WO2019033604A1 - 清扫方法及装置 - Google Patents

清扫方法及装置 Download PDF

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Publication number
WO2019033604A1
WO2019033604A1 PCT/CN2017/112728 CN2017112728W WO2019033604A1 WO 2019033604 A1 WO2019033604 A1 WO 2019033604A1 CN 2017112728 W CN2017112728 W CN 2017112728W WO 2019033604 A1 WO2019033604 A1 WO 2019033604A1
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WO
WIPO (PCT)
Prior art keywords
furniture
obstacle
area
cleaning
type
Prior art date
Application number
PCT/CN2017/112728
Other languages
English (en)
French (fr)
Inventor
夏勇峰
吴珂
Original Assignee
北京小米移动软件有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京小米移动软件有限公司 filed Critical 北京小米移动软件有限公司
Priority to JP2018503792A priority Critical patent/JP6757399B2/ja
Priority to RU2018116906A priority patent/RU2673857C1/ru
Priority to KR1020197018597A priority patent/KR102252256B1/ko
Publication of WO2019033604A1 publication Critical patent/WO2019033604A1/zh

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present disclosure relates to the field of data processing technologies, and in particular, to a cleaning method and apparatus.
  • the sweeping machine in order to avoid the furnishings in the room, can scan the area to be cleaned by infrared or ultrasonic waves to obtain the furniture appearing in the cleaning path.
  • the sweeper can automatically turn to avoid collision with the furniture during the cleaning process.
  • a cleaning method comprising:
  • the sweeper removes the obstacle and cleans the unswept area.
  • the technical solution provided by the embodiments of the present disclosure may include the following effects: when the cleaning encounters an obstacle, the area may be marked as an unswept area, and when the obstacle placed on the area is determined to be removable, the removal is removed.
  • the obstacle cleans the area, improves maneuverability when cleaning the room, ensures the quality of the cleaning, and improves the user experience.
  • the determining whether an obstacle placed on the unswept area is removable by the sweeper includes:
  • the furniture type of the furniture is temporary furniture, it is confirmed that the obstacle placed on the uncleaned area can be removed by the sweeper.
  • the technical solution provided by the embodiment of the present disclosure may include the following effects: determining whether the obstacle is removable according to the type of furniture of the furniture represented by the obstacle, improving the convenience and accuracy of determining the movable property of the obstacle.
  • the furniture type of the furniture is temporary furniture, confirm that the uncleaned area is placed
  • the obstacle can be removed by the sweeper including:
  • the furniture type of the furniture is temporary furniture, determining whether the furniture is a preset furniture
  • the furniture is a preset piece of furniture, it is confirmed that an obstacle placed on the uncleaned area can be removed by the sweeper.
  • the technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: when determining that the furniture type of the furniture represented by the obstacle is temporary furniture, it may be further determined whether the furniture is a preset furniture, and when the furniture is a preset furniture It is confirmed that the obstacle placed on the uncleaned area can be removed, thereby avoiding unpredictable damage caused by moving the furniture such as the buggy or the vase during cleaning.
  • the determining the type of furniture of the piece of furniture comprises:
  • the correspondence between the furniture and the type of furniture describes the type of furniture of different furniture
  • the type of furniture of the furniture represented by the obstacle placed on the uncleaned area is obtained.
  • the technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: determining the type of furniture represented by the obstacle placed on the uncleaned area according to the correspondence between the furniture and the type of furniture, improving the convenience and accuracy of determining the type of the furniture. .
  • determining whether the obstacle placed on the unswept area is removable by the sweeper includes:
  • the size of the obstacle satisfies the preset size range, it is confirmed that an obstacle placed on the uncleaned area can be removed by the sweeper.
  • the technical solution provided by the embodiments of the present disclosure may include the following effects: determining whether the obstacle is removable according to the size of the obstacle improves the convenience and accuracy of determining the movable property of the obstacle.
  • confirming that an obstacle placed on the uncleaned area can be removed by the sweeper includes:
  • the thrust is less than or equal to the preset thrust threshold, it is confirmed that the obstacle placed on the uncleaned area can be removed by the sweeper.
  • the technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: determining whether the obstacle can be removed by the sweeping machine according to the size of the obstacle and the magnitude of the thrust required to move the obstacle, and improving the movable property of the obstacle is determined. Convenience and accuracy.
  • the method further includes:
  • the obstacle is moved to the original position of the obstacle in the unswept area.
  • the technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: after the cleaning is completed, the obstacle is restored to the original position, which is convenient for the user to use, and the room layout that the user is accustomed to is retained on the basis of completely cleaning the room, thereby improving the user experience.
  • a cleaning device including:
  • a first acquiring module configured to acquire a topographic map of the cleaning area, where the topographic map identifies an obstacle in the cleaning area Object
  • a first determining module configured to determine, according to the topographic map, an unswept area in the cleaning area that cannot be cleaned due to occupation of the obstacle;
  • a second determining module configured to determine whether an obstacle placed on the uncleaned area is removable
  • the cleaning module is removed for removing the obstacle and removing the uncleaned area if the obstacle placed on the uncleaned area is removable.
  • the second determining module comprises:
  • a second determining sub-module for determining a furniture type of the furniture, the furniture type comprising temporary furniture or fixed furniture;
  • the first confirmation sub-module is configured to confirm that the obstacle placed on the uncleaned area is removable if the furniture type of the furniture is temporary furniture.
  • the first confirmation submodule comprises:
  • Determining a unit if the furniture type of the furniture is temporary furniture, determining whether the furniture is a preset furniture;
  • the first confirmation unit is configured to confirm that the obstacle placed on the uncleaned area is removable if the furniture is a preset furniture.
  • the second determining submodule comprises:
  • a first obtaining unit configured to obtain a correspondence between the furniture and the type of the furniture, wherein the correspondence between the furniture and the type of the furniture describes the type of furniture of the different furniture;
  • a second acquiring unit configured to acquire a furniture type of the furniture represented by the obstacle placed on the uncleaned area according to the correspondence between the furniture and the type of the furniture.
  • the second determining module comprises:
  • a third determining submodule configured to determine whether a size of the obstacle placed on the uncleaned area meets a preset size range
  • a second confirmation submodule configured to confirm that the obstacle placed on the uncleaned area is removable if the size of the obstacle satisfies the preset size range.
  • the second confirmation submodule comprises:
  • a third acquiring unit configured to acquire a thrust required to remove the obstacle if the size of the obstacle satisfies the preset size range
  • the second confirming unit is configured to confirm that the obstacle placed on the uncleaned area is removable if the thrust is less than or equal to a preset thrust threshold.
  • the apparatus further includes:
  • the recovery module after the cleaning is completed, moves the obstacle to an original position of the obstacle in the unswept area.
  • a cleaning apparatus including:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the obstacle placed on the unswept area is removable, the obstacle is removed and the unswept area is swept.
  • a computer readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the steps of the method of any of the first aspects.
  • FIG. 1a is a flow chart of a cleaning method, according to an exemplary embodiment.
  • FIG. 1b is a flow chart of a cleaning method, according to an exemplary embodiment.
  • FIG. 1c is a flow chart of a cleaning method, according to an exemplary embodiment.
  • FIG. 2 is a flow chart of a cleaning method, according to an exemplary embodiment.
  • FIG. 3 is a flow chart of a cleaning method, according to an exemplary embodiment.
  • FIG. 4a is a schematic structural view of a cleaning device according to an exemplary embodiment.
  • FIG. 4b is a schematic structural view of a cleaning device according to an exemplary embodiment.
  • FIG. 4c is a schematic structural view of a cleaning device according to an exemplary embodiment.
  • FIG. 4d is a schematic structural view of a cleaning device according to an exemplary embodiment.
  • FIG. 4e is a schematic structural view of a cleaning device according to an exemplary embodiment.
  • FIG. 4f is a schematic structural view of a cleaning device according to an exemplary embodiment.
  • 4g is a schematic structural view of a cleaning device according to an exemplary embodiment.
  • FIG. 5 is a structural block diagram of a cleaning device according to an exemplary embodiment.
  • the technical solution provided by the embodiment of the present disclosure relates to a sweeping machine, that is, a sweeping robot.
  • the sweeper can be connected to the terminal via an infrared, Bluetooth or wireless communication network.
  • the sweeping machine encounters obstacles in the process of cleaning the room. The object will bypass the obstacle and clean the obstacles around.
  • a stool or a lighter type of furniture such as a trash can may be placed on the floor. If the sweeper bypasses the stool or the trash can, it may be temporarily occupied by the stool or the trash can. The floor cannot be cleaned and the user experience is poor.
  • the sweeper when the sweep encounters an obstacle, the sweeper may mark the area as an unswept area, and remove the obstacle when it is determined that the obstacle placed on the area is removable.
  • the area is cleaned to improve the mobility of the room when cleaning, ensuring the quality of the cleaning and thus improving the user experience.
  • FIG. 1a is a flow chart showing a cleaning method applied to a sweeper, ie, a sweeping robot, according to an exemplary embodiment. As shown in FIG. 1a, the cleaning method includes the following steps 101 to 104:
  • step 101 a topographic map of the cleaning area is identified, the topographic map identifying obstacles in the cleaning area.
  • the sweeper may encounter multiple obstacles, such as the edge of the furniture, or the supporting part of the furniture.
  • the obstacle may be based on the bottom area of the obstacle. Mark in the topographic map of the room.
  • the sweeping machine can determine the obstacle encountered by the path avoidance function, and then scan the obstacle through the sensor installed by itself, determine the relative size ratio of the obstacle and the sweeper, and then according to the sweeping.
