WO2022257553A9 - 清洁设备和清洁路径、清洁地图生成方法及生成系统 - Google Patents

清洁设备和清洁路径、清洁地图生成方法及生成系统 Download PDF

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Publication number
WO2022257553A9
WO2022257553A9 PCT/CN2022/082867 CN2022082867W WO2022257553A9 WO 2022257553 A9 WO2022257553 A9 WO 2022257553A9 CN 2022082867 W CN2022082867 W CN 2022082867W WO 2022257553 A9 WO2022257553 A9 WO 2022257553A9
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WIPO (PCT)
Prior art keywords
cleaning
sweeping
cleaning device
mopping
path
Prior art date
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PCT/CN2022/082867
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English (en)
French (fr)
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WO2022257553A1 (zh
Inventor
丛一鸣
肖福建
孙建斌
Original Assignee
北京石头创新科技有限公司
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Application filed by 北京石头创新科技有限公司 filed Critical 北京石头创新科技有限公司
Priority to AU2022288550A priority Critical patent/AU2022288550A1/en
Priority to JP2023575957A priority patent/JP2024520821A/ja
Priority to EP22819158.1A priority patent/EP4353137A1/en
Publication of WO2022257553A1 publication Critical patent/WO2022257553A1/zh
Publication of WO2022257553A9 publication Critical patent/WO2022257553A9/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/28—Floor-scrubbing 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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • 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
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present disclosure relates to the technical field of cleaning paths of cleaning equipment, and in particular to cleaning equipment, cleaning paths, cleaning map generation methods and generation systems.
  • the sweeping robot can display the cleaned path on the generated map.
  • the sweeping robot can display the cleaned path on the generated map.
  • it is necessary to distinguish the sweeping and dragging path on the map display. Therefore, , it is necessary to develop a cleaning device capable of distinguishing cleaning paths, a cleaning path, a cleaning map generation method and a generation system.
  • the purpose of the present disclosure is to provide a cleaning device and a cleaning path capable of distinguishing cleaning paths, a cleaning map generation method, and a generation system.
  • the first aspect of the embodiments of the present disclosure provides a method for generating a cleaning path of a cleaning device, including: determining the moving path of the cleaning device; determining the state mode of the cleaning device; determining the cleaning path of the cleaning device The water consumption of the cleaning equipment; the cleaning path of the cleaning equipment is generated based on the moving path of the cleaning equipment, the state mode of the cleaning equipment, and the water consumption of the cleaning equipment; wherein, the state mode of the cleaning equipment includes sweeping state mode, dragging One or more of ground state mode, sweeping state mode and sweeping idle state mode; the cleaning path includes sweeping path, mopping path, sweeping path and sweeping path corresponding to the state mode of the cleaning device One or more of the free paths.
  • the determining the moving path of the cleaning equipment includes: generating an environmental map based on the acquired environmental data; based on the moving data from one coordinate point to the next coordinate point in the environmental map, A moving path of the cleaning device is generated.
  • the determining the state mode of the cleaning equipment includes: based on the fact that the sweeping module of the cleaning equipment is in a working state and the mopping module of the cleaning equipment is in an idle state, determining that the cleaning The device is in sweeping mode.
  • the determining the working mode of the cleaning device includes: determining the cleaning mode based on the mopping module of the cleaning device being in a working state and the sweeping module of the cleaning device being in an idle state.
  • the device is in mopping mode.
  • the determining the working mode of the cleaning device includes: determining that the cleaning device is in a sweeping and mopping mode based on the fact that both the sweeping module and the mopping module are in a working state.
  • the cleaning device is in a sweeping and mopping idle state mode based on the fact that both the sweeping module and the mopping module are in an idle state.
  • determining the water consumption of the cleaning equipment includes:
  • the water consumption of the cleaning device is determined.
  • the determining the cleaning path of the cleaning equipment based on the moving path of the cleaning equipment, the state mode of the cleaning equipment, and the water consumption of the cleaning equipment includes:
  • the sweeping path is determined based on the cleaning device being in the sweeping state mode, the moving path of the cleaning device in the sweeping state mode, and the water consumption of the cleaning device in the sweeping state mode; and/or or,
  • the moving path of the cleaning device in the mopping state mode and the water consumption of the cleaning device in the mopping state mode determine the mopping path; and/or,
  • the moving path of the cleaning device in the sweeping and mopping state mode and the water consumption of the cleaning device in the sweeping and mopping state mode is determined path; and/or,
  • the moving path of the cleaning device in the sweeping and dragging idle state mode and the water consumption of the cleaning device in the sweeping and dragging idle state mode determine the Sweep and drag an idle path.
  • the second aspect of the embodiments of the present disclosure provides a cleaning map generation method for cleaning equipment, including: using the cleaning path generation method for cleaning equipment according to any one of the first aspects of the embodiments of the present disclosure to determine the cleaning path ; Obtaining an environmental map; superimposing the environmental map and the cleaning path to generate a cleaning map.
  • a third aspect of the embodiments of the present disclosure provides a cleaning device.
  • a cleaning map is generated by using the method for generating a cleaning map of a cleaning device provided in the second aspect of the embodiments of the present disclosure.
  • the fourth aspect of the embodiments of the present disclosure provides a cleaning map generation system for cleaning equipment; including: the cleaning equipment provided in the third aspect of the embodiments of the present disclosure; a terminal for displaying the cleaning map generated by the cleaning equipment .
  • the server is connected to the cleaning device and the terminal respectively, and is used to receive and store the cleaning map sent by the cleaning device, and the server is also used to send the cleaning map to the terminal.
  • the sweeping path in the cleaning map displayed by the terminal is in the form of lines.
  • the mopping paths in the cleaning map displayed by the terminal are sheet-like.
  • FIG. 1 is a schematic flowchart of a method for generating a cleaning path for a cleaning device in an embodiment of the present disclosure
  • Fig. 2 is a schematic structural view of cleaning equipment in an embodiment of the present disclosure
  • Fig. 3 is a schematic structural diagram of cleaning equipment in an embodiment of the present disclosure.
  • FIG. 4 is a schematic diagram of a cleaning map according to an embodiment of the present disclosure.
  • 100 mobile platform; 101: forward part; 102: backward part; 110: perception system; 111: position determination device; 112: buffer; 120: drive system; 130: energy system; 140: human-computer interaction system; 150: sweeping module; 160: mopping module; 161: cleaning head; 1611: fixed area; 1612: active area.
