Cleaning method for cleaning device, cleaning device and storage medium

Abstract

The present application discloses a cleaning method for a cleaning device, a cleaning device and a storage medium. The cleaning method for a cleaning device comprises obtaining a light intensity variation trend of a strong light area in a to-be-cleaned area; and using a cleaning strategy corresponding to the light intensity variation trend to perform corresponding cleaning on the to-be-cleaned area. Through the above-mentioned method, a matching cleaning strategy can be flexibly executed according to the light intensity variation trend of the to-be-cleaned area, thereby being able to adapt to the to-be-cleaned area under different light intensities and improving the cleaning efficiency.

Description

Technical Field

[0001] This application relates to the technical field of intelligent cleaning devices, in particular to a cleaning method for a cleaning device, a cleaning device, and a storage medium. Background Art

[0002] With the rapid development of technology, many intelligent products have made people's lives more convenient. In the field of household appliances, the intelligence of household appliances has become an important trend in the development of household appliance products. Previously, people spent a lot of time and energy on cleaning, and the emergence of intelligent cleaning devices has saved people a lot of time and energy.

[0003] Currently, many intelligent cleaning devices on the market have an obstacle detection module to detect obstacles in the forward direction of the cleaning device in advance, plan the path, and prevent the cleaning device from hitting obstacles. The commonly used sensor for the obstacle detection module to achieve the anti-collision function is an infrared detection component, etc. However, the anti-collision function of the infrared detection component, etc. is easily interfered by strong light, affecting the normal cleaning operation of the cleaning device. Summary of the Invention

[0004] The main technical problem to be solved by this application is to provide a cleaning method for a cleaning device, a cleaning device, and a computer storage medium, which can improve the flexibility and efficiency of cleaning.

[0005] To solve the above technical problem, the first technical solution adopted by this application is: to provide a cleaning method for a cleaning device, the method includes obtaining the light intensity change trend of the strong light area in the area to be cleaned and performing corresponding cleaning on the area to be cleaned by using a cleaning strategy corresponding to the light intensity change trend.

[0006] To solve the above technical problem, the second technical solution adopted by this application is: to provide a cleaning device, the cleaning device includes: a processor, a memory, a communication circuit, and at least one infrared detection component. The memory, the communication circuit, and at least one infrared detection component are respectively coupled to the processor. The at least one infrared detection component is used to detect obstacles and strong light. The memory stores a computer program, and the processor is used to execute the computer program to implement the method provided by the first technical solution.

[0007] To solve the above technical problem, the third technical solution adopted by this application is: to provide a computer-readable storage medium, the storage medium stores a computer program, and the computer program can be executed by a processor to implement the method provided by the first technical solution.

[0008] The beneficial effects of this application are as follows: Different from the prior art, by obtaining the light intensity change trend of the strong light area in the area to be cleaned and using the cleaning strategy corresponding to the light intensity change trend to perform corresponding cleaning on the area to be cleaned, it is possible to flexibly execute a matching cleaning strategy according to the light intensity change trend of the area to be cleaned, and thus be able to adapt to the area to be cleaned under different light intensity conditions, improving the cleaning efficiency. Compared with the existing cleaning device that cannot perform normal cleaning work due to the influence of strong light after encountering a strong light area, even when encountering a strong light area, this application can flexibly clean the area to be cleaned according to the corresponding cleaning strategy by obtaining the light intensity change trend of the strong light area, thereby improving the effectiveness and efficiency of cleaning. Description of the Drawings

[0009] Figure 1 Schematic diagram of the working principle of the infrared detection component related to this application;

[0010] Figure 2 Schematic diagram of the structure of the cleaning device according to the embodiment of this application;

[0011] Figure 3 Schematic block diagram of the circuit structure of the cleaning device according to the embodiment of this application;

[0012] Figure 4 Schematic flow diagram of the cleaning method according to the embodiment of the cleaning device of this application;

[0013] Figure 5 is Figure 2 Schematic side view structure diagram of the cleaning device shown;

[0014] Figure 6 Schematic diagram of the original strong light area of the cleaning method according to the embodiment of the cleaning device of this application;

[0015] Figure 7 Schematic diagram of the strong light area of the cleaning method according to the embodiment of the cleaning device of this application;

[0016] Figure 8 Schematic diagram of the strong light increasing area of the cleaning method according to the embodiment of the cleaning device of this application;

[0017] Figure 9 Schematic block diagram of the circuit structure of the storage medium according to the embodiment of this application. Detailed Description of the Embodiments

[0018] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0019] The inventor of the present invention has found through long-term research that current intelligent cleaning devices often come with an obstacle detection module to detect obstacles in the forward direction of the machine in advance, plan the path, and prevent the machine from hitting obstacles. However, the obstacle detection module is often vulnerable to interference from environmental light. In particular, excessive light can cause the machine to malfunction, thereby affecting the normal cleaning work of the machine. For example, one of the most commonly used sensors for implementing the anti-collision function of the cleaning device is the infrared detection component. As Figure 1 shown, the infrared detection component generally includes an infrared emitting tube and an infrared receiving tube. The infrared emitting tube emits infrared light of a corresponding intensity. The infrared light is reflected by the obstacle and received by the infrared receiving tube. At this time, the resistance value of the infrared receiving tube itself will change, and the distance to the obstacle can be judged according to the resistance value. However, the infrared receiving tube is easily affected by strong light in the ambient light. For example, when sunlight shines into the room through the window and the intelligent cleaning device enters the sunlight, the sunlight will cause the resistance value of the infrared receiving tube to change. The intelligent cleaning device will mistakenly think that there is an obstacle in front and will exit the strong light area caused by the sunlight, resulting in missed cleaning. Or the intelligent cleaning device loses its anti-collision function and will frequently collide with objects when cleaning in the strong light area, thereby causing the intelligent cleaning device to be unable to clean normally and having low cleaning efficiency. To solve the above technical problems, the present application provides the following embodiments.

