaning method of an object to be cleaned according to claim 1, characterized by controlling the self-moving device to clean the first object to be cleaned in accordance with the first cleaning trajectory, comprising:

Controlling the work of a mop disc and a side brush of the self-moving device and controlling the lifting of a main brush of the self-moving device;

and cleaning the first object to be cleaned through the mop plate and the side brush.

5. The cleaning method of an object to be cleaned according to claim 1, characterized in that after the first image of the first area to be cleaned is acquired from the mobile device, the method further comprises:

Controlling the self-moving device to move from a first position to a second position under the condition that an image acquisition device of the self-moving device acquires the first image, wherein the first position is the position of the self-moving device when the image acquisition device acquires the first image;

Acquiring a second image of the first area to be cleaned acquired by the image acquisition device when the self-mobile equipment is located at the second position;

determining whether the first object to be cleaned exists in the first area to be cleaned according to the second image;

In a case where it is determined from the second image that the first object to be cleaned exists in the first area to be cleaned, it is determined that the first object to be cleaned exists in the first area to be cleaned.

6. The cleaning method of an object to be cleaned according to claim 1, characterized in that after the first image of the first area to be cleaned is acquired from the mobile device, the method further comprises:

transmitting first request information to a second device under the condition that an image acquisition device of the first device acquires the first image, wherein the first device and the second device are devices except the self-mobile device, and the first request information is used for requesting a third image of the first area to be cleaned acquired by the image acquisition device on the second device and requesting to acquire the third image;

receiving first response information carrying the third image sent by the second equipment based on the first request information;

determining whether the first object to be cleaned exists in the first area to be cleaned according to the third image;

in a case where it is determined that the first object to be cleaned exists in the first area to be cleaned from the third image, it is determined that the first object to be cleaned exists in the first area to be cleaned.

7. The cleaning method of an object to be cleaned according to claim 1, wherein after controlling the self-moving device to clean the first object to be cleaned in accordance with the first cleaning trajectory, the method further comprises:

Controlling the self-moving device to move to a first position under the condition that an image acquisition device of the self-moving device acquires the first image, wherein the first position is the position of the self-moving device when the image acquisition device acquires the first image;

Acquiring a fourth image of the first area to be cleaned acquired by the image acquisition device when the self-mobile equipment is located at the first position;

determining whether a second object to be cleaned exists in the first area to be cleaned or not according to the fourth image, wherein the second object to be cleaned is part or all of the first object to be cleaned;

and determining an execution strategy of the self-moving device according to whether the second object to be cleaned exists in the first area to be cleaned.

8. The cleaning method of an object to be cleaned according to claim 1, wherein after controlling the self-moving device to clean the first object to be cleaned in accordance with the first cleaning trajectory, the method further comprises:

Transmitting second request information to a first device under the condition that an image acquisition device of the first device acquires the first image, wherein the first device is a device except the self-mobile device, and the second request information is used for requesting the image acquisition device on the first device to acquire a fifth image of the first area to be cleaned and requesting to acquire the fifth image;

Receiving second response information carrying the fifth image, which is sent by the first device based on the second request information;

determining whether a second object to be cleaned exists in the first area to be cleaned or not according to the fifth image, wherein the second object to be cleaned is part or all of the first object to be cleaned;

9. The cleaning method of an object to be cleaned according to claim 7 or 8, wherein determining an execution policy of the self-moving device according to whether the second object to be cleaned exists in the first area to be cleaned, comprises:

Determining the cleaning times of the self-moving equipment for cleaning the first object to be cleaned under the condition that the second object to be cleaned exists in the first area to be cleaned; determining a second cleaning track of the self-moving device according to the central position of the second object to be cleaned and the boundary area of the second object to be cleaned under the condition that the cleaning times are smaller than or equal to a second preset threshold value, and controlling the self-moving device to clean the second object to be cleaned according to the second cleaning track, wherein the second cleaning track is in a spiral shape, the starting point position of the second cleaning track is positioned outside the boundary area of the second object to be cleaned, the distance between the end point position of the second cleaning track and the central position of the second object to be cleaned is smaller than a first preset threshold value, and the rotating direction of the second cleaning track is opposite to the setting direction of the side brush of the self-moving device;

Controlling the self-moving device to move into a cleaning device of the self-moving device in the case that the second object to be cleaned is not present in the first area to be cleaned, so that the cleaning device cleans a cleaning component of the self-moving device, wherein the cleaning component comprises: mop dish, main brush and limit brush.