  • first, second, third, etc. may be used for description in the embodiments of the present disclosure, these should not be limited to these terms. These terms are used only to distinguish.
  • the first may also be referred to as the second, and similarly, the second may also be referred to as the first.
  • Fig. 1 is a schematic flowchart of a method for generating a cleaning path for a cleaning device in an embodiment of the present disclosure.
  • a method for generating a cleaning path for a cleaning device wherein the cleaning device may be a vacuum cleaner robot, a floor mopping/sweeping robot, or a window climbing robot and the like.
  • the cleaning device may be a vacuum cleaner robot, a floor mopping/sweeping robot, or a window climbing robot and the like.
  • the following description in this embodiment takes a cleaning robot with both sweeping and mopping functions as an example for illustration.
  • the cleaning path generation method for cleaning equipment mainly includes:
  • Step S101 determining the moving path of the cleaning device.
  • an environmental map is generated based on the acquired environmental data; and a moving path of the cleaning equipment is generated based on the movement data from one coordinate point to the next coordinate point in the environmental map.
  • control system of the cleaning device obtains environmental data through the sensing system 110 of the cleaning device, and the environmental data at least includes the cleaning range and the cleaning environment.
  • the cleaning environment at least includes data on the surface to be cleaned (for example, whether there is a carpet) and obstacles or reference objects in the cleaning environment (for example, whether there are sofas, refrigerators, etc. in the cleaning area).
  • determine multiple coordinate points for example, determine multiple coordinate points between sofas (first reference object) and seats (second reference object), and the cleaning equipment can Move from the sofa to the seat at multiple coordinate points between the sofa and the seat, and use the movement data from one coordinate point to the next coordinate point to generate the movement path of the cleaning equipment, wherein the movement data includes at least the movement distance and direction.
  • the cleaning device After the cleaning device enters the environment to be cleaned for the first time, it will obtain the corresponding environmental data and generate an environmental map. After that, each time the cleaning device performs a cleaning task, the cleaning device will obtain the environmental data and update the environmental map based on the obtained environmental data. The cleaning device The movement path of is generated based on the latest environment map.
  • Step S102 determining the state mode of the cleaning device.
  • control system of the cleaning equipment can determine the overall status mode of the cleaning equipment through the operating status or operating data of the parts of the cleaning equipment.
  • the status modes of the cleaning equipment include sweeping status mode, mopping status mode, sweeping status mode and one or more of swipe and drag idle state modes.
  • the control system of the cleaning equipment determines that the sweeping module 150 of the cleaning equipment is in a working state, and the mopping module 160 of the cleaning equipment is in an idle state, so as to determine that the cleaning equipment is in the sweeping state mode;
  • the mopping module 160 of the equipment is in working condition, and the sweeping module 150 of the cleaning equipment is in an idle state, so as to determine that the cleaning equipment is the mopping state mode; All are in the working state to determine that the cleaning equipment is the sweeping and mopping mode;
  • the control system of the cleaning equipment determines that the cleaning equipment is the sweeping and mopping idle mode by determining that the sweeping module 150 and the mopping module 160 are in an idle state.
  • Step S101 and step S102 may be performed simultaneously, or may be performed successively, and the execution order of step S101 and step S102 is not limited.
  • Step S103 determining the water consumption of the cleaning equipment.
  • the control system of the cleaning device determines the water consumption of the cleaning device based on the cleaning device being in the sweeping state mode; and/or, based on the cleaning device being in the mopping state mode, determines the water consumption of the cleaning device; and/or, based on The cleaning device is in the sweeping and mopping state mode, and the water consumption of the cleaning device is determined; and/or, based on the cleaning device being in the sweeping and mopping idle state mode, the water consumption of the cleaning device is determined.
  • the water consumption of the cleaning equipment in the sweeping mode and the sweeping idle state mode is 0; the water consumption of the cleaning equipment in the mopping state mode and the sweeping state mode is determined by the water level sensor or the preset water consumption command.
  • Step S104 generating a cleaning path of the cleaning equipment based on the moving path of the cleaning equipment, the state mode of the cleaning equipment, and the water consumption of the cleaning equipment;
  • the cleaning path of the cleaning device includes multiple types of cleaning information: moving path information, water consumption information, and cleaning mode information.
  • the cleaning path includes one or more of a sweeping path, a mopping path, a sweeping and mopping path, and a sweeping and mopping idle path corresponding to the state mode of the cleaning device.
  • the control system of the cleaning device determines the sweeping path by determining that the cleaning device is in the sweeping state mode, the moving path of the cleaning device in the sweeping state mode and the water consumption of the cleaning device in the sweeping state mode; and/or, based on the mopping state of the cleaning device State mode, the moving path of the cleaning device in the mopping state mode and the water consumption of the cleaning device in the mopping state mode, determine the mopping path; and/or, based on the cleaning device being in the sweeping state mode, the cleaning device is in the sweeping state mode
  • the moving path in the state mode and the water consumption of the cleaning device in the sweeping state mode determine the sweeping path; and/or, based on the cleaning device being in the sweeping idle state mode, the moving path of the cleaning device in the sweeping idle state mode and the water consumption when the cleaning device is in the sweeping and mopping idle state mode, to determine the sweeping and mopping idle path.
  • a cleaning map generation method for cleaning equipment which mainly includes:
  • Step S201 using the method for generating a cleaning path for a cleaning device according to any one of the first aspects of the embodiments of the present disclosure to determine a cleaning path.
  • This setting can accurately reflect the cleaning workload of the cleaning equipment.
  • the cleaning path is obtained and generated by a cleaning device performing a cleaning task.
  • Step S202 acquiring an environment map.
  • the environmental map is generated or updated based on the environmental data when the cleaning equipment performs the cleaning task.
  • Such settings can accurately reflect the cleaning range of the cleaning equipment. For example, when the door of a certain room in the house is closed Yes, the cleaning equipment cannot enter the closed room. The closed room has not been cleaned, and the user can intuitively know where it has been cleaned and where it has not been cleaned.
  • Step S203 superimposing the environmental map and the cleaning path to generate a cleaning map.
  • the environmental map is used as the bottom layer, and the cleaning path is superimposed on the upper layer of the environmental map to generate a cleaning map.
  • FIGS. 2-3 are structural schematic diagrams of cleaning equipment in an embodiment of the present disclosure.