[0020] As Figure 2 shown, Figure 2 The simple structure of the cleaning device 1 shown is only an example and does not limit the specific structure of the cleaning device 1. The cleaning device 1 described in the embodiments of the cleaning device of the present application can be a floor sweeping robot, a floor washing robot, a vacuuming robot, a mopping robot, or a mopping and washing integrated robot. In other words, the cleaning device 1 can have at least one of the functions of sweeping the floor, vacuuming, washing the floor, and mopping the floor. The cleaning device 1 can, for example, at least include a cleaning component 100, a moving component 200, a positioning component 300, and at least one infrared detection component 400.

[0021] The function of the cleaning component 100 is to clean the area to be cleaned. The cleaning component 100 can, for example, include a dust box, a blower, and a roller brush mechanism, etc. The dust box is used to store garbage objects such as hair and debris. The roller brush mechanism can be used to clean the area to be cleaned. The blower can cooperate with the roller brush structure to suck dust, debris and other garbage objects in the area to be cleaned and suck the garbage objects into the dust box and retain them in the dust box. Of course, the cleaning component 100 can also include one or more of a mopping mechanism and a floor washing mechanism, etc. The mopping mechanism can, for example, include a mop, etc. The floor washing mechanism can be used to spray a cleaning liquid on the area to be cleaned to clean the area to be cleaned. The cleaning component 100 exemplified above can be an existing cleaning component, and the specific structure of the cleaning device 1 is not limited herein.

[0022] The function of the moving component 200 is to drive the cleaning device 1 to move in the area to be cleaned, so as to clean the cleaning area. The moving component 200 may include walking wheels, a motor, etc. The motor can drive the walking wheels to rotate, thereby driving the cleaning device 1 to move.

[0023] The positioning component 300 can position the cleaning device 1 in the area to be cleaned to obtain position point information. The positioning component 300 includes, for example, one or more of an RPS laser positioning system, a VSLAM image displacement positioning system, and a wireless carrier indoor positioning system, etc. Of course, this is only an example here and does not limit the specific structure of the cleaning device 1. The cleaning device 1 can construct map information of the area to be cleaned through the positioning component 300, etc., thereby facilitating the cleaning of the area to be cleaned by the cleaning device 1.

[0024] At least one infrared detection component 400 can be used to detect obstacles in the area to be cleaned to avoid obstacles, thereby realizing the obstacle avoidance function, and can also be used to detect the light intensity in the area to be cleaned and output light intensity-related information.

[0025] In this embodiment, as Figure 3 shown, the cleaning device 1 may include, for example, a memory 500, a processor 600, and a communication circuit 700. At least one infrared detection component 400, the memory 500, and the communication circuit 700 can be electrically connected to the processor 600.

[0026] The memory 500 is used to store computer programs, which can be RAM, ROM, or other types of storage devices. Specifically, the memory may include one or more computer-readable storage media, and the computer-readable storage media can be non-transitory. In some embodiments, the non-transitory computer-readable storage media in the memory are used to store at least one program code. The memory 500 can also be used to store various data involved in the working process of the cleaning device 1, such as the position point information obtained by the positioning component 300, and the light intensity-related information obtained by at least one infrared detection component 400, etc.

[0027] The processor 600 is used to control the operation of the cleaning device 1. The processor 600 can also be referred to as the CPU (Central Processing Unit). The processor 600 may be an integrated circuit chip with signal processing capabilities. The processor 600 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor can be a microcontroller unit (MCU) or the processor 600 can also be any conventional processor, etc. The processor 600 can be used to execute the computer program stored in the memory 500 to control various operations of the cleaning device 1.

[0028] The communication circuit 700 can be used for communication connection and data transceiver with external devices. The cleaning device 1 can receive data sent by external devices through the communication circuit 700 to achieve remote control of the cleaning device 1. For example, it can receive data and signals sent by a mobile phone, etc., so that the user can control the cleaning device 1 through the mobile phone.

[0029] When the above-mentioned processor 600 executes the computer program stored in the memory 500, it can implement the cleaning method described in the cleaning method embodiment of the cleaning device of the present application. For details, please refer to the description of the cleaning method embodiment of the cleaning device of the present application below.

[0030] As Figure 4 shown, the cleaning method described in the cleaning method embodiment of the cleaning device of the present application may include: S100: Obtain the light intensity change trend of the strong light area in the area to be cleaned. S200: Use the cleaning strategy corresponding to the light intensity change trend to perform corresponding cleaning on the area to be cleaned.

[0031] By obtaining the light intensity change trend of the strong light area in the area to be cleaned and then using the cleaning strategy corresponding to the light intensity change trend to perform corresponding cleaning on the area to be cleaned, it is possible to flexibly execute the matching cleaning strategy according to the trend of the light intensity change in the area to be cleaned, and thus be able to adapt to the area to be cleaned under different light intensity conditions, improving the cleaning efficiency. Compared with the existing cleaning device that cannot perform normal cleaning work due to the influence of strong light after encountering a strong light area, even when encountering a strong light area, the present application can flexibly clean the area to be cleaned according to the corresponding cleaning strategy by obtaining the strong light change trend of the strong light area, thereby improving the effectiveness and efficiency of cleaning.

[0032] The following will describe in detail the cleaning method embodiment of the cleaning device of the present application.

[0033] S100: Obtain the light intensity change trend of the strong light area in the area to be cleaned.

[0034] During the process of the cleaning device 1 cleaning the area to be cleaned, strong light areas may appear in the area to be cleaned. Due to the interference of strong light, the conventional cleaning operation mode of the cleaning device 1 may not be applicable to the strong light area. Therefore, the cleaning device 1 needs to specifically use a suitable cleaning strategy to handle the cleaning operation in the strong light area.

[0035] In the area to be cleaned, strong light can have multiple sources, such as strong fluorescent lights, sunlight, etc. These strong light sources can be fixed or may be constantly moving. For a moving strong light source, the strong light area it creates will constantly change. If the changing situation of the strong light area is not considered, it is difficult to achieve the most suitable cleaning effect when using the cleaning strategy for cleaning. Therefore, the cleaning device 1 can obtain the light intensity change trend of the strong light area in the area to be cleaned, and judge the changing situation of the strong light area according to the light intensity change trend of the strong light area.

