Cleaning Method, Device, Electronic Device and Storage Medium

Abstract

The present invention relates to the field of smart home, and provides a cleaning method, device, electronic device and storage medium. The cleaning method includes: obtaining a target local cleaning mode instruction; determining target local cleaning map data that matches the target local cleaning mode instruction, where the target local cleaning map data is map data constructed based on a target operation instruction; and performing cleaning based on the target local cleaning map data and the cleaning starting position. The present invention realizes the purpose of local cleaning of the sweeping robot under the premise of a specified cleaning area by combining the method of determining the specified cleaning area with the target operation instruction, and improves the practicability and flexibility of the sweeping robot. Further, since the cleaning starting position is the position where the sweeping robot is placed, the target local cleaning map data can be determined for local cleaning without moving the sweeping robot, thereby also improving the intelligence and reliability of the sweeping robot in determining the specified cleaning area.

Description

Technical Field

[0001] The present invention relates to the technical field of smart home, and in particular to a cleaning method, device, electronic device and storage medium. Background Technique

[0002] With the progress of technology and the development of Internet of Things technology, the convenience provided by floor sweeping robots to modern life is also increasing. In actual use, only need to place it in a designated area and press the cleaning button, and the floor sweeping robot can clean according to the planned path, reducing the labor intensity.

[0003] In related technologies, existing floor sweeping robots are not often used for whole-house cleaning during use, but are mostly used for local cleaning. And when performing local cleaning, only need to place the floor sweeping robot in a designated area, and then manually press the button on the floor sweeping robot to perform local cleaning.

[0004] However, since existing floor sweeping robots can only clean according to the planned route, but cannot clean according to the designated cleaning area, the practicability and flexibility of the floor sweeping robot are not high. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the related technologies. For this reason, the present invention proposes a cleaning method to achieve the purpose of local cleaning of the floor sweeping robot under the premise of a designated cleaning area, and improve the practicability and flexibility of the floor sweeping robot.

[0006] The present invention also proposes a cleaning device.

[0007] According to the cleaning method of the first aspect embodiment of the present invention, it includes:

[0008] Obtain a target local cleaning mode instruction;

[0009] Determine target local cleaning map data matching the target local cleaning mode instruction, where the target local cleaning map data is map data constructed based on a target operation instruction;

[0010] Perform cleaning based on the target local cleaning map data and the cleaning start position.

[0011] According to the cleaning method of an embodiment of the present invention, when a target local cleaning mode instruction is obtained, local cleaning is performed based on the target local cleaning map data constructed based on the target operation instruction and the cleaning start position. By combining the target operation instruction to determine the specified cleaning area in this way, the drawback that the existing floor sweeping robot can only clean according to the planned route is solved, the purpose of the floor sweeping robot to perform local cleaning under the premise of the specified cleaning area is realized, and the practicability and flexibility of the floor sweeping robot are improved. Further, since the cleaning start position is the position where the floor sweeping robot is placed, the target local cleaning map data can be determined without moving the floor sweeping robot to perform local cleaning, thereby improving the intelligence and reliability of the floor sweeping robot to determine the specified cleaning area.

[0012] According to an embodiment of the present invention, the determining the target cleaning map data matching the target cleaning mode instruction includes:

[0013] Based on the target local cleaning mode instruction, obtain a target operation instruction;

[0014] Based on the target operation instruction and a preset local cleaning area construction strategy, determine a target local cleaning area;

[0015] Based on the target local cleaning area, determine the target local cleaning map data.

[0016] According to the cleaning method of an embodiment of the present invention, first generate a target local cleaning area based on the target operation instruction received in the target local cleaning mode, and then further determine the target local cleaning map data based on the target local cleaning area. By this way, the target local cleaning map data corresponding to the specified cleaning area is determined by the floor sweeping robot receiving the target operation instruction, which can also ensure that the local cleaning generated by the target operation has the least impact on the original map data, reduce the probability of map loss, and thus improve the flexible diversity and use convenience of the floor sweeping robot for local cleaning.

[0017] According to an embodiment of the present invention, the determining the target local cleaning map data based on the target local cleaning area includes:

[0018] Obtain map data based on the target local cleaning mode instruction;

[0019] Based on the map data acquisition failure result and the target local cleaning area, construct the target local cleaning map data.

[0020] According to the cleaning method of an embodiment of the present invention, when it is determined that there is no map data in the floor sweeping robot, construct the target local cleaning map data based on the target local cleaning area, thereby realizing the purpose of generating the target local cleaning map data even when there is no map data in the floor sweeping robot, and improving the flexibility of local cleaning.

[0021] According to an embodiment of the present invention, after obtaining map data based on the target local cleaning mode instruction, the method further includes:

[0022] Relocate the stored map data set based on the successful result of obtaining the map data;

[0023] Determine the target local cleaning map data based on the successful positioning result obtained from the relocation and the target local cleaning area.

[0024] According to the cleaning method of the embodiment of the present invention, when it is determined that there is map data in the sweeping robot, relocation is first performed, and when the relocation is successful, the target local cleaning map data is determined in combination with the target local cleaning area, so as to achieve the purpose of determining the target local cleaning map data in combination with relocation when there is map data in the sweeping robot, thereby improving the accuracy and reliability of local cleaning.

[0025] According to an embodiment of the present invention, constructing the target local cleaning map data based on the successful positioning result obtained from the relocation and the target local cleaning area includes:

[0026] Based on the successful positioning result obtained from the relocation, determine the first global map data located, and the first global map data is the map data in the map data set;

[0027] Based on the first global map data, determine the cleaning start position;

[0028] Based on the cleaning start position, the target local cleaning area and the first global map data, determine the target local cleaning map data.