  • a cleaning device is provided, and a cleaning map is generated by using the method for generating a cleaning map of a cleaning device provided in the second aspect of the embodiment of the present disclosure.
  • the cleaning device may include a mobile platform 100 , a perception system 110 , a control system, a drive system 120 , a cleaning module, an energy system 130 and a human-computer interaction system 140 .
  • the control system can determine the overall status mode of the cleaning equipment by acquiring the operating status or operating data of the mobile platform 100 , the sensing system 110 , the driving system 120 , the cleaning module, the energy system 130 and the human-computer interaction system 140 .
  • the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform.
  • An autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; a non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but It can execute a predetermined program or run according to a certain logic.
  • the target direction can be independently determined by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually.
  • the mobile platform 100 includes a forward portion 101 and a rearward portion 102 .
  • the perception system 110 includes a position determination device 111 located above the mobile platform 100, a buffer 112 located at the forward portion 101 of the mobile platform 100, a cliff sensor and an ultrasonic sensor (not shown) located at the bottom of the mobile platform 100, an infrared sensor (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors
  • the device provides various position information and motion status information of the machine to the control system.
  • the position determining device 111 includes but not limited to a camera and a laser distance measuring device (LDS).
  • LDS laser distance measuring device
  • Each component in the perception system 110 can operate independently or jointly to achieve the purpose function more accurately.
  • the cliff sensor and ultrasonic sensor are used to identify the surface to be cleaned to determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., and can be combined with cameras, laser distance measuring devices, etc. to make more accurate judgments.
  • the control system is arranged on the circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory, in communication with the mobile platform 100. It is configured to receive the environmental information sensed by multiple sensors from the perception system 110, use a positioning algorithm, such as SLAM, to draw an instant map of the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device, and The driving route is determined autonomously according to the environmental information and the environmental map, and then the drive system 120 is controlled to perform forward, backward and/or steering operations according to the independently determined driving route. The control system can also decide whether to start the cleaning module to perform cleaning operations according to the environmental information and the environmental map.
  • a computing processor such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory, in communication with the
  • the forward part 101 of the mobile platform 100 is provided with a buffer 112.
  • the buffer 112 detects one or more events (or objects) in the travel path of the automatic cleaning device via a sensor system, such as an infrared sensor, and automatically
  • the cleaning device may pass an event (or object) detected by bumper 112, such as an obstacle, a wall, and control the drive wheel assembly to cause the automatic cleaning device to respond to the event (or object), such as moving away from the obstacle.
  • the control system can combine the distance information and speed information fed back by the buffer 112, the cliff sensor, the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and other sensing devices to comprehensively judge the current working state of the sweeper.
  • Such as crossing the threshold, getting on the carpet, being on a cliff, getting stuck above or below, being full of dust boxes, being picked up, etc. will also give specific next-step action strategies for different situations, making the work of automatic cleaning equipment more suitable Master's request, to have a better user experience.
  • the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of automatic cleaning equipment.
  • the environmental data acquired by the cleaning device generates an environmental map; the movement data of the cleaning device moving from one coordinate point to the next coordinate point in the environmental map generates a moving path of the cleaning device.
  • the control system acquires environmental data through the sensing system 110, and the environmental data includes at least the cleaning range and the cleaning environment.
  • the cleaning environment at least includes ground data (for example, whether there is a carpet) and obstacles or reference objects in the cleaning environment (for example, whether there are sofas, refrigerators, etc. in the cleaning area).
  • determine multiple coordinate points for example, determine multiple coordinate points between sofas (first reference object) and seats (second reference object)
  • the cleaning equipment can Move from the sofa to the seat at multiple coordinate points between the sofa and the seat, and use the movement data from one coordinate point to the next coordinate point to generate the movement path of the cleaning equipment, wherein the movement data includes at least the movement distance and direction.
  • the cleaning device After the cleaning device enters the environment to be cleaned for the first time, it will obtain the corresponding environmental data and generate an environmental map. After that, each time the cleaning device performs a cleaning task, the cleaning device will obtain the environmental data and update the environmental map based on the obtained environmental data. The cleaning device The movement path of is generated based on the latest environment map.
  • the cleaning module includes a sweeping module 150 and a mopping module 160 .
  • the sweeping module 150 includes a roller brush, a dust box, a fan, and an air outlet.
  • Sweeping module 150 may also include a side brush having an axis of rotation that is angled relative to the floor for moving debris into the area of the roller brush of the cleaning module.
  • the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan structure and passing through the dust box.
  • Garbage is isolated by the filter screen on the side close to the dust suction port inside the dust box. The filter screen completely isolates the dust suction port from the air outlet, and the filtered air enters the fan through the air outlet.
  • the sweeping module 150 is connected to the floating lifting structure, which is configured to enable the sweeping module 150 to move up and down passively relative to the mobile platform 100 .
  • the floating lifting structure is a parallelogram four-link lifting structure configured to passively switch the sweeping module 150 between the rising state and the sinking state under the action of an external force.
  • the sweeping module 150 passively moves up and down relative to the mobile platform 100 by setting a four-link floating lifting structure.
  • the roller brush of the sweeping module 150 is far away from the surface to be cleaned, that is, the sweeping module 150 is suspended on the surface to be cleaned. At this time, the sweeping module 150 is in an idle state.
  • the roller brush of the sweeping module 150 interferes with the surface to be cleaned. When the cleaning equipment encounters an obstacle during operation, it can easily overcome the obstacle through the four-link floating lifting structure, so as to avoid damage to the cleaning equipment by the obstacle.
  • the mopping module 160 includes a cleaning head 161 and a driving unit.
  • the cleaning head 161 is used to clean at least a part of the operation surface (for example, the floor), and the driving unit is used to drive the cleaning head 161 to move substantially reciprocatingly along the target surface, which is a part of the operation surface.
  • the cleaning head 161 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 161 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through reciprocating motion, thereby removing stains on the surface to be cleaned .
  • the cleaning head 161 includes a fixed area 1611 and a movable area 1612 . Wherein, the fixed area 1611 is located at the bottom of the mobile platform 100, and the movable area 1612 is used for reciprocating movement along the target surface to clean the target surface.
  • the mopping module 160 is movably connected to the mobile platform 100 through a four-link lifting structure.
  • the four-link lifting structure is a parallelogram structure, which is used to switch the mopping module 160 between the rising state and the sinking state.