[0036] To judge the light intensity change trend of the strong light area, it can be obtained by the cleaning device 1 from the outside, or can be obtained by the sensors set on the cleaning device 1 itself. Optionally, at least one infrared detection component 400 can be set on the cleaning device 1, and the light intensity at the position point where the cleaning device 1 is located is detected by at least one infrared detection component 400.

[0037] Before obtaining the light intensity change trend of the strong light area in the area to be cleaned, the strong light area can be determined. Specifically, the following steps included before step S100 can be referred to:

[0038] S110: Determine the strong light area in the area to be cleaned.

[0039] The premise of obtaining the light intensity change trend of the strong light area in the area to be cleaned is to determine the strong light area. The strong light area may be in the edge area of the area to be cleaned, such as near the wall, floor-to-ceiling window, etc., or may be in the middle position of the area to be cleaned, such as in the middle of the house. The size of the strong light area is also unknown to the cleaning device 1. The strong light area may be in a regular shape or may be various irregular shapes, and the boundary of the strong light area may be a straight line or may be various curves. In addition, in the area to be cleaned, there may be one or more strong light areas. Therefore, the cleaning device 1 needs to determine the position, size and distribution of the strong light area in the area to be cleaned.

[0040] Optionally, multiple strong light position point information can be used to determine the strong light area in the area to be cleaned. Specifically, the following steps included in S110 can be referred to:

[0041] S111: Obtain multiple strong light position point information in the area to be cleaned.

[0042] Since it is difficult to directly determine the strong light area, the strong light area can be determined via multiple strong light position points. The strong light area may be complex and irregular in shape, and multiple representative strong light position points need to be selected to represent the strong light area. Multiple strong light position points can be determined at the edge of the strong light area. The multiple strong light position points are located at the edge of the strong light area and are scattered around the strong light area. Therefore, even if the shape of the strong light area is complex and irregular, the multiple strong light position points can effectively represent the position, size, and distribution of the strong light area in the area to be cleaned.

[0043] The strong light position point information is used to represent the strong light position point. The strong light position point is, for example, the position point where the cleaning device 1 detects strong light. The strong light position point information is the position information of the strong light position point, such as coordinate information (e.g., coordinate information on the map constructed by the cleaning device 1), etc. When the cleaning device 1 determines multiple strong light position points, it can correspondingly obtain multiple strong light position point information, and by processing the multiple strong light position point information, the strong light area can be determined.

[0044] Optionally, the infrared detection component 400 can be used to detect strong light multiple times in the area to be cleaned to obtain multiple strong light position point information in the area to be cleaned. Specifically, the following steps included in S111 can be referred to:

[0045] S1101: Use at least one infrared detection component to detect strong light multiple times in the area to be cleaned to determine multiple strong light position points and obtain the corresponding multiple strong light position point information.

[0046] To obtain multiple strong light position point information, multiple strong light position points in the area to be cleaned need to be determined first. The cleaning device 1 can be continuously moving during operation. Each time the cleaning device 1 detects strong light, a strong light position point can be correspondingly confirmed. After detecting strong light multiple times, multiple strong light position points can be correspondingly determined. After the cleaning device 1 detects strong light each time, it obtains the strong light position point information of this position point, for example, it can be stored in the memory 500 for subsequent call.

[0047] After the infrared detection component 400 detects strong light, the position where the cleaning device 1 is located can be determined as the strong light position point. Subsequently, the cleaning device 1 can obtain the strong light position point information through the positioning component 300. Optionally, the positioning component 300 can adopt a lidar component to obtain the strong light position point information. The lidar component can emit laser by rotating at high speed, and then judge the distance between itself and the obstacle based on the time when the laser is emitted and reflected back by the obstacle, so as to judge the relative position and achieve positioning. Optionally, the lidar can scan and detect the surrounding environment to draw a detailed map, and the processor 600 can judge the current position of the cleaning device 1 by judging the similarities and differences obtained by matching different maps.

[0048] Optionally, regarding how to use at least one infrared detection component 400 to detect strong light multiple times in the area to be cleaned to determine multiple strong light position points and obtain corresponding multiple strong light position point information, the following steps included in S1101 can be specifically referred to:

[0049] S1102: When strong light is first detected, obtain the strong light position point information corresponding to the first detection position.

[0050] When the cleaning device 1 does not detect strong light, it will operate in a conventional operation mode to clean the area to be cleaned. When no strong light is detected, driven by the moving component 200, the cleaning device 1 can move regularly and continuously in the area to be cleaned. The movement path planning can cover every position in the area to be cleaned. The cleaning component 100 can perform cleaning operations during the movement of the cleaning device 1.

[0051] During the movement of the cleaning device 1, the infrared detection component 400 can always be in an on state. When the infrared detection component 400 detects strong light, the positioning component 300 can position the current position of the cleaning device 1, and the processor 600 can obtain the position information of the current position through the positioning component 300, that is, the strong light position point information. For example, the lidar component can rotate at high speed and emit laser light to the surrounding area. The map of the area to be cleaned can be drawn through the reflected laser light. Since the position of the cleaning device 1 is different, the corresponding drawn maps are also different. The processor 600 can judge the current position of the cleaning device 1 by matching the similarities and differences of different maps and obtain the strong light position point information. The strong light position point information includes position point coordinates, etc.

[0052] S1103: Move towards the surrounding area of the first detection position and continue to detect strong light, so as to obtain the strong light position point information corresponding to the subsequent detection positions when strong light is detected subsequently until multiple strong light position point information is obtained.

[0053] The method for determining the strong light area includes determining multiple strong light position points and obtaining multiple strong light position point information. After the strong light is first detected, the first strong light position point can be determined and the first strong light position point information can be obtained. Next, it can move towards the surrounding area of the first detection position and continue to detect strong light to determine other strong light position points. When strong light is detected subsequently, the strong light position point information corresponding to the subsequent detection positions can be obtained through the positioning component 300 until multiple strong light position point information is obtained.