  • the size of the machine, the contact area of the obstacle with the ground, that is, the bottom area of the obstacle, and the obstacle is marked in the topographic map of the room according to the bottom area, and the topographic map of the room is the cleaning of the sweeper
  • the topographic map of the area is the cleaning of the sweeper The topographic map of the area.
  • step 102 based on the topographic map, an unswept area in the clean area that cannot be cleaned due to the occupation of the obstacle is determined.
  • the sweeper can acquire an area occupied by the obstacle according to the topographic map, and then set the area as an unswept area. If there are multiple obstacles marked on the topographic map, the area occupied by each obstacle in the multiple obstacles may be set as an unswept area, that is, multiple unswept areas may be acquired according to the topographic map, each of which is not
  • the cleaning area can be processed in accordance with the methods provided by embodiments of the present disclosure.
  • the sweeping machine may sequentially determine whether the bottom area of each obstacle is less than or equal to a preset area threshold, and then lower the bottom area to be equal to or smaller than a preset area threshold.
  • the area occupied by the obstacle is set as an unswept area, and the area occupied by the obstacle whose bottom area is larger than the preset area threshold is not marked.
  • step 103 it is determined whether the obstacle placed on the uncleaned area can be removed by the sweeper.
  • the sweeper can determine whether the obstacle can be removed according to the size of the obstacle placed on the uncleaned area or the type of furniture represented by the obstacle. For example, during initialization, the sweeping machine can store a preset threshold. If the sweeper determines that the size of the obstacle in any one direction is greater than or equal to the preset threshold, the size of the obstacle is large and difficult to remove; If it is determined that the size of the obstacle in any one direction is smaller than the preset threshold, the size of the obstacle is small and can be removed.
  • the sweeper acquires a plurality of unswept areas according to the topographic map, it is possible to determine whether the obstacle placed on each uncleaned area is determined according to the size of the obstacle placed on each uncleaned area or the type of furniture represented by the obstacle Can be removed.
  • step 104 if an obstacle placed on the uncleaned area can be removed by the sweeper, the sweeper removes the obstacle and cleans the uncleaned area.
  • the sweeper detects that an obstacle placed on the uncleaned area can be removed by the sweeper, it can be turned on.
  • the function of the sweeper to remove the obstacle at which time the sweeper searches for the best point of the obstacle, then moves to the optimal point of focus and contacts the point of best effort, and then increases the thrust during advancement, The obstacle moves to other areas, and then the uncleaned area is cleaned to ensure the thoroughness of the room cleaning.
  • the sweeper can also move the obstacle to the original position of the obstacle on the unswept area, that is, the obstacle that was previously moved to other areas is moved to the original position after being cleaned again.
  • the user's customary room layout is preserved on the basis of completely cleaning the room, which improves the user experience.
  • the uncleaned area may be marked as a cleaned area to avoid moving the obstacle placed on the area again, thereby avoiding the imposing of the obstacle during the re-moving process.
  • the expected damage also extends the working time of the sweeper.
  • the area when the cleaning encounters an obstacle, the area may be marked as an unswept area, and when it is determined that the obstacle placed on the area is removable, the obstacle pair is removed.
  • This area is cleaned, which improves the mobility when cleaning the room, ensuring the quality of the cleaning and thus improving the user experience.
  • step 103 it is determined whether the obstacle placed on the uncleaned area can be removed by the sweeper.
  • Step 1031 to step 1033 can be implemented:
  • step 1031 the furniture represented by the obstacle placed on the uncleaned area is determined.
  • the sweeper can classify the plurality of obstacles according to the bottom area of each obstacle, for example, when the bottom area of the obstacle is less than or equal to the first pre-
  • the threshold is set
  • the obstacle is determined as the first obstacle
  • the second predetermined threshold when the bottom area of the obstacle is greater than or equal to the second predetermined threshold, the obstacle is determined as the second obstacle.
  • N first obstacles and M second obstacles are acquired according to the above classification method, and N and M are integers greater than or equal to 0. Since the bottom surface area of the first obstacle is small, the first obstacle can be considered as a supporting portion of the furniture, for example, a table leg, a stool leg, and a sofa leg.
  • the second obstacle has a large bottom surface area and can be considered as floor furniture, for example, a floor bed, a floor coffee table, and a floor stool. According to the bottom area of the M second obstacles, M pieces of furniture represented by the M second obstacles can be obtained.
  • step 1032 the type of furniture of the furniture is determined, the type of furniture including temporary or fixed furniture.
  • the sweeping machine can first obtain the correspondence between the furniture and the type of furniture, the correspondence describes the type of furniture of different furniture, and then according to the correspondence between the furniture and the type of furniture, the furniture represented by the obstacle placed on the uncleaned area is obtained.
  • the type of furniture increases the convenience and accuracy of the type of furniture.
  • the furniture type of the S+M pieces of furniture can be obtained according to the corresponding relationship.
  • the sweeper determines that a total of three pieces of furniture are displayed in the room based on the bottom area of the obstacles, which are beds, large wardrobes and stools. Inquiring about the correspondence between furniture and furniture types, the furniture type of bed and large wardrobe is fixed furniture, and the furniture type of stool is temporary furniture.
  • the sweeper can display the setting interface of the correspondence between the furniture and the furniture type on the screen, and prompt the user to set by ringing or vibrating.
  • the user may enter the name of the first piece of furniture in the furniture area of the interface, and then input the type of furniture of the first piece of furniture in the piece of furniture type area of the interface, assuming that the piece of furniture is temporary furniture, after the sweeper receives the input,
  • the first furniture and the temporary furniture are stored correspondingly.
  • the sweeper can form a correspondence between the furniture and the type of furniture.
  • the sweeper and the terminal are connected by infrared, Bluetooth or wireless local area network, and the user can set the correspondence between the furniture and the furniture type on the terminal during initialization.
  • the terminal stores the correspondence and sends the correspondence to the sweeper.
  • step 1033 if the furniture type of the furniture is temporary furniture, it is confirmed that the obstacle placed on the uncleaned area can be removed by the sweeper.
  • the obstacle is small in size or small in weight and can be moved. except.
  • whether the obstacle is removable according to the type of furniture of the furniture represented by the obstacle improves the convenience and accuracy of determining the movable property of the obstacle.
  • the sweeper can determine whether the furniture is a preset furniture, and if the furniture is a preset furniture, it is confirmed that the obstacle placed on the uncleaned area can be removed by the sweeper.
  • the sweeping machine does not have any unpredictable consequences for moving household items such as trash cans, stools or laundry tubs, but if the sweeper is for vases or strollers. When moving, it is very likely to break the vase or hurt the baby in the stroller. Therefore, during initialization, a plurality of preset furniture can be stored in the sweeping machine, and the plurality of preset furnitures are furniture that the sweeping machine can safely move.
  • the sweeping machine can also determine whether the furniture is any one of the plurality of preset furniture, and if so, the furniture is preset The furniture, that is, the obstacle corresponding to the furniture can be moved; if not, it means that the furniture does not meet the requirements of safe movement, that is, the obstacle corresponding to the furniture cannot be moved.
  • the furniture type of the furniture represented by the obstacle is temporary furniture
  • whether the furniture is a preset furniture may be further determined, and when the furniture is a preset furniture, the uncleaned is confirmed.
  • the obstacles placed on the area can be removed, avoiding the unpredictable damage caused by the movement of the furniture such as the buggy or vase during cleaning.
  • step 103 it is determined whether the obstacle placed on the uncleaned area can be removed by the sweeper.
  • Step 1034 and step 1035 can be implemented:
  • step 1034 it is determined whether the size of the obstacle placed on the uncleaned area satisfies the preset size range.
  • step 1035 if the size of the obstacle satisfies the preset size range, it is confirmed that the obstacle placed on the uncleaned area can be removed by the sweeper.
  • the sweeper can also determine whether the obstacle can be removed according to the size of the obstacle. Specifically, during initialization, the user can set a preset size range in the sweeper, the preset size range defining the maximum size and the minimum size of the removable obstacle. If the size of the obstacle is too large, the sweeper is difficult to move, so it can be confirmed that the obstacle is not removable; if the size of the obstacle is too small, the sweeper is difficult to grasp the balance during the movement, and the obstacle is easily collapsed. It can also be confirmed that the obstacle is not removable.
  • the sweeping machine can scan the obstacle placed on the uncleaned area by the sensor installed by itself, determine the relative size ratio of the obstacle and the sweeping machine, and then obtain the size of the obstacle in any direction according to the size of the sweeping machine. . Then, it is determined whether the size of the obstacle in any direction satisfies a preset size range, that is, whether the size of the obstacle in any direction is within a preset size range. If yes, the obstacle can be removed by the sweeper; if not, the Obstacles are not removable.
  • whether the obstacle is removable according to the size of the obstacle improves the convenience and accuracy of determining the movable property of the obstacle.
  • the sweeper can also acquire the thrust required to remove the obstacle, and determine whether the obstacle can be removed by the sweeper based on the thrust.
  • the user can store a preset thrust threshold in the sweeper, which limits the upper limit of the thrust of the sweeper moving obstacle.
  • the sweeper can also obtain the thrust required to remove the obstacle, and determine whether the thrust is less than or equal to the thrust threshold, and if the thrust is less than or equal to the preset thrust threshold, confirm The obstacle can be removed by the sweeper; if the thrust is greater than the preset thrust threshold, it is confirmed that the obstacle is not removable.
  • the sweeper can move to the obstacle, adjust the thrust to a minimum value after contacting the optimal focus point of the obstacle, and then gradually increase the thrust to determine Whether the obstacle is pushed or not, if the sweeper adjusts the thrust to the first thrust, the obstacle moves, indicating that the thrust required to remove the obstacle is the first thrust. If the first thrust is greater than the preset thrust threshold, the obstacle is not removable; if the first thrust is less than or equal to the preset thrust threshold, the obstacle is removed by the sweeper.