  • the rising state is that the mopping module 160 leaves the operation surface, and the cleaning head 161 is away from the surface to be cleaned. That is, the mopping module 160 is suspended on the surface to be cleaned.
  • the mopping module 160 is in an idle state.
  • the mopping module 160 is lowered so that the mopping module 160 is in contact with the ground.
  • the mopping module 160 is raised to separate the mopping module 160 from the ground, so as to prevent the cleaning equipment from increasing resistance due to the presence of the cleaning module when the cleaning equipment moves freely on the surface to be cleaned.
  • the mopping module 160 is in contact with the surface to be cleaned, but when the driving unit of the mopping module 160 does not drive the cleaning head 161 to work, the mopping module 160 is also in an idle state at this time.
  • control system When the control system acquires that the sweeping module 150 is in the down state, it determines that the sweeping module 150 is in the working state, and the mopping module 160 is in the down state, and the drive unit does not drive the cleaning head 161 to work, or the mopping module 160 is in the down state.
  • the rising state is to determine that the mopping module 160 is in an idle state, so as to determine that the cleaning device is in a sweeping state.
  • control system When the control system acquires that the sweeping module 150 is in the down state, it determines that the sweeping module 150 is in the working state, and the mopping module 160 is in the down state, and at the same time the drive unit drives the cleaning head 161 to work, that is, it determines that the mopping module 160 is in the down state.
  • Working state to determine that the cleaning device is in the sweeping and mopping state mode.
  • the cleaning device determines the water consumption of the cleaning device based on the cleaning device being in the sweeping state mode; and/or, the cleaning device determines the water consumption of the cleaning device based on the cleaning device being in the mopping state mode; and/or, the cleaning device Based on the fact that the cleaning device is in the sweeping and mopping state, the water consumption of the cleaning device is determined; and/or, the cleaning device determines the water consumption of the cleaning device based on the fact that the cleaning device is in the sweeping and mopping idle state.
  • the water consumption of the cleaning equipment in the sweeping mode and the sweeping and mopping idle state mode is 0; Sure.
  • the cleaning device determines the sweeping path based on the cleaning device being in the sweeping state mode, the moving path of the cleaning device in the sweeping state mode and the water consumption of the cleaning device in the sweeping state mode; and/or, the cleaning device determines the sweeping path based on the cleaning device In the mopping state mode, the moving path of the cleaning device in the mopping state mode and the water consumption of the cleaning device in the mopping state mode determine the mopping path; and/or, the cleaning device is based on the sweeping state mode of the cleaning device, The moving path of the cleaning device in the sweeping and dragging mode and the water consumption in the sweeping and dragging mode of the cleaning device determine the sweeping and dragging path; and/or, the cleaning device is in the sweeping and dragging idle mode based on the cleaning device being in the sweeping and dragging The moving path in the idle state mode and the water consumption of the cleaning device in the sweeping and dragging idle state mode determine the sweeping and dragging idle path.