[0054] Optionally, after the strong light is first detected, the cleaning device 1 can perform subsequent path planning for the movement towards the surrounding area of the first detection position.

[0055] For example, when strong light is first detected, multiple movements can be made around the current position point within a short distance from the current position point for one full circle. If the cleaning device 1 detects strong light during the process of moving around one full circle, the position point where strong light is detected during the process of moving around one full circle can be used as a new center of rotation, and a new circular motion can be performed around the new center of rotation.

[0056] And so on, the cleaning device 1 can continuously generate new centers of rotation during the circular motion and continuously perform circular motion until multiple strong light position points are determined and information on multiple strong light position points is obtained. Of course, to prevent the cleaning device 1 from continuously performing circular motion at the same location, when the cleaning device 1 performs circular motion, the movement route can skip the areas that have already been passed through.

[0057] Optionally, when the cleaning device 1 can no longer determine new strong light position points, it can be determined that the information on multiple strong light position points has been obtained, or when the multiple strong light position points obtained by the cleaning device 1 form a closed loop or approximately form a closed loop, it can be determined that the information on multiple strong light position points has been obtained. For example, for a strong light area, when the strong light position points detected by the cleaning device 1 have all reached the wall root and the surrounding areas of the confirmed strong light position points have also been passed through, it can be determined that the information on multiple strong light position points in this strong light area has been obtained.

[0058] Optionally, when using at least one infrared detection component 400 to detect strong light in the area to be cleaned, how to determine that the current position is a strong light position point can specifically refer to the following steps included in S1101:

[0059] S1104: Use at least one infrared detection component to detect the light intensity at the current position to obtain light intensity-related information.

[0060] The cleaning device 1 relies on the infrared detection component 400 to detect the light intensity in the area to be cleaned. The infrared detection component 400 includes an infrared receiving tube, which can directly sense the optical signal in the area to be cleaned. Correspondingly, the resistance value of the infrared receiving tube itself also changes. The infrared detection component 400 may also include an infrared transmitting tube, which can emit infrared light into the area to be cleaned. The infrared light can be reflected by the obstacles in the area to be cleaned and then received by the infrared receiving tube, so as to judge the distance between the cleaning device 1 and the obstacles and avoid the obstacles. Optionally, the processor 600 can detect the resistance value of the infrared receiving tube, and then judge the distance between the cleaning device 1 and the obstacles. Similarly, the magnitude of the resistance value of the infrared receiving tube can reflect the magnitude of the light intensity. Furthermore, the light intensity-related information can include the resistance value of the infrared receiving tube. Of course, the resistance value can be converted into other types of electrical signals, and the converted electrical signals can be used as the light intensity-related information. Generally, the smaller the resistance value of the infrared receiving tube, the greater the represented light intensity; after converting the resistance value into other types of electrical signals, it can be configured so that the larger the electrical signal, the greater the represented light intensity.

[0061] During the movement of the cleaning device 1, the infrared detection component 400 can always be in the on state, and the infrared receiving tube senses the intensity of the light in the area to be cleaned. The infrared detection component 400 converts the sensed light intensity into an electrical signal for output, and the processor 600 obtains the corresponding light intensity-related information. The light intensity-related information can include the resistance value of the infrared receiving tube, or can also include the value of the electrical signal output after being converted by the conversion circuit.

[0062] Optionally, as Figure 5 shown, when the number of at least one infrared detection component 400 is multiple, the multiple infrared detection components 400 are arranged at intervals in the circumferential direction. For example, the installation position of the infrared detection component 400 is on the front side surface in the moving direction of the cleaning device 1, so as to detect the light intensity and obstacles in front of the moving direction of the cleaning device 1. And the arrangement method of the multiple infrared detection components 400 is to be arranged at intervals in the circumferential direction on the front side surface in the moving direction of the cleaning device 1. Compared with one infrared detection component 400, setting multiple infrared detection components 400 can expand the detection range of the cleaning device 1, and at the same time the obtained results are more accurate and reliable.

[0063] Optionally, for the cleaning device 1 provided with multiple infrared detection components 400, how to use at least one infrared detection component 400 to detect the light intensity at the current position and obtain the light intensity-related information can specifically refer to the following steps included in S1104:

[0064] S1105: Use multiple infrared detection components to detect the light intensity at the current position, and obtain the light intensity-related information corresponding to each of the multiple infrared detection components.

[0065] When the cleaning device 1 is provided with multiple infrared detection components 400, the light intensity at the current position can be detected simultaneously by the multiple infrared detection components 400. Each infrared detection component 400 can sense the light intensity in the area to be cleaned, convert the sensed light intensity into an electrical signal and output it respectively, and the processor 600 obtains the corresponding light intensity-related information.

[0066] Optionally, since the light intensity-related information includes the resistance value of the infrared receiving tube, the steps for obtaining the light intensity-related information corresponding to each of the multiple infrared detection components 400 can be performed as follows:

[0067] S1106: Obtain the resistance values of the infrared receiving tubes of the multiple infrared detection components when detecting strong light. The resistance value is used to characterize the light intensity, and the smaller the resistance value, the greater the light intensity represented.

[0068] The light intensity directly affects the resistance value of the infrared receiving tube. When the light intensity-related information that the processor 600 can obtain is the resistance value of the infrared receiving tube, the light intensity can be characterized by the resistance value of the infrared receiving tube. The smaller the resistance value, the greater the light intensity represented, and the larger the resistance value, the smaller the light intensity represented.

[0069] S1107: Use the light intensity-related information with the largest represented light intensity among the light intensity-related information corresponding to each of the multiple infrared detection components as the light intensity-related information at the current position.

[0070] Since there are intervals in the installation positions of the multiple infrared detection components 400, different infrared detection components 400 may actually sense lights with different intensities, and the obtained light intensity-related information has different values. Therefore, for the light intensity-related information obtained at the same position, some of the light intensity-related information represents strong light while some represents non-strong light. Therefore, it is necessary to select the most representative light intensity-related information as the light intensity-related information of the cleaning device 1 at the current position.