[0029] According to the cleaning method of the embodiment of the present invention, when it is determined that there is map data in the sweeping robot and the relocation is successful, further determine the cleaning start position in combination with the first global map data located, and then determine the target local cleaning map data in combination with the cleaning start position, the target local cleaning area and the first global map data, so as to achieve the purpose of determining the target local cleaning map data in combination with the complete map data located by relocation when there is map data in the sweeping robot, thereby effectively enhancing the local cleaning function and making the local cleaning more practical and reliable.

[0030] According to an embodiment of the present invention, constructing the target local cleaning map data based on the successful positioning result obtained from the relocation and the target local cleaning area includes:

[0031] Based on the successful positioning result obtained from the relocation, determine the current map data displayed on the terminal device located;

[0032] Determine the cleaning start position based on the current map data;

[0033] Determine the target local cleaning map data based on the cleaning start position, the target local cleaning area, and the current map data.

[0034] According to the cleaning method of the embodiment of the present invention, when it is determined that there is map data in the sweeping robot and the relocalization is successful, the cleaning start position is further determined by combining the current map data displayed on the located terminal device, and then the target local cleaning map data is determined by combining the cleaning start position, the target local cleaning area, and the current map data, so as to achieve the purpose of determining the target local cleaning map data by combining the displayed current map data when there is map data in the sweeping robot, thereby improving the functional interaction between the sweeping robot and the terminal device, and further making the local cleaning more convenient and flexible.

[0035] According to an embodiment of the present invention, after the relocalization of the stored map data set, the method further includes:

[0036] Construct the target local cleaning map data based on the positioning failure result obtained from the relocalization and the target local cleaning area.

[0037] According to the cleaning method of the embodiment of the present invention, when there is map data in the sweeping robot and the relocalization fails, the target local cleaning map data is constructed by combining the target local cleaning area, so as to avoid repeated map building and further avoid resource waste.

[0038] According to an embodiment of the present invention, the method further includes:

[0039] Obtain the target global cleaning mode instruction, and obtain map data based on the target global cleaning mode instruction;

[0040] Construct the target global cleaning map data based on the failure result of obtaining the map data.

[0041] According to the cleaning method of the embodiment of the present invention, when the sweeping robot is in the target global cleaning mode and there is no stored map data in it, the global cleaning map data is reconstructed, so as to provide a reliable guarantee for subsequent whole-house cleaning and improve the flexible practicality of whole-house cleaning.

[0042] According to an embodiment of the present invention, after obtaining the map data based on the target global cleaning mode instruction, the method further includes:

[0043] Based on the successful result of obtaining the map data, obtain the target map data, and perform backup identification on the target map data;

[0044] Based on the backed-up result obtained from the backup identification, load the backed-up target map data;

[0045] Based on the loading result and the relocalization result for the stored map dataset, obtain the cleaning start position and the target global cleaning map data.

[0046] According to the cleaning method of the embodiment of the present invention, when there is target map data in the sweeping robot and it has been backed up, by loading the backed-up target map data and relocalizing the map dataset, determine the cleaning start position and the target global cleaning map data, thereby combining the loading of the backed-up map data and relocalization to improve the accuracy of the target global cleaning map data, and thus improve the reliability of the whole-house cleaning and the practicality of the backed-up map.

[0047] According to an embodiment of the present invention, after the backup identification for the target map data, the method further includes:

[0048] Based on the non-backed-up result obtained from the backup identification, relocalize the stored map dataset;

[0049] Based on the successful relocalization result obtained from the relocalization, determine the cleaning start position and the target global cleaning map data.

[0050] According to the cleaning method of the embodiment of the present invention, when there is target map data in the sweeping robot and it has not been backed up, determine the cleaning start position and the target global cleaning map data by means of successful relocalization, thereby improving the flexibility and reliability of the global cleaning.

[0051] According to an embodiment of the present invention, after the relocalization of the stored map dataset, the method further includes:

[0052] Based on the failed relocalization result obtained from the relocalization, construct the target global cleaning map data.

[0053] According to the cleaning method of the embodiment of the present invention, for the situation where there is target map data in the sweeping robot and it has not been backed up, by constructing the target global cleaning map data when the relocalization fails, reduce the probability of repeated map construction, effectively enhance the functional flexibility of the whole-house cleaning, and make the whole-house cleaning more practical.

[0054] According to the cleaning device of the second aspect embodiment of the present invention, it includes:

[0055] An acquisition module, configured to acquire a target local cleaning mode instruction;

[0056] A determination module, configured to determine target local cleaning map data that matches the target local cleaning mode instruction, where the target local cleaning map data is map data constructed based on a target operation instruction;

[0057] A cleaning module, configured to perform cleaning based on the target local cleaning map data and a cleaning start position.

[0058] According to the cleaning device of an embodiment of the present invention, when a target local cleaning mode instruction is obtained, local cleaning is performed based on the target local cleaning map data constructed based on the target operation instruction and the cleaning start position. In this way, by combining the target operation instruction to determine the specified cleaning area, the drawback that the existing sweeping robot can only clean according to the planned route is solved, and the purpose of the sweeping robot to perform local cleaning under the premise of the specified cleaning area is realized, improving the practicability and flexibility of the sweeping robot. Further, since the cleaning start position is the position where the sweeping robot is placed, the target local cleaning map data can be determined for local cleaning without moving the sweeping robot, which can also improve the intelligence and reliability of the sweeping robot to determine the specified cleaning area.

[0059] One or more of the above technical solutions in the embodiments of the present invention have at least one of the following technical effects: when a target local cleaning mode instruction is obtained, local cleaning is performed based on the target local cleaning map data constructed based on the target operation instruction and the cleaning start position. In this way, by combining the target operation instruction to determine the specified cleaning area, the drawback that the existing sweeping robot can only clean according to the planned route is solved, and the purpose of the sweeping robot to perform local cleaning under the premise of the specified cleaning area is realized, improving the practicability and flexibility of the sweeping robot. Further, since the cleaning start position is the position where the sweeping robot is placed, the target local cleaning map data can be determined for local cleaning without moving the sweeping robot, which can also improve the intelligence and reliability of the sweeping robot to determine the specified cleaning area.