  • a cleaning map generation system for cleaning equipment mainly including: the cleaning equipment provided in the third aspect of the embodiment of the present disclosure, a terminal and a server for displaying the cleaning equipment to generate a cleaning map.
  • the server is respectively connected with the cleaning equipment and the terminal signal, and is used for receiving and storing the cleaning map sent by the cleaning equipment, and the server is also used for sending the cleaning map to the terminal.
  • the cleaning device starts from the charging pile to the initial point of cleaning based on the preset cleaning instructions. While performing the cleaning task, it obtains the surrounding cleaning environment through the perception system 110 and generates a cleaning map. The cleaning device will generate the cleaning information in real time. The map is transmitted to a remote server which stores the clean map and sends it to the terminal to display the clean map first.
  • the terminal may be a mobile phone, a tablet computer and a smart device.
  • FIG. 4 is a schematic diagram of a cleaning map according to an embodiment of the present disclosure.
  • the cleaning route map includes one or more of a sweeping route, a mopping route and a sweeping and mopping route.
  • the sweeping path in the cleaning map displayed by the terminal is in the form of lines.
  • the mopping path in the cleaning map displayed by the terminal is sliced.
  • the mopping path has a shadow, and the greater the water consumption of the cleaning equipment for mopping the floor, the darker the color of the shadow, and the smaller the water consumption of the cleaning equipment for mopping the floor, the lighter the color of the shadow.

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Abstract

本公开提供清洁设备和清洁路径、清洁地图生成方法及生成系统，其中，清洁路径获取方法包括：基于清洁设备的路径、清洁设备的状态模式和清洁设备的用水量生成清洁设备的清洁路径（S104）；清洁设备的状态模式包括扫地状态模式、拖地状态模式、扫拖状态模式和扫拖空闲状态模式中的一种或多种；清洁路径包括与清洁设备的状态模式对应的扫地路径、拖地路径、扫拖路径和扫拖空闲路径中的一种或多种。通过清洁设备获取不同清洁状态模式下的清洁路径，将清洁路径区别展示在环境地图中，便于用户观察并比对实际清洁效果，并让用户更明确的看到扫地机器人在哪里工作，分别实行了何种清洁，便于用户得知有没有漏扫、漏拖、错扫和错拖。

Description

清洁设备和清洁路径、清洁地图生成方法及生成系统
本申请要求2021年6月9日提交的中国专利申请号202110641810.5的优先权，该中国专利申请以其整体通过引用并入本文。
技术领域
本公开涉及清洁设备清洁路径技术领域，特别涉及清洁设备和清洁路径、清洁地图生成方法及生成系统。
背景技术
目前扫地机器人在已生成的地图上能够显示已经清扫的路径，然而随着扫地机器人功能的多样化，扫地+拖地一体机器人的出现，使扫拖路径在地图展示上区别出来十分有必要，因此，需要研发一种能够获区别的清洁路径的清洁设备和清洁路径、清洁地图生成方法及生成系统。
发明内容
(一)发明目的
本公开的目的是提供一种能够获区别的清洁路径的清洁设备和清洁路径、清洁地图生成方法及生成系统。
(二)技术方案
为解决上述问题，本公开实施例的第一方面提供了一种清洁设备的清洁路径生成方法，包括：确定所述清洁设备的移动路径；确定所述清洁设备的状态模式；确定所述清洁设备的用水量；基于所述清洁设备的移动路径、所述清洁设备的状态模式和清洁设备的用水量生成所述清洁设备的清洁路径；其中，所述清洁设备的状态模式包括扫地状态模式、拖地状态模式、扫拖状态模式和扫拖空闲状态模式中的一种或多种；所述清洁路径包括与所述清洁设备的状态模式对应的扫地路径、拖地路径、扫拖路径和扫拖空闲路径中的一种或多种。
在一些实施例中，所述确定所述清洁设备的移动路径，包括：基于获取的环境数据，生成环境地图；基于从所述环境地图中的一个坐标点移动至下一个坐标点的移动数据，生成所述清洁设备的移动路径。
在一些实施例中，所述确定所述清洁设备的状态模式，包括：基于所述清洁设备的扫 地模组处于工作状态，且所述清洁设备的拖地模组处于空闲状态，确定所述清洁设备为扫地状态模式。
在一些实施例中，所述确定所述清洁设备的工作模式，包括：基于所述清洁设备的拖地模组处于工作状态，且所述清洁设备的扫地模组处于空闲状态，确定所述清洁设备为拖地状态模式。