[0071] Since each infrared detection component 400 performs detection independently, any one of the infrared detection components 400 detecting strong light indicates that strong light exists at the current position. Therefore, after the processor 600 obtains the light intensity-related information of the multiple infrared detection components 400, it can compare the values of the multiple light intensity-related information and select the light intensity-related information representing the strongest light intensity as the light intensity-related information at the current position. When the light corresponding to the light intensity-related information representing the strongest light intensity is non-strong light, all the lights corresponding to the light intensity-related information are non-strong light, and the current position does not belong to the strong light position point. When the light corresponding to the light intensity-related information representing the strongest light intensity is strong light, the current position belongs to the strong light position point.

[0072] For example, the light intensity related information may include that the resistance value of the infrared receiving tube is n. When the number of multiple infrared detection components 400 is N, the processor 600 can obtain N pieces of light intensity related information. The smaller the resistance value n is, the stronger the light intensity is. Therefore, the minimum value n among the N resistance values n can be obtained. 0 , and use the resistance value n 0 as the light intensity related information of the current position point.

[0073] After obtaining the light intensity related information through the above step S1104 and / or related steps, the light intensity related information can be used to determine whether the current position belongs to a strong light position point. Specifically, the following steps can be referred to:

[0074] S1108: Determine whether the light intensity related information of the current position meets the preset conditions.

[0075] The cleaning device 1 can preset a strong light threshold. When the value of the light intensity related information reaches the preset strong light threshold, it is determined that the corresponding light belongs to strong light. Since the light intensity of strong light is relatively large, the resistance value of the infrared receiving tube itself also changes greatly accordingly, and the value of the electrical signal output by the conversion circuit is either larger or smaller, and the set threshold can be reached.

[0076] After the processor 600 obtains the light intensity related information, it can compare the value of the light intensity related information with the preset strong light threshold to determine whether the value of the light intensity related information reaches the preset strong light threshold.

[0077] S1109: If so, it is determined that strong light is detected at the current position, and record the strong light position point information corresponding to the current position.

[0078] If the value of the light intensity related information can reach the preset strong light threshold, the processor 600 determines that the light intensity related information meets the preset conditions, determines that strong light is detected at the current position, and can store the strong light position point information corresponding to the current position into the memory 500, etc.

[0079] For example, the light intensity related information may include the minimum value n among the resistance values n of N infrared receiving tubes 0 , the preset strong light threshold is X. If n 0 ≤ X, it is determined that the current position is a strong light position point, and obtain the strong light position point information.

[0080] After determining multiple strong light position points, the corresponding multiple strong light position point information can be used to describe the strong light area. Specifically, the following steps after step S111 can be referred to:

[0081] S112: Determine the strong light area by using multiple strong light position point information.

[0082] The method for determining the strong light area includes determining multiple strong light position points and obtaining information on multiple strong light position points. The multiple strong light position points determined at the edge of the strong light area are scattered around the strong light area. Therefore, the multiple strong light position points can also effectively represent the strong light area. After obtaining the information on multiple strong light position points, the strong light area can be determined based on the information on multiple strong light position points.

[0083] Optionally, to determine the strong light area using the information on multiple strong light position points, the following steps included in S112 can be specifically referred to:

[0084] S1121: Determine the original strong light area using the information on multiple strong light position points.

[0085] As Figure 6 shown, the area enclosed by the connection lines of the strong light position points is called the original strong light area. Multiple strong light position points all belong to the strong light area and are located at the edge of the strong light area. Therefore, the original strong light area enclosed by the connection lines of multiple strong light position points is approximately close to the real strong light area. The more the number of multiple strong light position points, the smaller the distance between adjacent strong light position points, the more evenly the strong light position points are distributed at the edge of the strong light area, and the higher the approximation degree between the original strong light area and the real strong light area.

[0086] S1122: Regularize the original strong light area using the information on multiple strong light position points to obtain the strong light area.

[0087] The shape of the original strong light area may be complex and irregular, which is not conducive to the cleaning device 1 using the cleaning strategy to clean the strong light area. If it is necessary to clean a cleaning area with a complex and irregular shape, a more complex cleaning strategy is required to meet the requirements. For a more complex cleaning strategy, the execution difficulty of the cleaning device 1 is greater. To facilitate the execution of the cleaning device 1 and to make the cleaning strategy have good compatibility and high fitness for different strong light areas, the original strong light areas with different shapes can be regularized. After the regularization of the original strong light area, the cleaning problem of the strong light area can be greatly simplified.

[0088] Optionally, as Figure 7 shown, to regularize the original strong light area using the information on multiple strong light position points to obtain the strong light area, the following steps included in S1122 can be specifically referred to:

[0089] S1123: Obtain the maximum and minimum values of the abscissa and the maximum and minimum values of the ordinate from the information on multiple strong light position points.

[0090] The strong light position point information may include the coordinates of the corresponding positions. Through the positioning component 300, the absolute coordinates or relative coordinates of multiple strong light position points can be obtained. The processor 600 can retrieve the coordinates of the multiple strong light position point information in the memory 500 and sort the values of the abscissa and the ordinate. Then, the processor 600 can obtain the maximum and minimum values of the abscissa and the maximum and minimum values of the ordinate.

[0091] S1124: Determine the vertices of the strong light area using the maximum and minimum values of the abscissa and the maximum and minimum values of the ordinate, and then obtain the strong light area.

[0092] By combining the maximum and minimum values of the abscissa with the maximum and minimum values of the ordinate pairwise, four coordinate points can be obtained. Taking these four coordinate points as vertices, the four coordinate points can be connected to form a regular rectangular area, and the rectangular area contains the original strong light area.

[0093] For example, the coordinates of multiple strong light position points are respectively (x 0 , y 0 ), (x 1 , y 1 ), (x 2 , y 2 )......(x n , y n ). After regularizing the original strong light area, the maximum value x 0 , minimum value x 0 , maximum value y 1 , and minimum value y 1 in (x 2 , y 2 ), (x n , y n )......(x max , minimum value x min , maximum value y max , and minimum value y min can be selected. Then, the area enclosed by (x max , y max ), (x max , y min ), (x min , y max ), (x min , y min ) is used as the strong light area after regularization processing.