[0060] Further, first generate a target local cleaning area based on the target operation instruction received in the target local cleaning mode, and then further determine the target local cleaning map data based on the target local cleaning area. In this way, by the way that the sweeping robot receives the target operation instruction to determine the target local cleaning map data corresponding to the specified cleaning area, it can also ensure that the impact of the local cleaning generated by the target operation on the original map data is minimized, reduce the probability of map loss, and thus improve the flexible diversity and use convenience of the sweeping robot for local cleaning.

[0061] Further, when it is determined that there is no map data in the floor cleaning robot, target local cleaning map data is constructed based on the target local cleaning area, so as to achieve the purpose of generating the target local cleaning map data even when there is no map data in the floor cleaning robot, and the flexibility of local cleaning is improved.

[0062] Furthermore, when it is determined that there is map data in the floor cleaning robot, repositioning is first performed. When the repositioning is successful, the target local cleaning map data is determined in combination with the target local cleaning area, so as to achieve the purpose of determining the target local cleaning map data in combination with repositioning when there is map data in the floor cleaning robot, thereby improving the accuracy and reliability of local cleaning.

[0063] Furthermore, when it is determined that there is map data in the floor cleaning robot and the repositioning is successful, the cleaning start position is further determined in combination with the first global map data located. Then, the target local cleaning map data is determined in combination with the cleaning start position, the target local cleaning area and the first global map data, so as to achieve the purpose of determining the target local cleaning map data in combination with the complete map data located when there is map data in the floor cleaning robot, thereby effectively strengthening the local cleaning function and making the local cleaning more practical and reliable.

[0064] Furthermore, when it is determined that there is map data in the floor cleaning robot and the repositioning is successful, the cleaning start position is further determined in combination with the current map data displayed on the located terminal device. Then, the target local cleaning map data is determined in combination with the cleaning start position, the target local cleaning area and the current map data, so as to achieve the purpose of determining the target local cleaning map data in combination with the displayed current map data when there is map data in the floor cleaning robot, thereby improving the functional interaction between the floor cleaning robot and the terminal device and further making the local cleaning more convenient and flexible.

[0065] Furthermore, when there is map data in the floor cleaning robot and the repositioning fails, the target local cleaning map data is constructed in combination with the target local cleaning area, so as to avoid repeated map building and further avoid resource waste.

[0066] Furthermore, when the floor cleaning robot is in the target global cleaning mode and there is no stored map data in it, the global cleaning map data is reconstructed, so as to provide a reliable guarantee for subsequent whole-house cleaning and improve the flexible practicality of whole-house cleaning.

[0067] Further, when there is target map data in the floor cleaning robot and it has been backed up, the starting cleaning position and the target global cleaning map data are determined by loading the backed-up target map data and relocating the map data set, thereby improving the accuracy of the target global cleaning map data by combining the loaded backed-up map data and relocating, and thus improving the reliability of the whole-house cleaning and the usability of the backed-up map.

[0068] Further, when there is target map data in the floor cleaning robot and it has not been backed up, the starting cleaning position and the target global cleaning map data are determined by successful relocating, thereby improving the flexibility and reliability of the global cleaning.

[0069] Further, for the case where there is target map data in the floor cleaning robot and it has not been backed up, by constructing the target global cleaning map data when the relocating fails, the probability of repeated map building is reduced, and the functional flexibility of the whole-house cleaning is effectively enhanced, making the whole-house cleaning more practical.

[0070] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the related art, the following will briefly introduce the drawings required for use in the description of the embodiments or the related art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0072] Figure 1 is one of the schematic flowcharts of the cleaning method provided by the embodiment of the present invention;

[0073] Figure 2 is another schematic flowchart of the cleaning method provided by the embodiment of the present invention;

[0074] Figure 3 is still another schematic flowchart of the cleaning method provided by the embodiment of the present invention;

[0075] Figure 4 is the schematic structural diagram of the cleaning device provided by the embodiment of the present invention;

[0076] Figure 5 is the schematic physical structure diagram of the electronic device provided by the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0077] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0078] The following will describe Figures 1-5 the cleaning method, device, electronic device, and storage medium of the present invention. The execution subject of the cleaning method is a sweeping robot, which at least has positioning function, storage function, mapping function, and cleaning area setting function. And the following method embodiments are described by taking the execution subject as a sweeping robot as an example.

[0079] Figure 1 is a schematic flowchart of the cleaning method provided by the present invention. As Figure 1 shown, the cleaning method includes the following steps:

[0080] Step 110: Obtain a target local cleaning mode instruction.

[0081] Specifically, the target local cleaning mode instruction obtained by the sweeping robot can be automatically generated based on manually operating the local cleaning mode button on the sweeping robot, or can be automatically generated based on manually operating a terminal device communicatively connected to the sweeping robot. For example, it can be automatically generated after selecting the local cleaning mode from the sweeping application on the terminal device. There is no specific limitation here.

[0082] Step 120: Determine target local cleaning map data that matches the target local cleaning mode instruction. The target cleaning map data is map data constructed based on the target operation instruction.

[0083] Specifically, when the sweeping robot obtains the target local cleaning mode instruction, it can construct the target local cleaning map data based on the received target operation instruction. The target operation instruction can be automatically generated by manually pressing the local cleaning physical button on the sweeping robot or touching the local cleaning mode virtual button in the sweeping application, and the target local cleaning map data can be determined according to the preset strategy for constructing local cleaning map data based on the operation instruction.

[0084] Step 130: Perform cleaning based on the target cleaning map data and the cleaning start position.