在一些实施例中，所述确定所述清洁设备的工作模式，包括：基于所述扫地模组和所述拖地模组均处于工作状态，确定所述清洁设备为扫拖状态模式。
在一些实施例中，基于所述扫地模组和所述拖地模组均处于空闲状态，确定所述清洁设备为扫拖空闲状态模式。
在一些实施例中，确定所述清洁设备的用水量包括：
基于所述清洁设备处于所述扫地状态模式，确定所述清洁设备的用水量；和/或，
基于所述清洁设备处于所述拖地状态模式，确定所述清洁设备的用水量；和/或，
基于所述清洁设备处于所述扫拖状态模式，确定所述清洁设备的用水量；和/或，
基于所述清洁设备处于所述扫拖空闲状态模式，确定所述清洁设备的用水量。
在一些实施例中，所述基于所述清洁设备的移动路径、所述清洁设备的状态模式和清洁设备的用水量确定所述清洁设备的清洁路径，包括：
基于所述清洁设备处于所述扫地状态模式，所述清洁设备处于所述扫地状态模式下的移动路径和所述清洁设备处于所述扫地状态模式下的用水量，确定所述扫地路径；和/或，
基于所述清洁设备处于所述拖地状态模式，所述清洁设备处于所述拖地状态模式下的移动路径和所述清洁设备处于所述拖地状态模式下的用水量，确定所述拖地路径；和/或，
基于所述清洁设备处于所述扫拖状态模式，所述清洁设备处于所述扫拖状态模式下的移动路径和所述清洁设备处于所述扫拖状态模式下的用水量，确定所述扫拖路径；和/或，
基于所述清洁设备处于所述扫拖空闲状态模式，所述清洁设备处于所述扫拖空闲状态模式下的移动路径和所述清洁设备处于所述扫拖空闲状态模式下的用水量，确定所述扫拖空闲路径。
本公开实施例的第二方面提供了一种清洁设备的清洁地图生成方法，包括：利用本公开实施例的第一方面提供的任一项所述的清洁设备的清洁路径生成方法，确定清洁路径；获取环境地图；将所述环境地图和所述清洁路径叠加，生成清洁地图。
本公开实施例的第三方面提供了一种清洁设备，利用本公开实施例的第二方面提供的所述的清洁设备的清洁地图生成方法，生成清洁地图。
本公开实施例的第四方面提供了一种清洁设备清洁地图生成系统；包括：本公开实施例的第三方面提供的所述的清洁设备；终端，用于展示所述清洁设备生成的清洁地图。服务器，分别与所述清洁设备和所述终端信号连接，用于接收和存储所述清洁设备发送的清洁地图，所述服务器还用于将所述清洁地图发送给所述终端。
在一些实施例中，所述终端展示的所述清洁地图中的扫地路径为线条状。
在一些实施例中，所述终端展示的所述清洁地图中的拖地路径为片状。
(三)有益效果
本公开的上述技术方案具有如下有益的技术效果：
通过清洁设备获取不同清洁状态模式下的清洁路径，将清洁路径区别展示在环境地图中，便于用户观察并比对实际清洁效果，并让用户更明确的看到扫地机器人在哪里工作，分别实行了何种清洁，便于用户得知有没有漏扫、漏拖、错扫和错拖。
附图说明
图1是本公开一实施例中清洁设备的清洁路径生成方法的流程示意图；
图2是本公开一实施例中清洁设备的结构示意图；
图3是本公开一实施例中清洁设备的结构示意图；
图4是本公开一实施例中清洁地图的示意图。
附图标记：
100：移动平台；101：前向部分；102：后向部分；110：感知系统；111：位置确定装置；112：缓冲器；120：驱动系统；130：能源系统；140：人机交互系统；150：扫地模组；160：拖地模组；161：清洁头；1611：固定区域；1612：活动区域。
具体实施方式
为了使本公开的目的、技术方案和优点更加清楚，下面将结合附图对本公开作进一步地详细描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本公开保护的范围。
在本公开实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
应当理解，尽管在本公开实施例中可能采用术语第一、第二、第三等来描述，但这些不应限于这些术语。这些术语仅用来将区分开。例如，在不脱离本公开实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的商品或者装置中还存在另外的相同要素。
图1是本公开一实施例中清洁设备的清洁路径生成方法的流程示意图。
本公开第一实施例中，提供了一种清洁设备的清洁路径生成方法，其中，清洁设备可以是真空吸地机器人，也可以是拖地/扫地机器人、也可以是爬窗机器人等等。纯粹是为了展示的需要，本实施例中下面的描述以同时具有扫地和拖地功能的清洁机器人为例进行说明。
如图1所示，清洁设备的清洁路径生成方法主要包括：
步骤S101，确定清洁设备的移动路径。
一些实施例中，基于获取的环境数据，生成环境地图；基于从环境地图中的一个坐标点移动至下一个坐标点的移动数据，生成清洁设备的移动路径。
一些实施例中，清洁设备的控制系统通过清洁设备的感知系统110待获取环境数据，该环境数据至少包括清洁范围和清洁环境。清洁环境至少包括待清洁表面数据(例如，是否存在地毯)和清洁环境内的障碍物或参照物(例如，清洁区域内是否存在沙发、冰箱等)。以清洁环境内的障碍物或参照物为参照，确定多个坐标点，例如，在沙发(第一参照物)和座椅(第二参照物)之间确定多个坐标点，清洁设备能够沿着沙发和座椅之间的多个坐标点，从沙发出发移动至座椅处，利用从一个坐标点移动至下一个坐标点的移动数据生成清洁设备的移动路径，其中，移动数据至少包括移动距离和方向。
清洁设备在初次进入待清洁环境后会获取相应的环境数据并生成环境地图，之后每次清洁设备在进行清扫任务时，清洁设备都会获取环境数据，并基于获取的环境数据更新环境地图，清洁设备的移动路径基于最新的环境地图生成。
步骤S102，确定清洁设备的状态模式。
一些实施例中，清洁设备的控制系统可以通过清洁设备零部件的运行状态或运行数据来确定清洁设备整体的状态模式，清洁设备的状态模式包括扫地状态模式、拖地状态模式、扫拖状态模式和扫拖空闲状态模式中的一种或多种。其中，清洁设备的控制系统通过确定清洁设备的扫地模组150处于工作状态，且清洁设备的拖地模组160处于空闲状态，以确定清洁设备为扫地状态模式；清洁设备的控制系统通过确定清洁设备的拖地模组160处于工作状态，且清洁设备的扫地模组150处于空闲状态，以确定清洁设备为拖地状态模式；清洁设备的控制系统通过确定扫地模组150和拖地模组160均处于工作状态，以确定清洁设备为扫拖状态模式；清洁设备的控制系统通过确定扫地模组150和拖地模组160均处于空闲状态，以确定清洁设备为扫拖空闲状态模。
步骤S101和步骤S102可以同时进行，也可以先后进行，步骤S101和步骤S102的执行顺序不做限制。
步骤S103，确定清洁设备的用水量。
一些实施例中，清洁设备的控制系统基于清洁设备处于扫地状态模式，确定清洁设备的用水量；和/或，基于清洁设备处于拖地状态模式，确定清洁设备的用水量；和/或，基于清洁设备处于扫拖状态模式，确定清洁设备的用水量；和/或，基于清洁设备处于扫拖空闲状态模式，确定清洁设备的用水量。清洁设备在扫地模式和扫拖空闲状态模式下的用水量为0；清洁设备在拖地状态模式和扫拖状态模式下的用水量，以水位传感器或预设用水量的指令确定。
步骤S104，基于清洁设备的移动路径、清洁设备的状态模式和清洁设备的用水量生成清洁设备的清洁路径；
一些实施例中，清洁设备的清洁路径的包含有多种清洁信息：移动路径信息、用水量信息和清洁模式信息。清洁路径包括与清洁设备的状态模式对应的扫地路径、拖地路径、扫拖路径和扫拖空闲路径中的一种或多种。清洁设备的控制系统通过确定清洁设备处于扫地状态模式，清洁设备处于扫地状态模式下的移动路径和清洁设备处于扫地状态模式下的用水量，确定扫地路径；和/或，基于清洁设备处于拖地状态模式，清洁设备处于拖地状态模式下的移动路径和清洁设备处于拖地状态模式下的用水量，确定拖地路径；和/或，基于清洁设备处于扫拖状态模式，清洁设备处于扫拖状态模式下的移动路径和清洁设备处于扫拖状态模式下的用水量，确定扫拖路径；和/或，基于清洁设备处于扫拖空闲状态模式，清洁设备处于扫拖空闲状态模式下的移动路径和清洁设备处于扫拖空闲状态模式下的用水 量，确定扫拖空闲路径。