  • the correspondence between the furniture and the thrust can be stored in the sweeper during initialization, which describes the different thrusts required to move the different furniture.
  • the sweeper determines that the size of the obstacle meets the preset size range, the furniture represented by the obstacle can be obtained, and then the corresponding relationship between the furniture and the thrust is inquired to obtain the thrust required to remove the furniture. If the thrust is greater than the preset thrust threshold, the corresponding obstacle of the furniture is not removable; if the thrust is less than or equal to the preset thrust threshold, the corresponding obstacle of the furniture can be removed by the sweeper.
  • whether the obstacle is removed according to the size of the obstacle and the magnitude of the thrust required to move the obstacle improves the convenience and accuracy of determining the movable property of the obstacle.
  • the method may be performed by using a terminal, and the terminal may be a mobile phone, a tablet computer, a smart watch, and other devices that can be connected to the sweeping machine.
  • the terminal and the sweeper can be connected via infrared, Bluetooth or wireless communication networks.
  • the topographic map can be sent to the terminal.
  • the terminal may determine, according to the topographic map, an unswept area in the cleaning area that cannot be cleaned due to obstacle occupation, and then determine whether an obstacle placed on the uncleaned area is removable by the sweeper, if the uncleaned area is The placed obstacle can be removed by the sweeper, then generate a first operation instruction, and send the first operation instruction to the sweeper, the first operation instruction instructing the sweeper to remove the obstacle and clean the occupied by the obstacle Uncleaned area.
  • the terminal after receiving the topographic map marked with the plurality of obstacles sent by the sweeper, the terminal marks the areas that cannot be cleaned due to the plurality of obstacles as the uncleaned area, that is, the plurality of areas can be determined according to the topographic map. Unswept area. Then determining whether the obstacle placed on each unswept area is sequentially removed by the sweeper, and generating a second operation instruction according to the determination result, and then sending the second operation instruction to the sweeping machine, the second operation instruction indicating sweeping The machine sequentially removes the removable obstacles and cleans the unswept areas occupied by the obstacles.
  • the terminal may determine whether the obstacle is removable by the sweeper according to the type of furniture of the obstacle placed on each unswept area, or determine whether the obstacle is determined according to the size of the obstacle placed on each uncleaned area. It can be removed by the Sweeper, which is not limited by the embodiment of the present disclosure.
  • the sweeper can also determine whether the obstacles encountered can be removed by the sweeper when cleaning the cleaning area, and move the obstacle to other areas when it is determined that the obstacle can be removed by the sweeper. Clean the area that was originally occupied by the obstacle and then move the obstacle to its original position. Specifically, when the sweeping machine cleans the cleaning area, if the first obstacle is encountered, the furniture represented by the first obstacle may be first obtained, and then the furniture type of the furniture is determined, and then the obstacle is determined according to the type of the furniture. Can it be removed by the sweeper? If the obstacle can be removed by the sweeper, the sweeper can move the obstacle to other areas, clean the area that was originally occupied by the obstacle, and then move the obstacle to its original position. If the obstacle is not removable, the sweeper can bypass the obstacle and continue to clean other areas.
  • FIG. 2 is a flowchart of a cleaning method according to an exemplary embodiment.
  • the execution body is a sweeping machine. As shown in FIG. 2, the following steps 201 to 210 are included:
  • step 201 a topographic map of the cleaning area is obtained, and the topographic map identifies an obstacle in the cleaning area, and step 202 is performed.
  • step 202 according to the topographic map, an unswept area in the cleaning area that cannot be cleaned due to the occupation of the obstacle is determined, and step 203 is performed.
  • step 203 the furniture represented by the obstacle placed on the uncleaned area is determined, and step 204 is performed.
  • step 204 a correspondence between the furniture and the type of the furniture is obtained, and the correspondence between the furniture and the type of the furniture describes the type of furniture of the different furniture, and step 205 is performed.
  • step 205 the furniture type of the furniture represented by the obstacle placed on the uncleaned area is obtained according to the correspondence between the furniture and the type of furniture, and step 205 is performed.
  • step 206 if the furniture type of the furniture represented by the obstacle placed on the uncleaned area is temporary furniture, it is determined whether the furniture is a preset furniture; if the furniture is not a preset furniture, step 207 is performed; To preset the furniture, go to step 209.
  • step 207 it is confirmed that the obstacle placed on the uncleaned area is not removable, and step 208 is performed.
  • step 208 the other areas are swept around the obstacle and the process ends.
  • step 209 it is confirmed that the obstacle placed on the uncleaned area can be removed by the sweeper, and step 210 is performed.
  • step 210 the obstacle is removed and the unswept area is cleaned.
  • Embodiments of the present disclosure provide a cleaning method that can mark an area as an unswept area when cleaning an obstacle, and remove the obstacle when it is determined that the obstacle placed on the area can be removed by the sweeper
  • the obstacles clean the area, improving the mobility when cleaning the room, ensuring the quality of the cleaning, and thus improving the user experience.
  • FIG. 3 is a flow chart of a cleaning method according to an exemplary embodiment, the execution body is a sweeping machine, as shown in FIG. 3 . As shown, the following steps 301 to 309 are included:
  • step 301 a topographic map of the cleaning area is obtained, the topographic map identifying the obstacle in the cleaning area, and step 302 is performed.
  • step 302 according to the topographic map, an unswept area in the cleaning area that cannot be cleaned due to the occupation of the obstacle is determined, and step 303 is performed.
  • step 303 it is determined whether the size of the obstacle placed on the uncleaned area meets the preset size range; if the size of the obstacle placed on the uncleaned area does not satisfy the preset size range, step 304 is performed; The size of the obstacle placed on the cleaning area meets the preset size range, and step 306 is performed.
  • step 304 it is confirmed that the obstacle placed on the uncleaned area is not removable, and step 305 is performed.
  • step 305 other areas are swept by bypassing the obstacle, and the process ends.
  • step 306 the thrust required to remove the obstacle is obtained, and step 307 is performed.
  • step 307 it is determined whether the thrust is less than or equal to the preset thrust threshold; if the thrust is greater than the preset thrust threshold, step 304 is performed; if the thrust is less than or equal to the preset thrust threshold, step 308 is performed.
  • step 308 it is confirmed that the obstacle placed on the uncleaned area can be removed by the sweeper, and step 309 is performed.
  • step 309 the obstacle is removed and the unswept area is cleaned.
  • Embodiments of the present disclosure provide a cleaning method that can mark an area as an unswept area when cleaning an obstacle, and remove the obstacle when it is determined that the obstacle placed on the area can be removed by the sweeper
  • the obstacles clean the area, improving the mobility when cleaning the room, ensuring the quality of the cleaning, and thus improving the user experience.
  • FIG. 4a is a schematic structural diagram of a cleaning device 40, which may be implemented as part or all of an electronic device by software, hardware, or a combination of both, according to an exemplary embodiment.
  • the cleaning device 40 includes a first acquisition module 401, a first determination module 402, a second determination module 403, and a removal cleaning module 404.
  • the first obtaining module 401 is configured to acquire a topographic map of the cleaning area, where the topographic map identifies an obstacle in the cleaning area.
  • the first determining module 402 is configured to determine, according to the topographic map, an unswept area in the cleaning area that cannot be cleaned due to the occupation of the obstacle.
  • the second determining module 403 is configured to determine whether an obstacle placed on the uncleaned area is removable.
  • the cleaning module 404 is removed for removing the obstacle and cleaning the uncleaned area if the obstacle placed on the uncleaned area is removable.
  • the second determining module 403 includes a first determining submodule 4031, a second determining submodule 4032, and a first confirming submodule 4033.
  • the first determining sub-module 4031 is configured to determine furniture represented by an obstacle placed on the uncleaned area.
  • the second determining sub-module 4032 is configured to determine a type of furniture of the furniture, the type of furniture comprising temporary furniture or fixed furniture.
  • a first confirmation sub-module 4033 configured to confirm the uncleaned area if the furniture type of the furniture is temporary furniture The placed obstacles can be removed.
  • the first confirmation sub-module 4033 includes a determining unit 4033a and a first confirming unit 4033b.
  • the determining unit 4033a is configured to determine whether the furniture is a preset furniture if the furniture type of the furniture is temporary furniture.
  • the first confirming unit 4033b is configured to confirm that the obstacle placed on the uncleaned area is removable if the furniture is a preset furniture.
  • the second determining submodule 4032 includes a first obtaining unit 4032a and a second obtaining unit 4032b.
  • the first obtaining unit 4032a is configured to obtain a correspondence between the furniture and the type of the furniture, and the correspondence between the furniture and the type of the furniture describes the type of furniture of the different furniture.
  • the second obtaining unit 4032b is configured to acquire the furniture type of the furniture represented by the obstacle placed on the uncleaned area according to the correspondence between the furniture and the type of the furniture.
  • the second determining module 403 includes a third determining sub-module 4034 and a second confirming sub-module 4035.
  • the third determining sub-module 4034 is configured to determine whether the size of the obstacle placed on the uncleaned area meets a preset size range.
  • the second confirmation sub-module 4035 is configured to confirm that the obstacle placed on the uncleaned area is removable if the size of the obstacle satisfies the preset size range.
  • the second confirmation sub-module 4035 includes a third acquisition unit 4035a and a second validation unit 4035b.
  • the third obtaining unit 4035a is configured to acquire a thrust required to remove the obstacle if the size of the obstacle satisfies the preset size range.
  • the second confirming unit 4035b is configured to confirm that the obstacle placed on the uncleaned area is removable if the thrust is less than or equal to a preset thrust threshold.
  • the apparatus 40 further includes a recovery module 405.