[0094] After determining the strong light area, the cleaning device 1 will obtain the light intensity change trend of the strong light area of the area to be cleaned. Specifically, the following steps included in S100 can be referred to:

[0095] S120: Obtain the light intensity related information at two moments before and after the strong light area.

[0096] In the area to be cleaned, if the strong light comes from a moving light source, the corresponding strong light area will change continuously. Therefore, the cleaning device 1 can obtain the light intensity change trend of the strong light area in the area to be cleaned, and judge the change situation of the strong light area according to the light intensity change trend of the strong light area. The light intensity change trend of the strong light area can be obtained by comparing the light intensities at the same position point in the strong light area at two moments before and after. Therefore, the infrared detection component 400 can be used to obtain the light intensity related information at the same position point in the strong light area at two moments before and after, so as to represent the light intensities at the two moments before and after, and be compared by the processor 600.

[0097] Optionally, the light intensity related information at two moments before and after the first strong light position point where the strong light is first detected can be obtained as the light intensity related information at two moments before and after the strong light area. Specifically, the following steps included in S120 can be referred to:

[0098] S121: When the strong light is first detected, obtain the light intensity related information obtained at the first detection position for the first time.

[0099] The position where at least one infrared detection component 400 first detects the strong light is the first detection position. When at least one infrared detection component 400 first detects the strong light, the processor 600 can obtain the light intensity related information of the first strong light position point and save it to the memory 500.

[0100] S122: Move to the surrounding area of the first detection position and continue to detect the strong light. After the detection is completed, return to the first detection position again and obtain the light intensity related information obtained at the first detection position again.

[0101] When at least one infrared detection component 400 first detects the strong light, the processor 600 can obtain the light intensity related information of the first strong light position point. After that, in order to obtain the information of multiple strong light position points, move to the surrounding area of the first detection position and continue to detect the strong light. After obtaining the information of multiple strong light position points, the processor 600 can determine the strong light area from the information of multiple strong light position points. Therefore, it is necessary to obtain the light intensity change trend of the strong light area next.

[0102] At this time, multiple strong light position points have been determined in the strong light area, and the light intensity related information of multiple strong light position points can be obtained. At the same position point, the longer the time interval between the two moments when the light intensity related information is obtained, the more obvious the light intensity change trend of the strong light area obtained from the light intensity related information at the two moments before and after. Since the moment when the first strong light position point first detects the strong light is the earliest, the light intensity related information at two moments before and after the first strong light position point can be used as the light intensity related information at two moments before and after the strong light area.

[0103] The light intensity related information at the moment before the first strong light position point can be obtained when determining the strong light area, and at this time, it is necessary to return to the first strong light position point again. Through the positioning component 300, the coordinates of the first strong light position point have been determined, for example, as (x 0 , y 0 ). It is possible to control the moving component 200 to drive the cleaning device 1 back to the first strong light position point, that is, the position point (x 0 , y 0 ), and obtain the light intensity related information at the moment after the first strong light position point again at the first detection position. This is the light intensity related information at the moment after the first strong light position point.

[0104] S123: Compare the light intensity related information at the two moments before and after to obtain the light intensity change trend of the strong light area.

[0105] It is possible to compare the values of the light intensity related information at the two moments before and after at the same position point in the strong light area to determine whether the light intensity represented by the light intensity related information obtained at the previous moment is stronger or the light intensity represented by the light intensity related information obtained at the later moment is stronger.

[0106] Take the light intensity related information at the two moments before and after the first strong light position point as the light intensity related information at the two moments before and after in the strong light area. Specifically, the following steps can be referred to:

[0107] S130: Compare the light intensity related information obtained for the first time and again at the first detection position to obtain the light intensity change trend of the strong light area.

[0108] It is possible to compare the values of the light intensity related information obtained for the first time and again at the first detection position in the strong light area to determine whether the light intensity represented by the light intensity related information obtained for the first time is stronger or the light intensity represented by the light intensity related information obtained again is stronger. For example, when the value of the light intensity related information is the resistance value of the infrared receiving tube, if the value of the light intensity related information obtained for the first time is larger, then the light intensity represented by the light intensity related information obtained for the first time is weaker, and the light intensity change trend of the strong light area is becoming stronger. If the value of the light intensity related information obtained again is larger, then the light intensity represented by the light intensity related information obtained again is enhanced, and the light intensity change trend of the strong light area is weakening.

[0109] For example, the light intensity related information obtained for the first time and again at the first detection position in the strong light area are respectively the resistance values n 0 and n 1 of the infrared receiving tube. If n 0 > n 1 , then it is judged that the light intensity change trend of the strong light area is enhanced, and the strong light area may increase. If n 0 < n 1 , then it is judged that the light intensity change trend of the strong light area is weakening, and the strong light area may weaken.

[0110] After obtaining the light intensity change trend, a cleaning strategy corresponding to or matching the light intensity change area can be obtained, and then the corresponding cleaning strategy can be used to clean the area to be cleaned. The cleaning strategy can be preset in the cleaning device 1.

[0111] S200: Use the cleaning strategy corresponding to the light intensity change trend to perform corresponding cleaning on the area to be cleaned.

[0112] After the cleaning device 1 determines the strong light area and obtains the light intensity change trend of the strong light area, it can use the cleaning strategy corresponding to the light intensity change trend to perform corresponding cleaning on the area to be cleaned. The cleaning device 1 presets the corresponding cleaning strategy according to the different light intensity change trends of the strong light area. After obtaining the light intensity change trend of the strong light area, the cleaning device 1 then uses the corresponding cleaning strategy according to the obtained light intensity change trend of the strong light area. In the specific execution content of the cleaning strategy, the strong light area can be used as a variable, and according to the difference of the strong light area, there will be some differences in the final execution content of the cleaning strategy.