[0085] Specifically, when the floor sweeping robot determines the target local cleaning map data, it can report it to the cloud and issue it to the terminal device via the cloud, so as to display the target local cleaning map data on the terminal device. Then, the floor sweeping robot can start local cleaning from the cleaning start position based on the target local cleaning map data until the target local cleaning area covered by the target local cleaning map data is completely cleaned. Moreover, when the local cleaning is completed, the target local cleaning map data can be saved to the local map folder in the map album through the set automatic saving mechanism, or the target local cleaning map data can be stored manually. No specific limitation is made here.

[0086] According to the cleaning method of the embodiment of the present invention, when the target local cleaning mode instruction is obtained, local cleaning is performed based on the target local cleaning map data and the cleaning start position constructed based on the target operation instruction. By combining the target operation instruction to determine the specified cleaning area in this way, the drawback that the existing floor sweeping robot can only clean according to the planned route is solved, and the purpose of the floor sweeping robot to perform local cleaning under the premise of the specified cleaning area is realized, improving the practicability and flexibility of the floor sweeping robot. Further, since the cleaning start position is the position where the floor sweeping robot is placed, the target local cleaning map data can be determined for local cleaning without moving the floor sweeping robot, which can also improve the intelligence and reliability of the floor sweeping robot to determine the specified cleaning area.

[0087] Optionally, the implementation process of step 120 may include:

[0088] First, based on the target local cleaning mode instruction, obtain the target operation instruction; then, based on the target operation instruction and the preset local cleaning area construction strategy, determine the target local cleaning area; finally, based on the target local cleaning area, determine the target local cleaning map data.

[0089] Specifically, when the floor sweeping robot enters the target local cleaning mode based on the received target local cleaning mode instruction, it can further obtain the target operation instruction, such as obtaining the target operation instruction by manually pressing the local cleaning physical button on the floor sweeping robot or manually touching the local cleaning mode virtual button in the floor sweeping application. Moreover, the preset local cleaning area construction strategy can be that every time the local cleaning physical button is pressed or the local cleaning mode virtual button is touched within a preset duration, the floor sweeping robot sweeps one square meter centered on the current position, that is, when the local cleaning physical button is continuously pressed n times or the local cleaning mode virtual button is continuously touched n times within the preset duration, the floor sweeping robot sweeps n square meters centered on the current position, where n is a natural number greater than 0. Among them, the current position of the floor sweeping robot can also be the cleaning start position.

[0090] When it is determined that the sweeping robot has cleaned n square meters, it will announce the language of cleaning n square meters, and determine the cleaned n square meters as the target partial cleaning area. Then, based on the target partial cleaning area, the target partial cleaning map data is determined. The target partial cleaning map data is used for the sweeping robot to complete the corresponding target partial cleaning task on the premise of avoiding various obstacles in the target partial cleaning area. Among them, the target partial cleaning area can be a room or a part of a room, and no specific limitation is made here.

[0091] According to the cleaning method of the embodiment of the present invention, first, a target partial cleaning area is generated based on the target operation instruction received in the target partial cleaning mode, and then the target partial cleaning map data is further determined based on the target partial cleaning area. In this way, by means of the sweeping robot receiving the target operation instruction, the target partial cleaning map data corresponding to the specified cleaning area is determined, which can also ensure that the influence of the partial cleaning generated by the target operation on the original map data is minimized, reduce the probability of map loss, and thus improve the flexibility and convenience of the sweeping robot for partial cleaning.

[0092] Optionally, determining the target partial cleaning map data based on the target partial cleaning area, the implementation process may include:

[0093] First, map data acquisition is performed based on the target partial cleaning mode instruction; then, the target partial cleaning map data is constructed based on the acquisition failure result of the map data and the target partial cleaning area.

[0094] Specifically, a map album and a flash storage unit are usually set in the sweeping robot. The map album can be used to store the complete map data representing the whole-house cleaning task and / or the partial map data representing the partial cleaning task. The complete map data representing the whole-house cleaning task is stored in the complete map folder, and the partial map data representing the partial cleaning task is stored in the partial map folder; there may or may not be map data in the map album; the flash storage unit is used to back up the map data. Based on this, when the sweeping robot enters the target partial cleaning mode based on the target partial cleaning mode instruction, it can first judge whether there is map data in the map album. And when it is determined that the map album is empty, the sweeping robot rotates around its current position and extracts lines based on the information obtained by infrared scanning, so as to present the lines of the walls, other obstacles such as stools, etc. within the infrared scanning range, thereby constituting a target partial cleaning map data. The target partial cleaning map data shows the cleaning starting position of the sweeping robot, the position coordinates of various obstacles in the target partial cleaning area, the position coordinates of the walls, and the static areas and virtual walls that are not allowed to be cleaned; and the current position of the sweeping robot can also be the cleaning starting position.

[0095] According to the cleaning method of the embodiments of the present invention, when it is determined that there is no map data in the floor cleaning robot, a target local cleaning map data is constructed based on the target local cleaning area, so as to achieve the purpose of generating the target local cleaning map data even when there is no map data in the floor cleaning robot, and improve the flexibility of local cleaning.

[0096] Optionally, after obtaining the map data based on the target local cleaning mode instruction, the cleaning method of the embodiments of the present invention may further include:

[0097] First, based on the successful result of obtaining the map data, repositioning is performed on the stored map data set; then, based on the successful positioning result obtained by repositioning and the target local cleaning area, the target local cleaning map data is determined.