  • the recovery module 405 is configured to move the obstacle to an original position of the obstacle in the unswept area after the cleaning is completed.
  • Embodiments of the present disclosure provide a cleaning device that can mark an area as an unswept area when cleaning an obstacle, and remove the obstacle when it is determined that an obstacle placed on the area is removable The area is cleaned to improve the mobility of the room when cleaning, ensuring the quality of the cleaning and thus improving the user experience.
  • Embodiments of the present disclosure provide a cleaning device, the cleaning device including:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the obstacle placed on the unswept area is removable, the obstacle is removed and the unswept area is swept.
  • the processor may be further configured to: determine furniture represented by an obstacle placed on the uncleaned area; determine a type of furniture of the furniture, the type of furniture including temporary furniture or fixed furniture; If the furniture type of the furniture is temporary furniture, it is confirmed that the obstacle placed on the uncleaned area can be removed.
  • the processor may be further configured to: if the furniture type of the furniture is temporary furniture, determine whether the furniture is a preset furniture; if the furniture is a preset furniture, confirm the uncleaned The obstacle placed on the area can be removed.
  • the processor may be further configured to: obtain a correspondence between the furniture and the type of the furniture, the correspondence between the furniture and the type of the furniture describes the type of furniture of the different furniture; according to the correspondence between the furniture and the type of the furniture, Obtaining the type of furniture of the furniture represented by the obstacle placed on the unswept area.
  • the processor may be further configured to: determine whether a size of the obstacle placed on the uncleaned area meets a preset size range; if the size of the obstacle satisfies the preset size range, Confirm that the obstacle placed on the unswept area is removable.
  • the processor may be further configured to: if the size of the obstacle satisfies the preset size range, acquire a thrust required to remove the obstacle; if the thrust is less than or equal to a pre- A thrust threshold is set to confirm that the obstacle placed on the uncleaned area is removable.
  • the processor may be further configured to: after the cleaning is completed, move the obstacle to an original position of the obstacle in the unswept area.
  • Embodiments of the present disclosure provide a cleaning device that can mark an area as an unswept area when cleaning an obstacle, and remove the obstacle when it is determined that an obstacle placed on the area is removable The area is cleaned to improve the mobility of the room when cleaning, ensuring the quality of the cleaning and thus improving the user experience.
  • FIG. 5 is a block diagram showing a structure of a cleaning device 50, which is suitable for a terminal device, according to an exemplary embodiment.
  • device 50 can be a mobile phone, messaging device, tablet device, smart home device, and the like.
  • Apparatus 50 can include one or more of the following components: processing component 502, memory 504, power component 506, multimedia component 508, audio component 510, input/output (I/O) interface 512, sensor component 514, and communication component 516. .
  • Processing component 502 typically controls the overall operation of device 50, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • Processing component 502 can include one or more processors 520 to execute instructions to perform all or part of the steps of the above described methods.
  • processing component 502 can include one or more modules to facilitate interaction between component 502 and other components.
  • processing component 502 can include a multimedia module to facilitate interaction between multimedia component 508 and processing component 502.
  • Memory 504 is configured to store various types of data to support operation at device 50. Examples of such data include instructions for any application or method operating on device 50, contact data, phone book data, messages, pictures, videos, and the like.
  • the memory 504 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM Electrically erasable programmable read only memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Disk or Optical Disk.
  • Power component 506 provides power to various components of device 50.
  • Power component 506 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 50.
  • the multimedia component 508 includes a screen between the device 50 and the user that provides an output interface.
  • the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor may sense not only the boundary of the touch or sliding action, but also the duration and pressure associated with the touch or slide operation.
  • the multimedia component 508 includes a front camera and/or a rear camera. When the device 50 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 510 is configured to output and/or input an audio signal.
  • audio component 510 includes a microphone (MIC) that is configured to receive an external audio signal when device 50 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode.
  • the received audio signal may be further stored in memory 504 or transmitted via communication component 516.
  • audio component 510 also includes a speaker for outputting an audio signal.
  • the I/O interface 512 provides an interface between the processing component 502 and the peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to, a home button, a volume button, a start button, and a lock button.
  • Sensor assembly 514 includes one or more sensors for providing device 50 with various aspects of status assessment.
  • sensor assembly 514 can detect an open/closed state of device 50, a relative positioning of components, such as the display and keypad of device 50, and sensor component 514 can also detect a change in position of one component of device 50 or device 50. The presence or absence of user contact with device 50, device 50 orientation or acceleration/deceleration, and temperature variation of device 50.
  • Sensor assembly 514 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact.
  • Sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor component 514 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 516 is configured to facilitate wired or wireless communication between device 50 and other devices.
  • the device 50 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • communication component 516 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel.
  • the communication component 516 also includes a near field communication (NFC) module to facilitate short range communication.
  • NFC near field communication
  • the NFC module can be based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) Technology, Bluetooth (BT) technology and other technologies to achieve.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • device 50 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A gate array
  • controller microcontroller, microprocessor, or other electronic component implementation for performing the above methods.
  • non-transitory computer readable storage medium comprising instructions, such as a memory 504 comprising instructions executable by processor 520 of apparatus 50 to perform the above method.
  • the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.
  • Embodiments of the present disclosure provide a non-transitory computer readable storage medium that, when executed by a processor of device 50, enables device 50 to perform the cleaning method described above, the method comprising:
  • the obstacle placed on the unswept area is removable, the obstacle is removed and the unswept area is swept.
  • determining whether the obstacle placed on the unswept area is removable comprises: determining furniture represented by an obstacle placed on the uncleaned area; determining a type of furniture of the furniture, The type of furniture includes temporary furniture or fixed furniture; if the furniture type of the furniture is temporary furniture, it is confirmed that the obstacle placed on the uncleaned area can be removed.
  • confirming that the obstacle placed on the uncleaned area is removable includes: if the furniture type of the furniture is temporary furniture, determining the furniture Whether it is a preset furniture; if the furniture is a preset furniture, it is confirmed that the obstacle placed on the uncleaned area can be removed.
  • the determining the type of furniture of the furniture comprises: obtaining a correspondence between the furniture and the type of furniture, the correspondence between the furniture and the type of furniture describing the type of furniture of different furniture; according to the correspondence between the furniture and the type of furniture Relationship, obtaining the type of furniture of the furniture represented by the obstacle placed on the unswept area.
  • determining whether the obstacle placed on the unswept area is removable comprises: determining whether a size of an obstacle placed on the uncleaned area meets a preset size range; if the obstacle The size satisfies the preset size range, and it is confirmed that the obstacle placed on the uncleaned area can be removed.
  • confirming that the obstacle placed on the uncleaned area is removable comprises: if the size of the obstacle satisfies the The size range is obtained, and the thrust required to remove the obstacle is obtained; if the thrust is less than or equal to the preset thrust threshold, it is confirmed that the obstacle placed on the uncleaned area can be removed.
  • the method further includes moving the obstacle to an original position of the obstacle in the unswept area after the cleaning is completed.