10. The cleaning method of an object to be cleaned according to claim 9, characterized in that after determining the number of times the first object to be cleaned is cleaned from the mobile device, the method further comprises:

controlling the self-moving device to move into the cleaning device of the self-moving device under the condition that the cleaning times are larger than the second preset threshold value, so that the cleaning device cleans a cleaning component of the self-moving device;

Determining a second cleaning track of the self-moving device according to the central position of the second object to be cleaned and the boundary area of the second object to be cleaned under the condition that the cleaning device cleans the cleaning component of the self-moving device;

and controlling the self-moving equipment to clean the second object to be cleaned according to the second cleaning track.

11. The cleaning method of an object to be cleaned according to claim 10, wherein determining a second cleaning trajectory of the self-moving device according to a center position of the second object to be cleaned and a boundary area of the second object to be cleaned includes at least one of:

Acquiring a first width of a mop plate of the self-moving device; determining a width between the spiral-shaped lines as a second width, wherein the second width is smaller than the first width; determining the spiral shape according to the start position of the second cleaning track, the end position of the second cleaning track and the second width to determine the first cleaning track;

determining a ratio of a region size of the boundary region of the second object to be cleaned to a region size of the boundary region of the first object to be cleaned; and determining the second cleaning track in the first cleaning tracks according to the ratio and the center position of the second object to be cleaned.

12. The cleaning method of an object to be cleaned according to claim 9, characterized in that after determining that the second object to be cleaned is present in the first area to be cleaned, the method further comprises:

Determining a shape of a second object to be cleaned;

Determining a second cleaning track of the self-moving device according to a central position of the second object to be cleaned and a boundary area of the second object to be cleaned, wherein the width between the lines of the spiral shape of the second cleaning track is smaller than the width between the lines of the spiral shape of the first cleaning track;

And under the condition that the second object to be cleaned is in the second shape, the position of the mop disc is adjusted downwards so that the distance between the mop disc and the floor is smaller than a third preset threshold value.

13. The cleaning method of an object to be cleaned according to claim 1, wherein after controlling the self-moving device to clean the first object to be cleaned in accordance with the first cleaning trajectory, the method further comprises:

Determining a cleaning mode when the self-moving device executes a cleaning event in the condition that the self-moving device cleans the first object to be cleaned, wherein the cleaning event is executed for a time earlier than the cleaning of the object to be cleaned, and the cleaning mode comprises one of the following steps: a sweeping mode, a sweeping and dragging mode;

And controlling the self-mobile device to start the cleaning mode, and continuing to execute the cleaning event through the cleaning mode.

14. The cleaning method of an object to be cleaned according to claim 1, wherein after controlling the self-moving device to clean the first object to be cleaned in accordance with the first cleaning trajectory, the method further comprises:

Storing a first distance set of the boundary area and the central position and a first cleaning track corresponding to the first distance set;

Obtaining a sixth image of a second area to be cleaned from the mobile device;

Determining a second distance set between the central position of the third object to be cleaned and the boundary area of the third object to be cleaned when the third object to be cleaned exists in the second area to be cleaned according to the sixth image;

And determining the cleaning track of the self-mobile device as the first cleaning track under the condition that the matching degree of the second distance set and the first distance set is larger than a fourth preset threshold value.

15. A cleaning device for an object to be cleaned, comprising:

the acquisition module is used for acquiring a first image of a first area to be cleaned of the mobile equipment;

A determining module, configured to determine, when it is identified according to the first image that a first object to be cleaned exists in the first area to be cleaned, a first cleaning track of the self-moving device according to a central position of the first object to be cleaned and a boundary area, where the first cleaning track is in a spiral shape, a start position of the first cleaning track is located outside the boundary area, a distance between an end position of the first cleaning track and the central position is smaller than a first preset threshold, and a rotation direction of the first cleaning track is opposite to a setting direction of an edge brush of the self-moving device;

and the control module is used for controlling the self-moving equipment to clean the first object to be cleaned according to the first cleaning track.

16. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program, wherein the computer program is arranged to execute the method of any of the claims 1 to 14 when run.

17. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of any of claims 1 to 14.