[0098] Specifically, based on the successful result of obtaining the map data, it indicates that the map album in the floor cleaning robot is not empty, that is, there is map data stored in the floor cleaning robot, and the stored map data can be a complete map data for the whole-house cleaning task, a local map data for the local cleaning task, or both complete map data and local map data, and its quantity and form are not specifically limited. And, the map data set stored in the floor cleaning robot can be all the map data currently stored in the map album. When there is map data stored in the floor cleaning robot, there must be a map data being used and displayed on the terminal device. If a certain local map data was used in the previous cleaning, the terminal device currently displays this local map data. If a certain complete map data was used in the previous cleaning, the terminal device currently displays this complete map data. Based on this, when the floor cleaning robot determines that the map album is not empty, it can further traverse all the map data currently stored in the map album for repositioning, and preferentially select the current map data displayed on the terminal device for repositioning. When it is determined that the repositioning is successful, the target local cleaning map data can be determined based on the successful positioning result and the target local cleaning area.

[0099] According to the cleaning method of the embodiments of the present invention, when it is determined that there is map data in the floor cleaning robot, repositioning is first performed, and when the repositioning is successful, the target local cleaning map data is determined in combination with the target local cleaning area, so as to achieve the purpose of determining the target local cleaning map data in combination with repositioning when there is map data in the floor cleaning robot, thereby improving the accuracy and reliability of local cleaning.

[0100] Optionally, based on the successful positioning result obtained by repositioning and the target local cleaning area, determining the target local cleaning map data, the implementation process may include:

[0101] First, based on the successful positioning result obtained by relocalization, determine the first global map data that has been located. The first global map data is the map data in the map dataset. For example, the first global map data can be the complete map data representing the whole-house cleaning task in the complete map folder of the map album. Then, based on the first global map data, determine the starting position for cleaning. Finally, based on the starting position for cleaning, the target local cleaning area, and the first global map data, determine the target local cleaning map data.

[0102] Specifically, for the sweeping robot, determine that the map album is not empty and traverse the remaining map data in the map album except the current map data for relocalization. When it is determined that the relocalization is successful and the first global map data is located during the successful relocalization, load the first global map data, obtain the starting position for cleaning, and based on the starting position for cleaning and the target local cleaning area, determine the target local cleaning map data from the first global map data, where the target local cleaning map data has the starting position for cleaning as the center and the target local cleaning area as the local cleaning area.

[0103] Further, determine whether the map data that was not located during the previous local cleaning is still not located during the current local cleaning after being backed up. If so, consider that the backed-up map data is no longer needed, and delete the backed-up map data, as well as the pose and trajectory of the sweeping robot during the previous cleaning. Then, further combine the current map data and the target local cleaning area to determine the target local cleaning map data. For example, if the current map data coincides with the target local cleaning area, the target local cleaning map data is the current map data. If the current map data does not coincide with the target local cleaning area, the map data centered on the starting position for cleaning and covering the target local cleaning area can be selected from the current map data as the target local cleaning map data.

[0104] According to the cleaning method of the embodiment of the present invention, when it is determined that there is map data in the sweeping robot and the relocalization is successful, further combine the located first global map data to determine the starting position for cleaning, and then combine the starting position for cleaning, the target local cleaning area, and the first global map data to determine the target local cleaning map data, thereby achieving the purpose of determining the target local cleaning map data by combining the relocalized complete map data when there is map data in the sweeping robot, effectively strengthening the local cleaning function, and making the local cleaning more practical and reliable.

[0105] Optionally, based on the successful positioning result obtained by relocalization and the target local cleaning area, determine the target local cleaning map data. The implementation process may further include:

[0106] First, based on the successful positioning result obtained from relocalization, determine the current map data displayed on the located terminal device; then, based on the current map data, determine the starting position for cleaning; finally, based on the starting position for cleaning, the target local cleaning area, and the current map data, determine the target local cleaning map data.

[0107] Specifically, for the case where the sweeping robot traverses all the currently stored map data in the map album and preferentially selects the current map data displayed on the terminal device for relocalization, when it is determined that the relocalization is successful and the current map data is located, first judge whether the map data that was not located in the previous local cleaning is still not located during this local cleaning after being backed up. If so, it is considered that the backed-up map data is no longer needed, and the backed-up map data, as well as the pose and trajectory of the sweeping robot during the previous cleaning, are deleted. Then, further combine the starting position for cleaning determined based on the current map data displayed on the terminal device, the current map data, and the target local cleaning area to determine the target local cleaning map data. For example, if the current map data coincides with the target local cleaning area and the starting position for cleaning is the center thereof, then the target local cleaning map data is the current map data; if the current map data does not coincide with the target local cleaning area, map data covering the target local cleaning area can be selected from the current map data with the starting position for cleaning as the center as the target local cleaning map data.

[0108] According to the cleaning method of the embodiment of the present invention, when it is determined that there is map data in the sweeping robot and the relocalization is successful, further combine the current map data displayed on the located terminal device to determine the starting position for cleaning, and then combine the starting position for cleaning, the target local cleaning area, and the current map data to determine the target local cleaning map data, thereby achieving the purpose of determining the target local cleaning map data in combination with the currently displayed map data when there is map data in the sweeping robot, improving the functional interaction between the sweeping robot and the terminal device, and further making the local cleaning more convenient and flexible.

[0109] Optionally, after relocalizing the stored map data set, the cleaning method of the embodiment of the present invention may further include:

[0110] Construct the target local cleaning map data based on the positioning failure result obtained from relocalization and the target local cleaning area.

[0111] Specifically, refer to Figure 2, when the floor sweeping robot determines that the repositioning fails, it can first determine whether the current cleaning task is a local cleaning. If it is determined that the current cleaning task is a local cleaning and the current map data displayed on the terminal device is dedicated to local cleaning, clear the map data corresponding to the current map data in the map album and re-create the map. That is, rotate around the current position of the floor sweeping robot and extract lines based on the information obtained by infrared scanning to present the lines of the walls, stools and other obstacles within the infrared scanning range, thereby constituting a target local cleaning map data. The target local cleaning map data shows the starting position of the floor sweeping robot, the position coordinates of various obstacles within the target local cleaning area, the position coordinates of the walls, and the static areas and virtual walls where cleaning is not allowed; and the current position of the floor sweeping robot can also be the starting position of cleaning. On the contrary, if it is determined that the current cleaning task is a local cleaning and the current map data displayed on the terminal device is dedicated to whole-house cleaning, the current map data dedicated to whole-house cleaning can be backed up to the flash storage unit first, then deleted, and further, a target local cleaning map data can be constructed by rotating around the current position of the floor sweeping robot and extracting lines based on the information obtained by infrared scanning.