Abstract

一种清扫方法及装置。该方法包括：获取清洁区域的地形图，地形图标识有清洁区域中的障碍物；根据地形图，确定所述清洁区域中由于障碍物占据而无法进行清扫的未清扫区域；确定未清扫区域上放置的障碍物是否可被所述扫地机移除；若未清扫区域上放置的障碍物可被扫地机移除，扫地机移除障碍物并清扫未清扫区域。还提供了一种清扫装置。在清扫遇到障碍物时，扫地机可以将该区域标记为未清扫区域，并在确定该区域上放置的障碍物可移除时，移除该障碍物，并对该区域进行清扫，提高了对房间进行清扫时的机动性，确保了清扫质量。

Description

清扫方法及装置 技术领域
本公开涉及数据处理技术领域，尤其涉及一种清扫方法及装置。
背景技术
随着科技的高速发展，越来越多的智能生活电器进入了千家万户，大大提高人们的生活舒适性和便利性。例如，为了减轻清洁房间的劳动量，越来越多的人选择使用扫地机清扫房间。
相关技术中，为了避开房间内陈设的家具，扫地机可以通过红外或者超声波等方式对需要清洁的区域进行扫描，获取清洁路径中出现的家具。在清扫房间时，遇到家具时，扫地机可以自动转弯，避免在清扫的过程中对家具的碰撞。
发明内容
为克服相关技术中存在的问题，本公开实施例提供一种清扫方法及装置。所述技术方案如下：
根据本公开实施例的第一方面，应用于扫地机，提供一种清扫方法，包括:
获取清洁区域的地形图，所述地形图标识有所述清洁区域中的障碍物；
根据所述地形图，确定所述清洁区域中由于所述障碍物占据而无法进行清扫的未清扫区域；
确定所述未清扫区域上放置的障碍物是否可被扫地机移除；
若所述未清扫区域上放置的障碍物可被所述扫地机移除，所述扫地机移除所述障碍物并清扫所述未清扫区域。
本公开的实施例提供的技术方案可以包括以下有益效果：在清扫遇到障碍物时，可以将该区域标记为未清扫区域，并在确定该区域上放置的障碍物可移除时，移除该障碍物对该区域进行清扫，提高了对房间进行清扫时的机动性，确保了清扫质量，进而提高了用户体验。
在一个实施例中，所述确定所述未清扫区域上放置的障碍物是否可被所述扫地机移除包括：
确定所述未清扫区域上放置的障碍物所代表的家具；
确定所述家具的家具类型，所述家具类型包括临时家具或固定家具；
若所述家具的家具类型为临时家具，确认所述未清扫区域上放置的障碍物可被所述扫地机移除。
本公开的实施例提供的技术方案可以包括以下有益效果：根据障碍物所代表家具的家具类型，确定该障碍物是否可移除，提高了确定障碍物可移动属性的便捷性和准确性。
在一个实施例中，所述若所述家具的家具类型为临时家具，确认所述未清扫区域上放置 的障碍物可被所述扫地机移除包括：
若所述家具的家具类型为临时家具，确定所述家具是否为预设家具；
若所述家具为预设家具，确认所述未清扫区域上放置的障碍物可被所述扫地机移除。
本公开的实施例提供的技术方案可以包括以下有益效果：在确定障碍物所代表家具的家具类型为临时家具时，可以进一步确定该家具是否为预设家具，并在该家具为预设家具时，确认所述未清扫区域上放置的障碍物可移除，避免了清扫时对儿童车或者花瓶等家具进行移动造成的不可预期的损害。
在一个实施例中，所述确定所述家具的家具类型包括：
获取家具与家具类型的对应关系，所述家具与家具类型的对应关系描述了不同家具的家具类型；
根据家具与家具类型的对应关系，获取所述未清扫区域上放置的障碍物所代表家具的家具类型。
本公开的实施例提供的技术方案可以包括以下有益效果：据家具与家具类型的对应关系确定未清扫区域上放置的障碍物所代表家具的家具类型，提高了家具类型确定的便捷性和准确性。
在一个实施例中，所述确定所述未清扫区域上放置的障碍物是否可被扫地机移除包括：
确定所述未清扫区域上放置的障碍物的尺寸是否满足预设尺寸范围；
若所述障碍物的尺寸满足所述预设尺寸范围，确认所述未清扫区域上放置的障碍物可被所述扫地机移除。
本公开的实施例提供的技术方案可以包括以下有益效果：根据障碍物的尺寸确定该障碍物是否可移除，提高了确定障碍物可移动属性的便捷性和准确性。
在一个实施例中，所述若所述障碍物的尺寸满足所述预设尺寸范围，确认所述未清扫区域上放置的障碍物可被所述扫地机移除包括：
若所述障碍物的尺寸满足所述预设尺寸范围，获取移除所述障碍物所需的推力；
若所述推力小于或等于预设推力阈值，确认所述未清扫区域上放置的障碍物可被所述扫地机移除。
本公开的实施例提供的技术方案可以包括以下有益效果：根据障碍物的尺寸和移动该障碍所需的推力的大小确定该障碍物是否可被扫地机移除，提高了确定障碍物可移动属性的便捷性和准确性。
在一个实施例中，所述方法还包括：
清扫完成后，将所述障碍物移动至所述障碍物在所述未清扫区域的原始位置。
本公开的实施例提供的技术方案可以包括以下有益效果：清扫完成之后，将障碍物恢复至原始位置，便于用户使用，在完全清扫房间的基础上保留用户习惯的房间布局，提高了用户体验。
根据本公开实施例的第二方面，提供一种清扫装置，包括:
第一获取模块，用于获取清洁区域的地形图，所述地形图标识有所述清洁区域中的障碍 物；
第一确定模块，用于根据所述地形图，确定所述清洁区域中由于所述障碍物占据而无法进行清扫的未清扫区域；
第二确定模块，用于确定所述未清扫区域上放置的障碍物是否可移除；
移除清扫模块，用于若所述未清扫区域上放置的障碍物可移除，移除所述障碍物并清扫所述未清扫区域。
在一个实施例中，所述第二确定模块包括：
第一确定子模块，用于确定所述未清扫区域上放置的障碍物所代表的家具；
第二确定子模块，用于确定所述家具的家具类型，所述家具类型包括临时家具或固定家具；
第一确认子模块，用于若所述家具的家具类型为临时家具，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，所述第一确认子模块包括：
确定单元，用于若所述家具的家具类型为临时家具，确定所述家具是否为预设家具；
第一确认单元，用于若所述家具为预设家具，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，所述第二确定子模块包括：
第一获取单元，用于获取家具与家具类型的对应关系，所述家具与家具类型的对应关系描述了不同家具的家具类型；
第二获取单元，用于根据家具与家具类型的对应关系，获取所述未清扫区域上放置的障碍物所代表家具的家具类型。
在一个实施例中，所述第二确定模块包括：
第三确定子模块，用于确定所述未清扫区域上放置的障碍物的尺寸是否满足预设尺寸范围；
第二确认子模块，用于若所述障碍物的尺寸满足所述预设尺寸范围，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，所述第二确认子模块包括：
第三获取单元，用于若所述障碍物的尺寸满足所述预设尺寸范围，获取移除所述障碍物所需的推力；
第二确认单元，用于若所述推力小于或等于预设推力阈值，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，所述装置还包括：
恢复模块，用于清扫完成后，将所述障碍物移动至所述障碍物在所述未清扫区域的原始位置。
根据本公开实施例的第三方面，提供一种清扫装置，包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为：
获取清洁区域的地形图，所述地形图标识有所述清洁区域中的障碍物；
根据所述地形图，确定所述清洁区域中由于所述障碍物占据而无法进行清扫的未清扫区域；
确定所述未清扫区域上放置的障碍物是否可移除；
若所述未清扫区域上放置的障碍物可移除，移除所述障碍物并清扫所述未清扫区域。
根据本公开实施例的第四方面，提供一种计算机可读存储介质，其上存储有计算机指令，该指令被处理器执行时实现第一方面任一实施例所述方法的步骤。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1a是根据一示例性实施例示出的清扫方法的流程图。
图1b是根据一示例性实施例示出的清扫方法的流程图。
图1c是根据一示例性实施例示出的清扫方法的流程图。
图2是根据一示例性实施例示出的清扫方法的流程图。
图3是根据一示例性实施例示出的清扫方法的流程图。
图4a是根据一示例性实施例示出的清扫装置的结构示意图。
图4b是根据一示例性实施例示出的清扫装置的结构示意图。
图4c是根据一示例性实施例示出的清扫装置的结构示意图。
图4d是根据一示例性实施例示出的清扫装置的结构示意图。
图4e是根据一示例性实施例示出的清扫装置的结构示意图。
图4f是根据一示例性实施例示出的清扫装置的结构示意图。
图4g是根据一示例性实施例示出的清扫装置的结构示意图。
图5是根据一示例性实施例示出的清扫装置的结构框图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
本公开实施例提供的技术方案涉及扫地机，即扫地机器人。该扫地机可以通过红外，蓝牙或者无线通信网络与终端连接。相关技术中，扫地机在清扫房间的过程中，如果遇到障碍 物，会绕过该障碍物，将障碍物周围清扫干净。但是为了便于用户在房间内的活动，可能会在地板上放置凳子或者垃圾桶一类较为轻便的家具，如果扫地机在遇到凳子或者垃圾桶时绕过，可能导致被凳子或者垃圾桶临时占用的地板无法被清洁，用户体验不佳。本公开的实施例提供的技术方案中，在清扫遇到障碍物时，扫地机可以将该区域标记为未清扫区域，并在确定该区域上放置的障碍物可移除时，移除该障碍物对该区域进行清扫，提高了对房间进行清扫时的机动性，确保了清扫质量，进而提高了用户体验。
图1a是根据一示例性实施例示出的一种清扫方法的流程图，该方法应用于扫地机，即扫地机器人。如图1a所示，该清扫方法包括以下步骤101至步骤104：
在步骤101中，获取清洁区域的地形图，该地形图标识有清洁区域中的障碍物。
示例的，扫地机在清扫房间时，可能会遇到多个障碍物，例如家具的边缘，或者家具的支撑部分等，在检测到障碍物时，可以根据该障碍物的底面积将该障碍物标记在该房间的地形图中。具体的，扫地机在清扫房间的过程中可以通过路径避障功能确定遇到的障碍物，然后通过自身安装的传感器扫描该障碍物，确定该障碍物与扫地机的相对尺寸比例，进而根据扫地机的尺寸，获取该障碍物与地面的接触面积，即该障碍物的底面积，并根据该底面积将障碍物标记在该房间的地形图中，该房间的地形图即为扫地机的清洁区域的地形图。
在步骤102中，根据地形图，确定清洁区域中由于障碍物占据而无法进行清扫的未清扫区域。
示例的，获取到标识有障碍物的地形图之后，扫地机可以根据该地形图获取被障碍物占据的区域，然后将该区域设置为未清扫区域。如果地形图上标记有多个障碍物，可以将被该多个障碍物中每个障碍物占据的区域均设置为未清扫区域，即根据地形图可以获取到多个未清扫区域，每个未清扫区域均可按照本公开实施例提供的方法进行处理。