[0113] Optionally, if the light intensity change trend is increasing, the cleaning device 1 uses the cleaning strategy corresponding to the light intensity change trend to perform corresponding cleaning on the area to be cleaned. Specifically, it can refer to the following steps included in S200:

[0114] S210: If the light intensity change trend is increasing, then determine the area where the strong light may increase and the non-strong light area located outside the area where the strong light may increase in the area to be cleaned outside the strong light area.

[0115] If the light intensity change trend is increasing, the strong light area has a tendency to extend to the non-strong light area, and the non-strong light area close to the strong light area may also become a strong light area after a period of time, making it impossible for the cleaning device 1 to perform normal cleaning operations therein. Therefore, the non-strong light area close to the strong light area can be distinguished from other non-strong light areas and divided into the area where the strong light may increase.

[0116] For example, as Figure 8 shown, the maximum value x of the abscissas of multiple strong light position points max , the minimum value x min , the maximum value y of the ordinates max , the minimum value y min , (x max , y max ), (x max , y min ), (x min , y max ), (x min , y min)The enclosed area is the regularized strong light area. Then, the area obtained by removing the strong light area within the area enclosed by taking (x max +Δx, y max +Δy), (x max +Δx, y min −Δy), (x min −Δx, y max +Δy), and (x min −Δx, y min −Δy) as the four vertices is used as the area where the strong light may increase.

[0117] Obviously, when part of the boundary of the strong light area is at the wall root, there is no need to set an area where the strong light may increase in the direction against the wall. For example, for the points (x max , y min ) and (x min , y min ) at the wall root, the area where the strong light may increase is the area obtained by removing the strong light area within the area enclosed by taking (x max +Δx, y max +Δy), (x max +Δx, y min ), (x min −Δx, y max +Δy), and (x min −Δx, y min ) as the four vertices.

[0118] Among them, Δx and Δy can be set as fixed length values, for example, both are set to 20 cm. Δx and Δy can also be calculated according to a fixed ratio of the side length of the strong light area. For example, the value of Δx is (x max −x min )×10%, and the value of Δy is (y max −y min )×10%.

[0119] Optionally, a threshold for the light intensity related information of the outer boundary can also be set for the area where the strong light may increase. For example, in this embodiment, a first threshold (i.e., the aforementioned preset condition) can be set to determine whether the current position is a strong light position point, and a second threshold can also be set to determine whether it is an area where the strong light may increase after determining the strong light area. The light intensity corresponding to the second threshold is weaker than the light intensity corresponding to the first threshold, that is, the area where the strong light may increase is located outside the strong light area. When the value of the light intensity related information of a certain position point around the strong light area reaches the second threshold of the light intensity related information, the distance value of this position point from the boundary of the strong light area can be used as the value of Δx or Δy. For example, the cleaning device 1 moves along the x - direction of the strong light area at (x max , y max) Move outward from the starting point and detect the light intensity related information. When the value of the detected light intensity related information at a certain position point reaches the preset threshold of the light intensity related information, the distance value between this position point and the point (x max ,y max ) is taken as the value of Δx. Similarly, in the y - direction of the strong - light area, starting from the point (x max ,y max ) move outward and detect the light intensity related information. When the value of the detected light intensity related information at a certain position point reaches the preset threshold of the light intensity related information, the distance value between this position point and the point (x max ,y max ) is taken as the value of Δy.

[0120] S211: Execute the cleaning strategies for the areas where strong light may increase, non - strong - light areas, and strong - light areas in sequence to clean the area to be cleaned.

[0121] After determining the strong - light area and the area where strong light may increase, the area in the area to be cleaned except the strong - light area and the area where strong light may increase is the non - strong - light area. The cleaning device 1 can clean the area to be cleaned in the order of cleaning the area where strong light may increase, the non - strong - light area, and the strong - light area in sequence.

[0122] The cleaning device 1 first cleans the area where strong light may increase. Because the light intensity change trend is increasing, this area may become a strong - light area after a period of time and it will be difficult to clean smoothly. For example, the anti - collision function of the cleaning device 1 may fail. Then it cleans the non - strong - light area, and the cleaning device 1 can perform normal cleaning operations. Finally, it cleans the strong - light area. At this time, after the non - strong - light area and the area where strong light may increase in the area to be cleaned are cleaned, the initially determined strong - light area may no longer be a strong - light area, so the anti - collision function of the cleaning device 1 can still be used.

[0123] Optionally, if the light intensity change trend is decreasing, the cleaning device 1 uses the cleaning strategy corresponding to the light intensity change trend to clean the area to be cleaned accordingly. Specifically, it can refer to the following steps included in S200:

[0124] S220: If the light intensity change trend is decreasing, then determine the non - strong - light area in the area to be cleaned outside the periphery of the strong - light area.

[0125] If the light intensity change trend is decreasing, the strong - light area has a shrinking trend. At this time, the area outside the strong - light area in the area to be cleaned can be divided into non - strong - light areas.

[0126] S221: Execute the cleaning strategies for cleaning the non - strong - light area and the strong - light area in sequence to clean the area to be cleaned.

[0127] The cleaning device 1 can clean the area to be cleaned in the order of the non-high-intensity light area and then the high-intensity light area. First, it cleans the non-high-intensity light area, and the cleaning device 1 can perform the cleaning operation normally. Then it cleans the high-intensity light area. At this time, after the non-high-intensity light area in the area to be cleaned is cleaned, since the light intensity change trend is weakening, the originally determined high-intensity light area may no longer be a high-intensity light area, so the anti-collision function of the cleaning device 1 can still be used.

[0128] As Figure 9 shown, the computer-readable storage medium 800 described in the storage medium embodiment of the present application stores a computer program that can be executed by the processor 600.

[0129] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or 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 / computer programs to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods in various embodiments of the present invention. The aforementioned 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, as well as electronic devices such as computers, mobile phones, laptop computers, tablet computers, and cameras having the above storage media.