[0112] It should be noted that for the constructed target local cleaning map data, a local cleaning dedicated identifier can be added first, and then the target local cleaning map data including the local cleaning dedicated mark can be reported to the cloud and sent to the terminal device via the cloud, so that the target local cleaning map data including the local cleaning dedicated mark is displayed on the terminal device. Then, the floor sweeping robot can start local cleaning from the starting position of cleaning based on the target local cleaning map data until the target local cleaning area covered by the target local cleaning map data is cleaned up. And when the local cleaning ends, the target local cleaning map data can be saved to the local map folder in the map album through the set automatic saving mechanism, or the target local cleaning map data can be stored manually, which is not specifically limited here.

[0113] According to the cleaning method of the embodiment of the present invention, when there is map data in the floor sweeping robot and the repositioning fails, a target local cleaning map data is constructed in combination with the target local cleaning area, so as to avoid repeated map creation and further avoid resource waste.

[0114] Optionally, the cleaning method of the embodiment of the present invention may further include:

[0115] First, obtain a target global cleaning mode instruction and obtain map data based on the target global cleaning mode instruction; then, construct a target global cleaning map data based on the failure result of the map data acquisition.

[0116] Specifically, when the floor sweeping robot enters the target global cleaning mode based on the target global cleaning mode instruction, such asFigure 3 As shown, it is possible to first determine whether there is map data stored in the map album. And when it is determined that the map album is empty, map building can be restarted, that is, global map building is performed with the current position of the sweeping robot as the center. The algorithm for global map building can be pre-stored in the sweeping robot and is used for constructing global cleaning map data and calculating the optimal cleaning path, so as to obtain the target global cleaning map data.

[0117] It should be noted that for the target global cleaning mode instruction, when the sweeping robot constructs the target global cleaning map data, the target global cleaning map data and its optimal cleaning path can be reported to the cloud, and then displayed on the terminal device by being sent from the cloud to the terminal device. Then, the sweeping robot performs whole-house cleaning based on the target global cleaning map data according to the optimal cleaning path, and stores the target global cleaning map data and its optimal cleaning path at the end of the whole-house cleaning. The storage method can be manual storage by humans or storage in a pre-set automatic storage mode, and no specific limitation is made here.

[0118] According to the cleaning method of the embodiment of the present invention, when the sweeping robot is in the target global cleaning mode and there is no stored map data, it reconstructs the global cleaning map data, providing a reliable guarantee for subsequent whole-house cleaning and also improving the flexibility and practicality of whole-house cleaning.

[0119] Optionally, after obtaining the map data based on the target global cleaning mode instruction, the cleaning method of the embodiment of the present invention may further include:

[0120] First, based on the successful result of obtaining the map data, obtain the target map data and perform backup identification on the target map data; then, based on the backed-up result obtained from the backup identification, load the backed-up target map data; finally, based on the loading result and the repositioning result for the stored map data set, obtain the cleaning start position and the target global cleaning map data.

[0121] Specifically, as Figure 3As shown, when the floor-sweeping robot determines that it is currently in the global cleaning mode and there is map data stored in the map album, it can further obtain the target map data in the map album. When it is determined that the current map data displayed on the terminal device is dedicated to local cleaning and the target map data has been backed up in the flash storage unit, the local map data corresponding to the current map data representing local cleaning dedicated in the map album is deleted, and the target map data backed up in the flash storage unit is loaded to load the backed-up target map data into the map album, and then repositioning is performed on all the map data currently stored in the map album. When it is determined that the repositioning is successful and the second global map data is located successfully during the repositioning, the second global map data is loaded to obtain the cleaning start position and the optimal cleaning path in the second global map data. At this time, the target global cleaning map data is the second global map data, so as to facilitate subsequent whole-house cleaning based on the target global cleaning map data, starting from the cleaning start position and along its optimal cleaning path. Among them, the second global map data is a complete map data representing the whole-house cleaning task in the map album containing the target map data.

[0122] It should be noted that when it is determined that the repositioning fails, map building can be performed first. That is, first, the map data corresponding to the current map data displayed on the terminal device in the map album is deleted, and then whole-house map building is performed with the current position of the floor-sweeping robot as the center. The algorithm for whole-house map building can be pre-stored in the floor-sweeping robot and used for the construction of the global cleaning map data and the calculation of the optimal cleaning path, so as to obtain the target global cleaning map data. Then, the target global cleaning map data and its optimal cleaning path are reported to the cloud and displayed on the terminal device in the manner of being sent from the cloud to the terminal device. Then, the floor-sweeping robot performs whole-house cleaning based on the target global cleaning map data and according to the optimal cleaning path.

[0123] According to the cleaning method of the embodiment of the present invention, when there is target map data in the floor-sweeping robot and it has been backed up, by loading the backed-up target map data and repositioning the map data set, the cleaning start position and the target global cleaning map data are determined, thereby improving the accuracy of the target global cleaning map data by combining the loading of the backed-up map data and repositioning, and thus improving the reliability of whole-house cleaning and the practicality of the backed-up map.

[0124] Optionally, after the backup identification of the target map data, the cleaning method of the embodiment of the present invention may further include:

[0125] First, based on the unbacked-up result obtained from the backup identification, repositioning is performed on the stored map data set; then, based on the positioning success result obtained from the repositioning, the cleaning start position and the target global cleaning map data are determined.