可选的，获取到标识有多个障碍物的地形图之后，扫地机还可以依次确定每个障碍物的底面积是否小于或等于预设面积阈值，然后将底面积小于或等于预设面积阈值的障碍物占据的区域设置为未清扫区域，底面积大于预设面积阈值的障碍物占据的区域不做标记。
在步骤103中，确定未清扫区域上放置的障碍物是否可被扫地机移除。
示例的，在获取到未清扫区域之后，扫地机可以根据该未清扫区域上放置的障碍物的尺寸或者该障碍物代表的家具的类型，确定该障碍物是否可以移除。例如，初始化时，扫地机可以存储预设阈值，若扫地机确定该障碍物任意一个方向的尺寸大于或等于该预设阈值，则说明该障碍物的尺寸较大，难以移除；若扫地机确定该障碍物任意一个方向的尺寸均小于该预设阈值，则说明该障碍物的尺寸较小，可以移除。
若扫地机根据地形图获取到多个未清扫区域，则可以根据每个未清扫区域上放置的障碍物的尺寸或者障碍物代表的家具的类型，确定每个未清扫区域上放置的障碍物是否可以移除。
在步骤104中，若未清扫区域上放置的障碍物可被扫地机移除，扫地机移除该障碍物并清扫该未清扫区域。
示例的，如果扫地机检测到未清扫区域上放置的障碍物可被该扫地机移除，则可以开启 扫地机的移除障碍物的功能，此时扫地机寻找该障碍物的最佳着力点，然后移动至该最佳着力点并与该最佳着力点接触，接着提高前进时的推力，将该障碍物移动至其他区域，然后对该未清扫区域进行清扫，保证了房间清扫的彻底性。
实际应用中，清扫完成后，扫地机还可以将障碍物移动至障碍物在未清扫区域上的原始位置，即将之前被移动至其他区域的障碍物再次移动至已经被清扫之后的原来的位置，在完全清扫房间的基础上保留用户习惯的房间布局，提高了用户体验。
具体的，在对未清扫区域清扫完成之后，可以将该未清扫区域标记为已清扫区域，避免再次对该区域上放置的障碍物进行移动，进而避免再次移动过程中对该障碍物造成的不可预期的损害，同时也延长了扫地机的工作时间。
本公开的实施例提供的技术方案中，在清扫遇到障碍物时，可以将该区域标记为未清扫区域，并在确定该区域上放置的障碍物可移除时，移除该障碍物对该区域进行清扫，提高了对房间进行清扫时的机动性，确保了清扫质量，进而提高了用户体验。
在一个实施例中，如图1b所示，在步骤103中，确定未清扫区域上放置的障碍物是否可被扫地机移除可以通过步骤1031至步骤1033实现：
在步骤1031中，确定未清扫区域上放置的障碍物所代表的家具。
示例的，扫地机在获取到标记有多个障碍物的地形图之后，可以根据每个障碍物的底面积对该多个障碍物进行分类，例如当障碍物的底面积小于或等于第一预设阈值时，将该障碍物确定为第一障碍物；当障碍物的底面积大于或等于第二预设阈值时，将该障碍物确定为第二障碍物。假设根据上述分类方法获取到N个第一障碍物和M个第二障碍物，N和M均为大于或等于0的整数。因为第一障碍物的底面面积较小，因此第一障碍物可以认为是家具的支撑部分，例如，桌子腿，凳子腿以及沙发腿等。根据该N个第一障碍物的位置，可以获取到每个第一障碍物之间的距离，然后获取到其代表的S个家具。第二障碍物的底面面积较大，可以认为是落地家具，例如，落地床，落地茶几以及落地凳子等。根据该M个第二障碍物的底面积，可以获取到该M个第二障碍物代表的M个家具。
在步骤1032中，确定家具的家具类型，家具类型包括临时家具或固定家具。
示例的，扫地机可以首先获取家具与家具类型的对应关系，该对应关系描述了不同家具的家具类型，然后根据家具与家具类型的对应关系，获取未清扫区域上放置的障碍物所代表家具的家具类型，提高了家具类型确定的便捷性和准确性。例如，扫地机在获取到房间中摆放的S+M个家具之后，即可根据该对应关系获取该S+M个家具的家具类型。假设扫地机根据多个障碍物的底面积确定出房间内共陈列3个家具，分别为床、大型衣柜和凳子。查询家具与家具类型的对应关系可知，床和大型衣柜的家具类型为固定家具，凳子的家具类型为临时家具。
初始化时，扫地机可以在屏幕上显示家具与家具类型的对应关系的设置界面，并通过响铃或者震动等方式提示用户进行设置。例如，用户可以在该界面的家具区域输入第一家具的名称，然后在该界面的家具类型区域输入第一家具的家具类型，假设该家具类型为临时家具，扫地机在接收到该输入之后，将第一家具和临时家具对应存储。在对应存储多个家具和家具 类型之后，扫地机即可形成家具与家具类型的对应关系。
或者，扫地机与终端通过红外、蓝牙或者无线局域网连接，初始化时用户可以在终端上设置家具与家具类型的对应关系。终端存储该对应关系，并将该对应关系发送给扫地机。
在步骤1033中，若家具的家具类型为临时家具，确认未清扫区域上放置的障碍物可被扫地机移除。
示例的，若未清扫区域上放置的障碍物所代表家具的家具类型为临时家具，例如垃圾桶、小凳子或者洗衣盆等家居用品，说明该障碍物体积较小，或者重量较小，可以移除。
本公开的实施例提供的技术方案中，根据障碍物所代表家具的家具类型，确定该障碍物是否可移除，提高了确定障碍物可移动属性的便捷性和准确性。
在一个实施例中，若家具的家具类型为临时家具，扫地机可以确定家具是否为预设家具，若家具为预设家具，则确认未清扫区域上放置的障碍物可被扫地机移除。
实际应用中，并不是所有的临时家具都可以进行移动，扫地机对垃圾桶、小凳子或者洗衣盆等家居用品进行移动不会产生任何不可预期的后果，但是如果扫地机对花瓶或者婴儿车进行移动时，很可能会打碎花瓶，或者伤害婴儿车内的婴儿。因此初始化时，可以在扫地机内存储多个预设家具，该多个预设家具为扫地机可以安全移动的家具。在确认未清扫区域上放置的障碍物所代表家具的家具类型为临时家具时，扫地机还可以确定该家具是否为该多个预设家具中的任意一个，若是，则说明该家具为预设家具，即该家具对应的障碍物可以移动；若不是，则说明该家具不符合安全移动的要求，即该家具对应的障碍物不可移动。
本公开的实施例提供的技术方案中，在确定障碍物所代表家具的家具类型为临时家具时，可以进一步确定该家具是否为预设家具，并在该家具为预设家具时，确认未清扫区域上放置的障碍物可移除，避免了清扫时对儿童车或者花瓶等家具进行移动造成的不可预期的损害。
在一个实施例中，如图1c所示，在步骤103中，确定未清扫区域上放置的障碍物是否可被扫地机移除可以通过步骤1034和步骤1035实现：
在步骤1034中，确定未清扫区域上放置的障碍物的尺寸是否满足预设尺寸范围。
在步骤1035中，若障碍物的尺寸满足预设尺寸范围，确认未清扫区域上放置的障碍物可被扫地机移除。
示例的，扫地机还可以根据障碍物的尺寸确定该障碍物是否可以移除。具体的，初始化时用户可以在扫地机中设置预设尺寸范围，该预设尺寸范围限定了可移除障碍物的最大尺寸和最小尺寸。若障碍物的尺寸太大，则扫地机难以移动，因此可以确认该障碍物不可移除；若障碍物的尺寸太小，则扫地机难以在移动中把握平衡，容易造成障碍物的倒塌，因此也可以确认该障碍物不可移除。
具体的，扫地机可以通过自身安装的传感器扫描该未清扫区域上放置的障碍物，确定该障碍物与扫地机的相对尺寸比例，进而根据扫地机的尺寸，获取该障碍物在任意方向的尺寸。然后确定该障碍物在任意方向上的尺寸是否均满足预设尺寸范围，即该障碍物在任意方向上的尺寸是否均位于预设尺寸范围内。若是，说明该障碍物可被扫地机移除；若否，则说明该 障碍物不可移除。
本公开的实施例提供的技术方案中，根据障碍物的尺寸确定该障碍物是否可移除，提高了确定障碍物可移动属性的便捷性和准确性。
在一个实施例中，若障碍物的尺寸满足预设尺寸范围，扫地机还可以获取移除障碍物所需的推力，根据该推力确定该障碍物是否可被扫地机移除。
实际应用中，有些障碍物虽然尺寸满足预设尺寸范围，但是其与地面的接触部分摩擦力较大，即移动该障碍物所需的推力较大，容易造成难以移动或者移动时难以把握平衡的情况。因此初始化时，用户可以在扫地机中存储预设推力阈值，该预设推力阈值限定了扫地机移动障碍物的推力上限。在确定障碍物的尺寸满足预设尺寸范围时，扫地机还可以获取移除障碍物所需的推力，并确定该推力是否小于或等于推力阈值，若该推力小于或等于预设推力阈值，确认该障碍物可被扫地机移除；若该推力大于预设推力阈值，确认该障碍物不可移除。
具体的，在确定障碍物的尺寸满足预设尺寸范围时，扫地机可以移动至该障碍物，与该障碍物的最佳着力点接触后将推力调整至最小值，然后逐渐增大推力，确定障碍物是否被推动，若扫地机将推力调整至第一推力时，障碍物移动，则说明移除障碍物所需的推力为第一推力。若该第一推力大于预设推力阈值，说明该障碍物不可移除；若该第一推力小于或等于预设推力阈值，说明该障碍物可被扫地机移除。
或者，初始化时可以在扫地机中存储家具与推力的对应关系，该对应关系描述了移动不同的家具所需的不同推力。扫地机在确定障碍物的尺寸满足预设尺寸范围时，可以获取该障碍物所代表的家具，然后查询该家具与推力的对应关系，获取移除该家具所需的推力。若该推力大于预设推力阈值，说明该家具对应的障碍物不可移除；若该推力小于或等于预设推力阈值，说明该家具对应的障碍物可被扫地机移除。
本公开的实施例提供的技术方案中，根据障碍物的尺寸和移动该障碍所需的推力的大小确定该障碍物是否移除，提高了确定障碍物可移动属性的便捷性和准确性。
实际应用中，该方法还可以通过终端执行，该终端可以为手机，平板电脑，智能手表以及其他能够与扫地机连接的设备，本公开实施例对此不做限定。终端与扫地机可以通过红外，蓝牙或者无线通信网络进行连接。
在扫地机获取到地形图之后，可以将该地形图发送给终端。终端可以根据该地形图，确定该清洁区域中由于障碍物占据而无法进行清扫的未清扫区域，然后确定该未清扫区域上放置的障碍物是否可被扫地机移除，若该未清扫区域上放置的障碍物可被扫地机移除，则生成第一操作指令，并将该第一操作指令发送给扫地机，该第一操作指令指示扫地机移除该障碍物并清扫被该障碍物占据的未清扫区域。
或者，终端在接收到扫地机发送的标记有多个障碍物的地形图之后，将由于该多个障碍物占据而无法进行清扫的区域均标记为未清扫区域，即根据地形图可以确定多个未清扫区域。然后依次确定每个未清扫区域上放置的障碍物是否可被扫地机移除，并根据确定结果生成第二操作指令，接着将该第二操作指令发送给扫地机，该第二操作指令指示扫地机依次移除确定可移除的障碍物，并对被上述障碍物占据的未清扫区域进行清扫。
具体的，终端可以根据每个未清扫区域上放置的障碍物的家具类型确定该障碍物是否可被扫地机移除，或者根据每个未清扫区域上放置的障碍物的尺寸确定该障碍物是否可被扫地机移除，本公开实施例对此不做限定。