[0130] In summary, this embodiment can obtain the light intensity change trend of the high-intensity light area in the area to be cleaned and can also use the cleaning strategy corresponding to the light intensity change trend to perform corresponding cleaning on the area to be cleaned, enabling the cleaning device 1 to perform the cleaning operation normally to the greatest extent when encountering a high-intensity light area. Especially when the light intensity change trend is increasing, it can judge the change trend of the high-intensity light area in the area to be cleaned and enter the area where the high-intensity light may increase in advance for cleaning.

[0131] The above are only embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of the present application by the same token.

Claims

1. A cleaning method for a cleaning device, characterized in that: include: Obtain the light intensity change trend of the strong light area in the area to be cleaned; Using a cleaning strategy corresponding to the light intensity variation trend to clean the area to be cleaned accordingly; Wherein, before obtaining the light intensity change trend of the strong light area in the area to be cleaned, the method includes: Determine the strong light area in the area to be cleaned; Determining the strong light area in the area to be cleaned includes: Acquire information of multiple strong light position points in the area to be cleaned; The strong light area is determined using the multiple strong light position point information.

2. The method according to claim 1, characterized in that: The cleaning strategy corresponding to the light intensity variation trend is used to clean the area to be cleaned, including: If the light intensity variation trend is increasing, then determining a possible strong light increase area in the area to be cleaned and a non-strong light area located outside the possible strong light increase area on the periphery of the strong light area; The area to be cleaned is cleaned by executing a cleaning strategy of successively cleaning the area where strong light may increase, the non-strong light area, and the strong light area.

3. The method according to claim 1, characterized in that: The cleaning strategy corresponding to the light intensity variation trend is used to clean the area to be cleaned, including: If the light intensity variation trend is weakening, a non-strong light area in the area to be cleaned is determined outside the strong light area; The area to be cleaned is cleaned by executing a cleaning strategy of cleaning the non-high-light area and the high-light area in sequence.

4. The method according to claim 1, characterized in that: The step of obtaining information of a plurality of strong light position points in the area to be cleaned includes: At least one infrared detection component is used to detect strong light multiple times in the area to be cleaned to determine multiple strong light position points and obtain corresponding information of the multiple strong light position points.

5. The method according to claim 4, characterized in that: The method of using at least one infrared detection component to detect strong light in the area to be cleaned for multiple times to determine multiple strong light position points and obtain corresponding information of the multiple strong light position points includes: When strong light is detected for the first time, obtaining the strong light position point information corresponding to the first detection position; Move to the peripheral area of ​​the first detection position and continue to detect strong light, so as to obtain the strong light position point information corresponding to the subsequent detection position when strong light is detected subsequently, until the multiple strong light position point information are obtained.

6. The method according to claim 4, characterized in that: The method of using at least one infrared detection component to detect strong light in the area to be cleaned for multiple times to determine multiple strong light position points and obtain corresponding information of the multiple strong light position points includes: Detecting the light intensity at the current position using the at least one infrared detection component to obtain information related to the light intensity; Determine whether the light intensity related information at the current position meets a preset condition; If so, it is determined that strong light is detected at the current position, and the strong light position point information corresponding to the current position is recorded.

7. The method according to claim 6, characterized in that: The number of the at least one infrared detection component is multiple, and the multiple infrared detection components are arranged at intervals along the circumferential direction; the use of the at least one infrared detection component to detect the light intensity at the current position to obtain information related to the light intensity includes: Detect the light intensity at the current position using the plurality of infrared detection components, and obtain the light intensity related information corresponding to each of the plurality of infrared detection components; The light intensity related information representing the maximum light intensity among the light intensity related information corresponding to each of the plurality of infrared detection components is used as the light intensity related information of the current position.

8. The method according to claim 7, characterized in that: The step of obtaining the light intensity related information corresponding to each of the plurality of infrared detection components comprises: The resistance values ​​of the infrared receiving tubes of the plurality of infrared detection components when detecting strong light are obtained, wherein the resistance values ​​are used to represent the light intensity, wherein the smaller the resistance value, the greater the light intensity represented.

9. The method according to claim 1, characterized in that: The step of determining the strong light area by using the plurality of strong light position point information includes: Determine the original strong light area using the information of the plurality of strong light position points; The original strong light area is regularized by using the information of the plurality of strong light position points to obtain the strong light area.

10. The method according to claim 9, characterized in that: The step of using the plurality of strong light position point information to perform regularization processing on the original strong light area to obtain the strong light area includes: Obtaining the maximum and minimum values ​​of the horizontal coordinate and the maximum and minimum values ​​of the vertical coordinate from the plurality of strong light position point information; The vertices of the bright light area are determined by using the maximum and minimum values ​​of the horizontal coordinate and the maximum and minimum values ​​of the vertical coordinate, thereby obtaining the bright light area.

11. The method according to any one of claims 1 to 3, characterized in that: The step of obtaining the light intensity variation trend of the strong light area in the area to be cleaned includes: Obtaining information related to the light intensity of the strong light area at two moments before and after; The light intensity related information at the two moments before and after is compared to obtain the light intensity variation trend of the strong light area.

12. The method according to claim 11, characterized in that: The step of obtaining information related to the light intensity of the strong light area at two moments before and after includes: When strong light is detected for the first time, obtaining the light intensity related information obtained at the first detection position for the first time; Move to the peripheral area of ​​the first detection position and continue to detect strong light, and after the detection is completed, return to the first detection position again, and obtain the light intensity related information obtained at the first detection position again; The comparing the light intensity related information at the two moments before and after to obtain the light intensity change trend of the strong light area includes: The light intensity related information obtained for the first time and again at the first detection position is compared to obtain the light intensity variation trend of the strong light area.

13. A cleaning device, characterized in that: include: A processor, a memory, a communication circuit and at least one infrared detection component, wherein the memory, the communication circuit and the at least one infrared detection component are respectively coupled to the processor, the at least one infrared detection component is used to detect obstacles and strong light, the memory stores a computer program, and the processor is used to execute the computer program to implement the method described in any one of claims 1-12.

14. A computer-readable storage medium, characterized in that: A computer program is stored, and the computer program can be executed by a processor to implement the method according to any one of claims 1 to 12.

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