本公开第二实施例中，提供了一种清洁设备的清洁地图生成方法，主要包括：
步骤S201，利用本公开实施例的第一方面提供的任一项的清洁设备的清洁路径生成方法，确定清洁路径。这样设置能够准确体现出此次清洁设备清洁的工作量。
一些实施例中，清洁路径由执行清洁任务的清洁设备获取和生成。
步骤S202，获取环境地图。
一些实施例中，环境地图由清洁设备的执行清洁任务时，基于环境数据生成或更新的环境地图，这样设置能够准确体现出此次清洁设备清洁的范围，例如，屋子内的某一房间门关上了，清洁设备是进入不到关闭的房间内的，关闭的房间没有进行过清扫，用户可以直观知道哪里清扫了，哪里没有进行清扫。
步骤S203，将环境地图和清洁路径叠加，生成清洁地图。
一些实施例中，以环境地图为底层，在环境地图的上层叠加清洁路径，生成清洁地图。
图2和图3是本公开一实施例中清洁设备的结构示意图。本公开第三实施例中，如图2-3所示，提供了一种清洁设备，利用本公开实施例的第二方面提供的清洁设备的清洁地图生成方法，生成清洁地图。
一些实施例中，清洁设备可以包含移动平台100、感知系统110、控制系统、驱动系统120、清洁模组、能源系统130和人机交互系统140。控制系统可以通过获取移动平台100、感知系统110、驱动系统120、清洁模组、能源系统130和人机交互系统140的运行状态或运行数据来确定清洁设备整体的状态模式。
移动平台100可以是自主移动平台，也可以是非自主移动平台。自主移动平台是指移动平台100本身可以根据预料之外的环境输入自动地及适应性地做出操作决策；非自主移动平台本身不能根据预料之外的环境输入适应性地做出操作决策，但可以执行既定的程序或者按照一定的逻辑运行。相应地，当移动平台100为自主移动平台时，目标方向可以是自动清洁设备自主决定的；当移动平台100为非自主移动平台时，目标方向可以是系统或人工设置的。当移动平台100是自主移动平台时，移动平台100包括前向部分101和后向部分102。
感知系统110包括位于移动平台100上方的位置确定装置111、位于移动平台100的前向部分101的缓冲器112、位于移动平台100底部的悬崖传感器和超声传感器(图中未示出)、红外传感器(图中未示出)、磁力计(图中未示出)、加速度计(图中未示出)、陀螺仪(图中未示出)、里程计(图中未示出)等传感装置，向控制系统提供机器的各种位置信息和运动状 态信息。
位置确定装置111包括但不限于摄像头、激光测距装置(LDS)。
感知系统110中的各个组件，既可以独立运作，也可以共同运作以更准确的实现目的功能。通过悬崖传感器和超声波传感器对待清洁表面进行识别，以确定待清洁表面的物理特性，包括表面材质、清洁程度等等，并可以结合摄像头、激光测距装置等进行更准确的判定。
控制系统设置在移动平台100内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器被配置为接收感知系统110传来的多个传感器的感受到的环境信息，根据激光测距装置反馈的障碍物信息等利用定位算法，例如SLAM，绘制自动清洁设备所在环境中的即时地图，并根据环境信息和环境地图自主决定行驶路径，然后根据自主决定的行驶路径控制驱动系统120进行前进、后退和/或转向等操作。控制系统还可以根据环境信息和环境地图决定是否启动清洁模组进行清洁操作。
移动平台100的前向部分101设置有缓冲器112，在清洁过程中，缓冲器112经由传感器系统，例如红外传感器，检测自动清洁设备的行驶路径中的一或多个事件(或对象)，自动清洁设备可通过由缓冲器112检测到的事件(或对象)，例如障碍物、墙壁，而控制驱动轮组件使自动清洁设备来对所述事件(或对象)做出响应，例如远离障碍物。
控制系统可以结合缓冲器112、悬崖传感器和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断扫地机当前处于何种工作状态，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得自动清洁设备的工作更加符合主人的要求，有更好的用户体验。在一些实施例中，控制系统能基于SLAM绘制的即时地图信息规划最为高效合理的清扫路径和清扫方式，大大提高自动清洁设备的清扫效率。
一些实施例中，清洁设备获取的环境数据，生成环境地图；清洁设备从环境地图中的一个坐标点移动至下一个坐标点的移动数据，生成清洁设备的移动路径。
一些实施例中，控制系统通过感知系统110获取环境数据，该环境数据至少包括清洁范围和清洁环境。清洁环境至少包括地面数据(例如，是否存在地毯)和清洁环境内的障碍物或参照物(例如，清洁区域内是否存在沙发、冰箱等)。以清洁环境内的障碍物或参照物为参照，确定多个坐标点，例如，在沙发(第一参照物)和座椅(第二参照物)之间确定多个坐标点，清洁设备能够沿着沙发和座椅之间的多个坐标点，从沙发出发移动至座椅处， 利用从一个坐标点移动至下一个坐标点的移动数据生成清洁设备的移动路径，其中，移动数据至少包括移动距离和方向。
清洁设备在初次进入待清洁环境后会获取相应的环境数据并生成环境地图，之后每次清洁设备在进行清扫任务时，清洁设备都会获取环境数据，并基于获取的环境数据更新环境地图，清洁设备的移动路径基于最新的环境地图生成。
洁模组包括扫地模组150和拖地模组160。扫地模组150包括滚刷、尘盒、风机、出风口。扫地模组150还可包含具有旋转轴的边刷，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁模组的滚刷区域中。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机结构产生并经过尘盒的有吸力的气体吸入尘盒，垃圾被滤网隔离在尘盒内部靠近吸尘口一侧，滤网将吸尘口与出风口完全隔离，经过过滤后的空气通过出风口进入风机。
扫地模组150与浮动升降结构连接，其被配置为能够使扫地模组150相对于移动平台100被动式上下移动。一些实施例中，浮动升降结构为平行四边形的四连杆升降结构，配置为在外力作用下被动的使扫地模组150在上升状态和下沉状态间切换。扫地模组150通过设置四连杆浮动升降结构，使扫地模组150相对于移动平台100被动式上下移动。扫地模组150的滚刷远离待清洁表面，即扫地模组150悬空于待清洁表面，此时扫地模组150为空闲状态，需要由空闲状态切换成工作状态时，下降扫地模组150，使扫地模组150的滚刷与待清洁表面产生干涉。当清洁设备在作业过程中遇到障碍物时，可以通过四连杆浮动升降结构轻松的越过障碍物，而避免障碍物对清洁设备的损坏。
拖地模组160包括清洁头161、驱动单元。清洁头161用于清洁操作面(例如，地面)的至少一部分，驱动单元用于驱动清洁头161沿着目标面基本上往复运动的，目标面为操作面的一部分。清洁头161沿待清洁表面做往复运动，清洁头161与待清洁表面的接触面表面设有清洁布或清洁板，通过往复运动与待清洁表面产生高频摩擦，从而去除待清洁表面上的污渍。一些实施例中，清洁头161包括固定区域1611和活动区域1612。其中，固定区域1611位于移动平台100的底部，活动区域1612用于沿着目标面往复运动，以清洁目标面。