实际应用中，扫地机也可以在对清洁区域进行清扫时，确定遇到的障碍物是否可被扫地机移除，并在确定障碍物可被扫地机移除时，将障碍物移动至其他区域，将原本被障碍物占据的区域清扫干净，然后再将障碍物移动至原来的位置。具体的，扫地机在对清洁区域进行清扫时，如果遇到第一障碍物，可以首先获取该第一障碍物代表的家具，然后确定该家具的家具类型，进而根据该家具类型确定该障碍物是否可被扫地机移除。如果该障碍物可被扫地机移除，则扫地机可以将障碍物移动至其他区域，将原本被障碍物占据的区域清扫干净，然后再将障碍物移动至原来的位置。如果该障碍物不可移除，则扫地机可以绕过该障碍物，继续清扫其他区域。
下面通过几个实施例详细介绍实现过程。
图2是根据一示例性实施例示出的一种清扫方法的流程图，执行主体为扫地机，如图2所示，包括以下步骤201至步骤210：
在步骤201中，获取清洁区域的地形图，该地形图标识有该清洁区域中的障碍物，执行步骤202。
在步骤202中，根据该地形图，确定清洁区域中由于障碍物占据而无法进行清扫的未清扫区域，执行步骤203。
在步骤203中，确定该未清扫区域上放置的障碍物所代表的家具，执行步骤204。
在步骤204中，获取家具与家具类型的对应关系，该家具与家具类型的对应关系描述了不同家具的家具类型，执行步骤205。
在步骤205中，根据家具与家具类型的对应关系，获取该未清扫区域上放置的障碍物所代表家具的家具类型，执行步骤205。
在步骤206中，若该未清扫区域上放置的障碍物所代表家具的家具类型为临时家具，确定该家具是否为预设家具；若该家具不是预设家具，执行步骤207；若该家具为预设家具，执行步骤209。
在步骤207中，确认该未清扫区域上放置的障碍物不可移除，执行步骤208。
在步骤208中，绕过该障碍物清扫其他区域，本流程结束。
在步骤209中，确认该未清扫区域上放置的障碍物可被扫地机移除，执行步骤210。
在步骤210中，移除该障碍物并清扫该未清扫区域。
本公开的实施例提供一种清扫方法，在清扫遇到障碍物时，可以将该区域标记为未清扫区域，并在确定该区域上放置的障碍物可被扫地机移除时，移除该障碍物对该区域进行清扫，提高了对房间进行清扫时的机动性，确保了清扫质量，进而提高了用户体验。
图3是根据一示例性实施例示出的一种清扫方法的流程图，执行主体为扫地机，如图3 所示，包括以下步骤301至步骤309：
在步骤301中，获取清洁区域的地形图，该地形图标识有该清洁区域中的障碍物，执行步骤302。
在步骤302中，根据该地形图，确定清洁区域中由于障碍物占据而无法进行清扫的未清扫区域，执行步骤303。
在步骤303中，确定该未清扫区域上放置的障碍物的尺寸是否满足预设尺寸范围；若该未清扫区域上放置的障碍物的尺寸不满足预设尺寸范围，执行步骤304；若该未清扫区域上放置的障碍物的尺寸满足预设尺寸范围，执行步骤306。
在步骤304中，确认该未清扫区域上放置的障碍物不可移除，执行步骤305。
在步骤305中，绕过该障碍物清扫其他区域，本流程结束。
在步骤306中，获取移除该障碍物所需的推力，执行步骤307。
在步骤307中，确定该推力是否小于或等于预设推力阈值；若该推力大于预设推力阈值，执行步骤304；若该推力小于或等于预设推力阈值，执行步骤308。
在步骤308中，确认该未清扫区域上放置的障碍物可被扫地机移除，执行步骤309。
在步骤309中，移除该障碍物并清扫该未清扫区域。
本公开的实施例提供一种清扫方法，在清扫遇到障碍物时，可以将该区域标记为未清扫区域，并在确定该区域上放置的障碍物可被扫地机移除时，移除该障碍物对该区域进行清扫，提高了对房间进行清扫时的机动性，确保了清扫质量，进而提高了用户体验。
下述为本公开装置实施例，可以用于执行本公开方法实施例。
图4a是根据一示例性实施例示出的一种清扫装置40的结构示意图，该装置40可以通过软件、硬件或者两者的结合实现成为电子设备的部分或者全部。如图4a所示，该清扫装置40包括第一获取模块401，第一确定模块402，第二确定模块403和移除清扫模块404。
其中，第一获取模块401，用于获取清洁区域的地形图，所述地形图标识有所述清洁区域中的障碍物。
第一确定模块402，用于根据所述地形图，确定所述清洁区域中由于所述障碍物占据而无法进行清扫的未清扫区域。
第二确定模块403，用于确定所述未清扫区域上放置的障碍物是否可移除。
移除清扫模块404，用于若所述未清扫区域上放置的障碍物可移除，移除所述障碍物并清扫所述未清扫区域。
在一个实施例中，如图4b所示，所述第二确定模块403包括第一确定子模块4031，第二确定子模块4032和第一确认子模块4033。
其中，第一确定子模块4031，用于确定所述未清扫区域上放置的障碍物所代表的家具。
第二确定子模块4032，用于确定所述家具的家具类型，所述家具类型包括临时家具或固定家具。
第一确认子模块4033，用于若所述家具的家具类型为临时家具，确认所述未清扫区域上 放置的障碍物可移除。
在一个实施例中，如图4c所示，所述第一确认子模块4033包括确定单元4033a和第一确认单元4033b。
其中，确定单元4033a，用于若所述家具的家具类型为临时家具，确定所述家具是否为预设家具。
第一确认单元4033b，用于若所述家具为预设家具，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，如图4d所示，所述第二确定子模块4032包括第一获取单元4032a和第二获取单元4032b。
其中，第一获取单元4032a，用于获取家具与家具类型的对应关系，所述家具与家具类型的对应关系描述了不同家具的家具类型。
第二获取单元4032b，用于根据家具与家具类型的对应关系，获取所述未清扫区域上放置的障碍物所代表家具的家具类型。
在一个实施例中，如图4e所示，所述第二确定模块403包括第三确定子模块4034和第二确认子模块4035。
其中，第三确定子模块4034，用于确定所述未清扫区域上放置的障碍物的尺寸是否满足预设尺寸范围。
第二确认子模块4035，用于若所述障碍物的尺寸满足所述预设尺寸范围，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，如图4f所示，所述第二确认子模块4035包括第三获取单元4035a和第二确认单元4035b。
其中，第三获取单元4035a，用于若所述障碍物的尺寸满足所述预设尺寸范围，获取移除所述障碍物所需的推力。
第二确认单元4035b，用于若所述推力小于或等于预设推力阈值，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，如图4g所示，所述装置40还包括恢复模块405。所述恢复模块405，用于清扫完成后，将所述障碍物移动至所述障碍物在所述未清扫区域的原始位置。
本公开的实施例提供一种清扫装置，在清扫遇到障碍物时，该装置可以将该区域标记为未清扫区域，并在确定该区域上放置的障碍物可移除时，移除该障碍物对该区域进行清扫，提高了对房间进行清扫时的机动性，确保了清扫质量，进而提高了用户体验。
本公开实施例提供一种清扫装置，该清扫装置包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，处理器被配置为：
获取清洁区域的地形图，所述地形图标识有所述清洁区域中的障碍物；
根据所述地形图，确定所述清洁区域中由于所述障碍物占据而无法进行清扫的未清扫区域；
确定所述未清扫区域上放置的障碍物是否可移除；
若所述未清扫区域上放置的障碍物可移除，移除所述障碍物并清扫所述未清扫区域。
在一个实施例中，上述处理器还可被配置为：确定所述未清扫区域上放置的障碍物所代表的家具；确定所述家具的家具类型，所述家具类型包括临时家具或固定家具；若所述家具的家具类型为临时家具，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，上述处理器还可被配置为：若所述家具的家具类型为临时家具，确定所述家具是否为预设家具；若所述家具为预设家具，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，上述处理器还可被配置为：获取家具与家具类型的对应关系，所述家具与家具类型的对应关系描述了不同家具的家具类型；根据家具与家具类型的对应关系，获取所述未清扫区域上放置的障碍物所代表家具的家具类型。
在一个实施例中，上述处理器还可被配置为：确定所述未清扫区域上放置的障碍物的尺寸是否满足预设尺寸范围；若所述障碍物的尺寸满足所述预设尺寸范围，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，上述处理器还可被配置为：若所述障碍物的尺寸满足所述预设尺寸范围，获取移除所述障碍物所需的推力；若所述推力小于或等于预设推力阈值，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，上述处理器还可被配置为：清扫完成后，将所述障碍物移动至所述障碍物在所述未清扫区域的原始位置。
本公开的实施例提供一种清扫装置，在清扫遇到障碍物时，该装置可以将该区域标记为未清扫区域，并在确定该区域上放置的障碍物可移除时，移除该障碍物对该区域进行清扫，提高了对房间进行清扫时的机动性，确保了清扫质量，进而提高了用户体验。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
图5是根据一示例性实施例示出的一种用于清扫装置50的结构框图，该装置50适用于终端设备。例如，装置50可以是移动电话，消息收发设备，平板设备，智能家居设备等。
装置50可以包括以下一个或多个组件：处理组件502，存储器504，电源组件506，多媒体组件508，音频组件510，输入/输出(I/O)的接口512，传感器组件514，以及通信组件516。
处理组件502通常控制装置50的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件502可以包括一个或多个处理器520来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件502可以包括一个或多个模块，便于处理组件502和其他组件之间的交互。例如，处理组件502可以包括多媒体模块，以方便多媒体组件508和处理组件502之间的交互。
存储器504被配置为存储各种类型的数据以支持在装置50的操作。这些数据的示例包括用于在装置50上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器504可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件506为装置50的各种组件提供电力。电源组件506可以包括电源管理系统，一个或多个电源，及其他与为装置50生成、管理和分配电力相关联的组件。