[0126] Specifically, asFigure 3 As shown, for the case where the floor sweeping robot determines that it is currently in the global cleaning mode, there is map data stored in the map album, and the target map data in the map album is obtained. When it is determined that the current map data displayed on the terminal device is dedicated to local cleaning and the target map data is not backed up in the flash storage unit, or when it is determined that the current map data displayed on the terminal device is dedicated to whole-house cleaning, repositioning is performed on all the map data currently stored in the map album, and the current map data displayed on the terminal device is preferentially matched for repositioning. When it is determined that the repositioning is successful and the third global map data is located when the repositioning is successful, the third global map data is loaded to obtain the cleaning start position and the optimal cleaning path in the third global map data. At this time, the target global cleaning map data is also the third global map data, so as to perform whole-house cleaning starting from the cleaning start position and along its optimal cleaning path with the target global cleaning map data as the standard for subsequent operations. Among them, the third global map data is a global map data in the map album containing the target map data.

[0127] According to the cleaning method of the embodiment of the present invention, when there is target map data in the floor sweeping robot and it is not backed up, the cleaning start position and the target global cleaning map data are determined by successful repositioning, thereby improving the flexibility and reliability of global cleaning.

[0128] Optionally, after repositioning the stored map data set, the cleaning method of the embodiment of the present invention may further include:

[0129] Construct the target global cleaning map data based on the positioning failure result obtained from the repositioning.

[0130] Specifically, for the case where the floor sweeping robot determines that it is currently in the global cleaning mode, there is map data stored in the map album, and the target map data obtained from the map album is not backed up. When it is determined that the current map data displayed on the terminal device is dedicated to local cleaning and the target map data is not backed up in the flash storage unit, or when it is determined that the current map data displayed on the terminal device is dedicated to whole-house cleaning, repositioning can be performed on all the map data currently stored in the map album. When the repositioning fails, reference can be made to Figure 2 Perform repositioning failure handling, that is, first delete the map data corresponding to the current map data displayed on the terminal device in the map album, and then perform whole-house mapping with the current position of the floor sweeping robot as the center. The algorithm for whole-house mapping can be pre-stored in the floor sweeping robot and used for the construction of the global cleaning map data and the calculation of the optimal cleaning path, thereby obtaining the target global cleaning map data.

[0131] According to the cleaning method of an embodiment of the present invention, in the case where there is target map data in the sweeping robot and it has not been backed up, by constructing target global cleaning map data when relocalization fails, the probability of repeated map construction is reduced, and the functional flexibility of whole-house cleaning is effectively enhanced, making whole-house cleaning more practical.

[0132] The cleaning device provided by the present invention will be described below. The cleaning device described below can be correspondingly referred to the cleaning method described above.

[0133] Referring to Figure 4 , which is a schematic structural diagram of the cleaning device provided by the present invention. As Figure 4 shown, the cleaning device 400 includes:

[0134] An acquisition module 410, configured to acquire a target local cleaning mode instruction;

[0135] A determination module 420, configured to determine target local cleaning map data matching the target local cleaning mode instruction, where the target local cleaning map data is map data constructed based on a target operation instruction;

[0136] A cleaning module 430, configured to perform cleaning based on the target local cleaning map data and a cleaning start position.

[0137] Optionally, the determination module 420 may specifically be configured to acquire a target operation instruction based on the target local cleaning mode instruction; determine a target local cleaning area based on the target operation instruction and a preset local cleaning area construction strategy; and determine the target local cleaning map data based on the target local cleaning area.

[0138] Optionally, the determination module 420 may specifically be further configured to acquire map data based on the target local cleaning mode instruction; construct the target local cleaning map data based on the acquisition failure result of the map data and the target local cleaning area.

[0139] Optionally, the determination module 420 may specifically be further configured to perform relocalization on the stored map data set based on the acquisition success result of the map data; determine the target local cleaning map data based on the successful relocalization result and the target local cleaning area.

[0140] Optionally, the determination module 420 may specifically be further configured to determine the first global map data located based on the successful relocalization result, where the first global map data is the map data in the map data set; determine the cleaning start position based on the first global map data; and determine the target local cleaning map data based on the cleaning start position, the target local cleaning area, and the first global map data.

[0141] Optionally, the determining module 420 may specifically be further configured to determine the current map data displayed by the located terminal device based on the successful positioning result obtained by relocation; determine the starting cleaning position based on the current map data; and determine the target local cleaning map data based on the starting cleaning position, the target local cleaning area, and the current map data.

[0142] Optionally, the determining module 420 may specifically be further configured to construct the target local cleaning map data based on the positioning failure result obtained by relocation and the target local cleaning area.

[0143] Optionally, the determining module 420 may specifically be further configured to obtain a target global cleaning mode instruction, and obtain map data based on the target global cleaning mode instruction; construct the target global cleaning map data based on the failure result of obtaining the map data.

[0144] Optionally, the determining module 420 may specifically be further configured to obtain target map data based on the successful result of obtaining the map data, and perform backup identification on the target map data; load the backed-up target map data based on the backed-up result obtained by the backup identification; and obtain the starting cleaning position and the target global cleaning map data based on the loading result and the relocation result for the stored map data set.

[0145] Optionally, the determining module 420 may specifically be further configured to perform relocation on the stored map data set based on the non-backed-up result obtained by the backup identification; determine the starting cleaning position and the target global cleaning map data based on the successful positioning result obtained by the relocation.

[0146] Optionally, the determining module 420 may specifically be further configured to construct the target global cleaning map data based on the positioning failure result obtained by relocation.