拖地模组160通过四连杆升降结构活动连接于移动平台100上。其中，四连杆升降结构为平行四边形结构，用于使拖地模组160在上升状态和下沉状态间切换，上升状态为拖地模组160离开操作面，清洁头161远离待清洁表面，即拖地模组160悬空于待清洁表面，此时拖地模组160为空闲状态，需要由空闲状态切换成工作状态时，将拖地模组160降下 使拖地模组160与地面接触，当执行完毕拖地任务的时候，将拖地模组160升起使拖地模组160与地面分离，避免清洁设备在被清洁面上自由移动时由于清洁模组的存在而增大阻力。另外，拖地模组160与待清洁表面接触，但是，拖地模组160的驱动单元未驱动清洁头161工作时，此时拖地模组160也为空闲状态。
控制系统获取到扫地模组150位于下降状态时，即确定扫地模组150处于工作状态，且拖地模组160位于下降状态，同时驱动单元未驱动清洁头161工作，或者拖地模组160位于上升状态，即确定拖地模组160处于空闲状态，以确定清洁设备为扫地状态模式。
控制系统获取到扫地模组150位于下降状态时，即确定扫地模组150处于工作状态，且拖地模组160位于下降状态，同时驱动单元驱动清洁头161工作，即确定拖地模组160处于工作状态，以确定清洁设备为扫拖状态模式。
一些实施例中，清洁设备基于清洁设备处于扫地状态模式，确定清洁设备的用水量；和/或，清洁设备基于清洁设备处于拖地状态模式，确定清洁设备的用水量；和/或，清洁设备基于清洁设备处于扫拖状态模式，确定清洁设备的用水量；和/或，清洁设备基于清洁设备处于扫拖空闲状态模式，确定清洁设备的用水量。
一些实施例中，清洁设备在扫地模式和扫拖空闲状态模式下的用水量为0；清洁设备在拖地状态模式和扫拖状态模式下的用水量，以水位传感器或预设用水量的指令确定。
一些实施例中，清洁设备基于清洁设备处于扫地状态模式，清洁设备处于扫地状态模式下的移动路径和清洁设备处于扫地状态模式下的用水量，确定扫地路径；和/或，清洁设备基于清洁设备处于拖地状态模式，清洁设备处于拖地状态模式下的移动路径和清洁设备处于拖地状态模式下的用水量，确定拖地路径；和/或，清洁设备基于清洁设备处于扫拖状态模式，清洁设备处于扫拖状态模式下的移动路径和清洁设备处于扫拖状态模式下的用水量，确定扫拖路径；和/或，清洁设备基于清洁设备处于扫拖空闲状态模式，清洁设备处于扫拖空闲状态模式下的移动路径和清洁设备处于扫拖空闲状态模式下的用水量，确定扫拖空闲路径。
本公开第四实施例中，提供了一种清洁设备清洁地图生成系统，主要包括：本公开实施例的第三方面提供的清洁设备，用于展示清洁设备生成清洁地图的终端和服务器。服务器分别与清洁设备和终端信号连接，用于接收和存储清洁设备发送的清洁地图，服务器还用于将清洁地图发送给终端。
一些实施例中，清洁设备基于预设的清洁指令，从充电桩出发至清洁初始点，进行清洁任务的同时通过感知系统110获取周围的清洁环境，并生成清洁地图，清洁设备将实时 生成的清洁地图传送至远程服务器，该远程服务器存储清洁地图并将其发送至终端，以先显示清洁地图。其中，终端可以为手机、平板电脑和智能设备。
图4是本公开一实施例中清洁地图的示意图。
在一些实施例中，如图4所示，清洁路径地图包括扫地路径、拖地路径和扫拖路径中的一种或多种。
一些实施例中，终端展示的清洁地图中的扫地路径为线条状。
一些实施例中，终端展示的清洁地图中的拖地路径为片状。
一些实施例中，拖地路径具有阴影，清洁设备拖地用水量越大，阴影的颜色越深，清洁设备拖地用水量越小，阴影的颜色越浅。
以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。

Claims (13)

  1. 一种清洁设备的清洁路径生成方法，其特征在于，包括：
    确定所述清洁设备的移动路径；
    确定所述清洁设备的状态模式；
    确定所述清洁设备的用水量；
    基于所述清洁设备的移动路径、所述清洁设备的状态模式和清洁设备的用水量生成所述清洁设备的清洁路径；其中，
    所述清洁设备的状态模式包括扫地状态模式、拖地状态模式、扫拖状态模式和扫拖空闲状态模式中的一种或多种；所述清洁路径包括与所述清洁设备的状态模式对应的扫地路径、拖地路径、扫拖路径和扫拖空闲路径中的一种或多种。
  2. 根据权利要求1所述的方法，其特征在于，
    所述确定所述清洁设备的移动路径，包括：
    基于获取的环境数据，生成环境地图；
    基于从所述环境地图中的一个坐标点移动至下一个坐标点的移动数据，生成所述清洁设备的移动路径。
  3. 根据权利要求1所述的方法，其特征在于，
    所述确定所述清洁设备的状态模式，包括：
    基于所述清洁设备的扫地模组处于工作状态，且所述清洁设备的拖地模组处于空闲状态，确定所述清洁设备为扫地状态模式。
  4. 根据权利要求1所述的方法，其特征在于，
    所述确定所述清洁设备的工作模式，包括：
    基于所述清洁设备的拖地模组处于工作状态，且所述清洁设备的扫地模组处于空闲状态，确定所述清洁设备为拖地状态模式。
  5. 根据权利要求1所述的方法，其特征在于，
    所述确定所述清洁设备的工作模式，包括：
    基于所述扫地模组和所述拖地模组均处于工作状态，确定所述清洁设备为扫拖状态模式。
  6. 根据权利要求1所述的方法，其特征在于，
    基于所述扫地模组和所述拖地模组均处于空闲状态，确定所述清洁设备为扫拖空闲状态模式。
  7. 根据权利要求1所述的方法，其特征在于，
    确定所述清洁设备的用水量包括：
    基于所述清洁设备处于所述扫地状态模式，确定所述清洁设备的用水量；和/或，
    基于所述清洁设备处于所述拖地状态模式，确定所述清洁设备的用水量；和/或，
    基于所述清洁设备处于所述扫拖状态模式，确定所述清洁设备的用水量；和/或，
    基于所述清洁设备处于所述扫拖空闲状态模式，确定所述清洁设备的用水量。
  8. 根据权利要求1所述的方法，其特征在于，
    所述基于所述清洁设备的移动路径、所述清洁设备的状态模式和清洁设备的用水量确定所述清洁设备的清洁路径，包括：
    基于所述清洁设备处于所述扫地状态模式，所述清洁设备处于所述扫地状态模式下的移动路径和所述清洁设备处于所述扫地状态模式下的用水量，确定所述扫地路径；和/或，
    基于所述清洁设备处于所述拖地状态模式，所述清洁设备处于所述拖地状态模式下的移动路径和所述清洁设备处于所述拖地状态模式下的用水量，确定所述拖地路径；和/或，
    基于所述清洁设备处于所述扫拖状态模式，所述清洁设备处于所述扫拖状态模式下的移动路径和所述清洁设备处于所述扫拖状态模式下的用水量，确定所述扫拖路径；和/或，
    基于所述清洁设备处于所述扫拖空闲状态模式，所述清洁设备处于所述扫拖空闲状态模式下的移动路径和所述清洁设备处于所述扫拖空闲状态模式下的用水量，确定所述扫拖空闲路径。
  9. 一种清洁设备的清洁地图生成方法，其特征在于，包括：
    利用如权利要求1-8任一项所述的清洁设备的清洁路径生成方法，确定清洁路径；
    获取环境地图；
    将所述环境地图和所述清洁路径叠加，生成清洁地图。
  10. 一种清洁设备，其特征在于，包括：处理器和存储器，
    所述处理器用于，通过执行所述存储器中存储的可执行指令，实施如权利要求9所述的清洁设备的清洁地图生成方法，以生成清洁地图。
  11. 一种清洁设备清洁地图生成系统；其特征在于，包括：
    如权利要求10所述的清洁设备；
    终端，用于展示所述清洁设备生成的清洁地图。
    服务器，分别与所述清洁设备和所述终端信号连接，用于接收和存储所述清洁设备发送的清洁地图，所述服务器还用于将所述清洁地图发送给所述终端。
  12. 根据权利要求11所述的清洁设备清洁地图生成系统，其特征在于，
    所述终端展示的所述清洁地图中的扫地路径为线条状。
  13. 根据权利要求11所述的终端，其特征在于，
    所述终端展示的所述清洁地图中的拖地路径为片状。
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