多媒体组件508包括在所述装置50和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件508包括一个前置摄像头和/或后置摄像头。当装置50处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件510被配置为输出和/或输入音频信号。例如，音频组件510包括一个麦克风(MIC)，当装置50处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器504或经由通信组件516发送。在一些实施例中，音频组件510还包括一个扬声器，用于输出音频信号。
I/O接口512为处理组件502和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件514包括一个或多个传感器，用于为装置50提供各个方面的状态评估。例如，传感器组件514可以检测到装置50的打开/关闭状态，组件的相对定位，例如所述组件为装置50的显示器和小键盘，传感器组件514还可以检测装置50或装置50一个组件的位置改变，用户与装置50接触的存在或不存在，装置50方位或加速/减速和装置50的温度变化。传感器组件514可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件514还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件514还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件516被配置为便于装置50和其他设备之间有线或无线方式的通信。装置50可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件516经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件516还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB) 技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，装置50可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子组件实现，用于执行上述方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器504，上述指令可由装置50的处理器520执行以完成上述方法。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本公开实施例提供一种非临时性计算机可读存储介质，当所述存储介质中的指令由装置50的处理器执行时，使得装置50能够执行上述清扫方法，所述方法包括：
获取清洁区域的地形图，所述地形图标识有所述清洁区域中的障碍物；
根据所述地形图，确定所述清洁区域中由于所述障碍物占据而无法进行清扫的未清扫区域；
确定所述未清扫区域上放置的障碍物是否可移除；
若所述未清扫区域上放置的障碍物可移除，移除所述障碍物并清扫所述未清扫区域。
在一个实施例中，所述确定所述未清扫区域上放置的障碍物是否可移除包括：确定所述未清扫区域上放置的障碍物所代表的家具；确定所述家具的家具类型，所述家具类型包括临时家具或固定家具；若所述家具的家具类型为临时家具，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，所述若所述家具的家具类型为临时家具，确认所述未清扫区域上放置的障碍物可移除包括：若所述家具的家具类型为临时家具，确定所述家具是否为预设家具；若所述家具为预设家具，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，所述确定所述家具的家具类型包括：获取家具与家具类型的对应关系，所述家具与家具类型的对应关系描述了不同家具的家具类型；根据家具与家具类型的对应关系，获取所述未清扫区域上放置的障碍物所代表家具的家具类型。
在一个实施例中，所述确定所述未清扫区域上放置的障碍物是否可移除包括：确定所述未清扫区域上放置的障碍物的尺寸是否满足预设尺寸范围；若所述障碍物的尺寸满足所述预设尺寸范围，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，所述若所述障碍物的尺寸满足所述预设尺寸范围，确认所述未清扫区域上放置的障碍物可移除包括：若所述障碍物的尺寸满足所述预设尺寸范围，获取移除所述障碍物所需的推力；若所述推力小于或等于预设推力阈值，确认所述未清扫区域上放置的障碍物可移除。
在一个实施例中，所述方法还包括：清扫完成后，将所述障碍物移动至所述障碍物在所述未清扫区域的原始位置。
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应 性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (16)

  1. 一种清扫方法，应用于扫地机，其特征在于，包括:
    获取清洁区域的地形图，所述地形图标识有所述清洁区域中的障碍物；
    根据所述地形图，确定所述清洁区域中由于所述障碍物占据而无法进行清扫的未清扫区域；
    确定所述未清扫区域上放置的障碍物是否可被所述扫地机移除；
    若所述未清扫区域上放置的障碍物可被所述扫地机移除，所述扫地机移除所述障碍物并清扫所述未清扫区域。
  2. 根据权利要求1所述的方法，其特征在于，所述确定所述未清扫区域上放置的障碍物是否可被所述扫地机移除包括：
    确定所述未清扫区域上放置的障碍物所代表的家具；
    确定所述家具的家具类型，所述家具类型包括临时家具或固定家具；
    若所述家具的家具类型为临时家具，确认所述未清扫区域上放置的障碍物可被所述扫地机移除。
  3. 根据权利要求2所述的方法，其特征在于，所述若所述家具的家具类型为临时家具，确认所述未清扫区域上放置的障碍物可被所述扫地机移除包括：
    若所述家具的家具类型为临时家具，确定所述家具是否为预设家具；
    若所述家具为预设家具，确认所述未清扫区域上放置的障碍物可被所述扫地机移除。
  4. 根据权利要求2所述的方法，其特征在于，所述确定所述家具的家具类型包括：
    获取家具与家具类型的对应关系，所述家具与家具类型的对应关系描述了不同家具的家具类型；
    根据家具与家具类型的对应关系，获取所述未清扫区域上放置的障碍物所代表家具的家具类型。
  5. 根据权利要求1所述的方法，其特征在于，所述确定所述未清扫区域上放置的障碍物是否可被所述扫地机移除包括：
    确定所述未清扫区域上放置的障碍物的尺寸是否满足预设尺寸范围；
    若所述障碍物的尺寸满足所述预设尺寸范围，确认所述未清扫区域上放置的障碍物可被所述扫地机移除。
  6. 根据权利要求5所述的方法，其特征在于，所述若所述障碍物的尺寸满足所述预设尺寸范围，确认所述未清扫区域上放置的障碍物可被所述扫地机移除包括：
    若所述障碍物的尺寸满足所述预设尺寸范围，获取移除所述障碍物所需的推力；
    若所述推力小于或等于预设推力阈值，确认所述未清扫区域上放置的障碍物可被所述扫地机移除。
  7. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    清扫完成后，将所述障碍物移动至所述障碍物在所述未清扫区域的原始位置。
  8. 一种清扫装置，其特征在于，包括:
    第一获取模块，用于获取清洁区域的地形图，所述地形图标识有所述清洁区域中的障碍物；
    第一确定模块，用于根据所述地形图，确定所述清洁区域中由于所述障碍物占据而无法进行清扫的未清扫区域；
    第二确定模块，用于确定所述未清扫区域上放置的障碍物是否可移除；
    移除清扫模块，用于若所述未清扫区域上放置的障碍物可移除，移除所述障碍物并清扫所述未清扫区域。
  9. 根据权利要求8所述的装置，其特征在于，所述第二确定模块包括：
    第一确定子模块，用于确定所述未清扫区域上放置的障碍物所代表的家具；
    第二确定子模块，用于确定所述家具的家具类型，所述家具类型包括临时家具或固定家具；
    第一确认子模块，用于若所述家具的家具类型为临时家具，确认所述未清扫区域上放置的障碍物可移除。
  10. 根据权利要求9所述的装置，其特征在于，所述第一确认子模块包括：
    确定单元，用于若所述家具的家具类型为临时家具，确定所述家具是否为预设家具；
    第一确认单元，用于若所述家具为预设家具，确认所述未清扫区域上放置的障碍物可移除。
  11. 根据权利要求9所述的装置，其特征在于，所述第二确定子模块包括：
    第一获取单元，用于获取家具与家具类型的对应关系，所述家具与家具类型的对应关系描述了不同家具的家具类型；
    第二获取单元，用于根据家具与家具类型的对应关系，获取所述未清扫区域上放置的障碍物所代表家具的家具类型。
  12. 根据权利要求8所述的装置，其特征在于，所述第二确定模块包括：
    第三确定子模块，用于确定所述未清扫区域上放置的障碍物的尺寸是否满足预设尺寸范围；
    第二确认子模块，用于若所述障碍物的尺寸满足所述预设尺寸范围，确认所述未清扫区域上放置的障碍物可移除。
  13. 根据权利要求12所述的装置，其特征在于，所述第二确认子模块包括：
    第三获取单元，用于若所述障碍物的尺寸满足所述预设尺寸范围，获取移除所述障碍物所需的推力；
    第二确认单元，用于若所述推力小于或等于预设推力阈值，确认所述未清扫区域上放置的障碍物可移除。
  14. 根据权利要求8所述的装置，其特征在于，所述装置还包括：
    恢复模块，用于清扫完成后，将所述障碍物移动至所述障碍物在所述未清扫区域的原 始位置。
  15. 一种清扫装置，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    获取清洁区域的地形图，所述地形图标识有所述清洁区域中的障碍物；
    根据所述地形图，确定所述清洁区域中由于所述障碍物占据而无法进行清扫的未清扫区域；
    确定所述未清扫区域上放置的障碍物是否可移除；
    若所述未清扫区域上放置的障碍物可移除，移除所述障碍物并清扫所述未清扫区域。
  16. 一种计算机可读存储介质，其上存储有计算机指令，其特征在于，该指令被处理器执行时实现权利要求1至7任意一项权利要求所述方法的步骤。
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