[0147] Figure 5 An example of the schematic physical structure of an electronic device is shown as Figure 5 shown. The electronic device 500 may include: a processor 510, a communication interface 520, a memory 530, and a communication bus 540. Among them, the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logical instructions in the memory 530 to execute the following method:

[0148] Obtain a target local cleaning mode instruction;

[0149] Determine target local cleaning map data that matches the target local cleaning mode instruction, where the target local cleaning map data is map data constructed based on a target operation instruction;

[0150] Perform cleaning based on the target local cleaning map data and the cleaning starting position.

[0151] In addition, when the logic instructions in the above-mentioned memory 530 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the related technology, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0152] On the other hand, an embodiment of the present invention discloses a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the methods provided in the above-mentioned method embodiments, for example, including:

[0153] Obtain a target local cleaning mode instruction;

[0154] Determine target local cleaning map data that matches the target local cleaning mode instruction. The target local cleaning map data is map data constructed based on a target operation instruction;

[0155] Perform cleaning based on the target local cleaning map data and the cleaning starting position.

[0156] On yet another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the transmission methods provided in the above-mentioned embodiments, for example, including:

[0157] Obtain a target local cleaning mode instruction;

[0158] Determine target local cleaning map data that matches the target local cleaning mode instruction. The target local cleaning map data is map data constructed based on a target operation instruction;

[0159] Perform cleaning based on the target local cleaning map data and the cleaning starting position.

[0160] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0161] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the related technology can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0162] Finally, it should be noted that the above embodiments are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that various combinations, modifications, or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should all be covered by the scope of the claims of the present invention.

Claims

1. A cleaning method, characterized in that, Including: Obtain a target local cleaning mode instruction; Determine target local cleaning map data that matches the target local cleaning mode instruction, where the target local cleaning map data is map data constructed based on a target operation instruction; Perform cleaning based on the target local cleaning map data and the cleaning start position; The determining the target local cleaning map data that matches the target local cleaning mode instruction includes: Based on the target local cleaning mode instruction, obtain a target operation instruction; Based on the target operation instruction and a preset local cleaning area construction strategy, determine a target local cleaning area; Based on the target local cleaning area, determine the target local cleaning map data; Wherein, when the local cleaning physical button is continuously pressed n times or the local cleaning mode virtual button is continuously touched n times within a preset duration, the sweeping robot sweeps an area of n square meters centered on the current position, and n is a natural number greater than 0.

2. The cleaning method according to claim 1, characterized in that, The determining the target local cleaning map data based on the target local cleaning area includes: Obtain map data based on the target local cleaning mode instruction; Based on the map data acquisition failure result and the target local cleaning area, construct the target local cleaning map data.

3. The cleaning method according to claim 2, wherein After the obtaining the map data based on the target local cleaning mode instruction, the method further includes: Based on the map data acquisition success result, perform repositioning on the stored map data set; Based on the positioning success result obtained from the repositioning and the target local cleaning area, determine the target local cleaning map data.

4. The cleaning method according to claim 3, wherein, The constructing the target local cleaning map data based on the positioning success result obtained from the repositioning and the target local cleaning area includes: Based on the positioning success result obtained from the repositioning, determine the first global map data located, where the first global map data is the map data in the map data set; Based on the first global map data, determine the cleaning start position; Based on the cleaning start position, the target local cleaning area, and the first global map data, determine the target local cleaning map data.

5. The cleaning method according to claim 3, characterized in that, The constructing the target local cleaning map data based on the positioning success result obtained from the repositioning and the target local cleaning area includes: Based on the positioning success result obtained from the repositioning, determine the current map data displayed on the terminal device located; Based on the current map data, determine the cleaning start position; Based on the cleaning start position, the target local cleaning area, and the current map data, determine the target local cleaning map data.

6. The cleaning method according to claim 3, wherein After the performing the repositioning on the stored map data set, the method further includes: Based on the positioning failure result obtained from the repositioning and the target local cleaning area, construct the target local cleaning map data.

7. The cleaning method according to claim 1, wherein The method further includes: Obtain a target global cleaning mode instruction, and obtain map data based on the target global cleaning mode instruction; Based on the map data acquisition failure result, construct the target global cleaning map data.

8. The cleaning method according to claim 7, wherein After the obtaining the map data based on the target global cleaning mode instruction, the method further includes: Based on the successful result of obtaining the map data, obtain the target map data and perform backup identification on the target map data; Based on the backed-up result obtained from the backup identification, load the backed-up target map data; Based on the loading result and the relocating result for the stored map data set, obtain the cleaning start position and the target global cleaning map data.

9. The cleaning method according to claim 8, wherein, After performing the backup identification on the target map data, the method further includes: Based on the non-backed-up result obtained from the backup identification, relocate the stored map data set; Based on the successful relocation result obtained from the relocation, determine the cleaning start position and the target global cleaning map data.

10. The cleaning method according to claim 9, wherein After performing the relocation on the stored map data set, the method further includes: Based on the failed relocation result obtained from the relocation, construct the target global cleaning map data.

11. A cleaning device, characterized in that, It includes: An acquisition module, configured to acquire a target local cleaning mode instruction; A determination module, configured to determine target local cleaning map data that matches the target local cleaning mode instruction, where the target local cleaning map data is map data constructed based on a target operation instruction; A cleaning module, configured to perform cleaning based on the target local cleaning map data and the cleaning start position; The determination module is specifically configured to: based on the target local cleaning mode instruction, acquire a target operation instruction; based on the target operation instruction and a preset local cleaning area construction strategy, determine a target local cleaning area; based on the target local cleaning area, determine the target local cleaning map data; Wherein, when the local cleaning physical button is continuously pressed n times or the local cleaning mode virtual button is continuously touched n times within a preset duration, the sweeping robot cleans n square meters centered on the current position, and n is a natural number greater than 0.

12. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the cleaning method according to any one of claims 1 to 10.

13. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the cleaning method according to any one of claims 1 to 10.

14. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the cleaning method according to any one of claims 1 to 10.

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