A method, apparatus, electronic device and readable medium for cleaning floors

Abstract

This disclosure relates to the field of floor cleaning technology, providing a floor cleaning method, apparatus, electronic device, and readable medium. The method includes: determining a cleaning type for a cleaning area based on an SLAM map; controlling a robotic vacuum cleaner to clean the cleaning area based on the cleaning type, identifying cleaned areas; determining whether there are uncleaned areas based on the SLAM map and the cleaned areas; and controlling the robotic vacuum cleaner to clean the uncleaned areas if uncleaned areas are identified. The method provided by this disclosure can automatically activate different cleaning functions based on the cleaning type of the indoor floor, improving the cleaning efficiency of the robotic vacuum cleaner and enhancing the user experience.

Description

Technical Field

[0001] This disclosure relates to the field of floor cleaning technology, and more particularly to a floor cleaning method, apparatus, electronic device, and readable medium. Background Technology

[0002] Currently, with the development of smart appliances, robotic vacuum cleaners are gradually entering households due to their strong cleaning capabilities and ease of use. However, due to the different and constantly changing floor environments in homes, current robotic vacuum cleaners cannot identify the cleaning type of the area and correspondingly select different cleaning modes. This greatly reduces the cleaning efficiency of robotic vacuum cleaners and the user experience, becoming a problem that urgently needs to be solved. Summary of the Invention

[0003] In view of the above, embodiments of this disclosure provide a floor cleaning method, apparatus, electronic device, and readable medium to address the problems in the prior art.

[0004] A first aspect of this disclosure provides a floor cleaning method, comprising: determining a cleaning type of a cleaning area based on an SLAM map; controlling a sweeping robot to clean the cleaning area based on the cleaning type, and determining a cleaned area; determining whether there is an uncleaned area based on the SLAM map and the cleaned area; and controlling the sweeping robot to clean the uncleaned area if an uncleaned area is determined to exist.

[0005] A second aspect of this disclosure provides a floor cleaning device, comprising: a first determining unit configured to determine a cleaning type of a cleaning area based on an SLAM map; a first cleaning unit configured to control a sweeping robot to clean the cleaning area based on the cleaning type, thereby determining a cleaned area; a second determining unit configured to determine whether an uncleaned area exists based on the SLAM map and the cleaned area; and a second cleaning unit configured to control the sweeping robot to clean the uncleaned area if it is determined that an uncleaned area exists.

[0006] A third aspect of this disclosure provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0007] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0008] The beneficial effects of this disclosed embodiment compared to the prior art are as follows: First, based on the SLAM map, the cleaning type of the cleaning area is determined; then, based on the cleaning type, the robot vacuum cleaner is controlled to clean the cleaning area to determine the cleaned area; next, based on the SLAM map and the cleaned area, it is determined whether there are any uncleaned areas; finally, if uncleaned areas are determined to exist, the robot vacuum cleaner is controlled to clean the uncleaned areas. The method provided by this disclosure can automatically activate different cleaning functions based on the cleaning type of the indoor floor, improving the cleaning efficiency of the robot vacuum cleaner and enhancing the user experience. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram illustrating an application scenario of a floor cleaning method according to some embodiments of the present disclosure;

[0011] Figure 2 This is a flowchart of some embodiments of the floor cleaning method according to the present disclosure;

[0012] Figure 3 This is a schematic diagram of the structure of some embodiments of the floor cleaning apparatus according to the present disclosure;

[0013] Figure 4 This is a schematic diagram of the structure of an electronic device suitable for implementing some embodiments of the present disclosure. Detailed Implementation

[0014] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0015] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0016] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0017] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0018] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0019] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of an application scenario of a floor cleaning method according to some embodiments of the present disclosure.

[0021] exist Figure 1 In the application scenario, firstly, based on the SLAM map, the computing device 101 can determine the cleaning type 102 of the cleaning area. Then, based on the cleaning type 102, the computing device 101 can control the robotic vacuum cleaner to clean the cleaning area and determine the cleaned area 103. Next, based on the SLAM map and the cleaned area 103, the computing device 101 can determine whether there is an uncleaned area 104. Finally, if an uncleaned area 104 is determined to exist, the computing device 101 controls the robotic vacuum cleaner to clean the uncleaned area 104, as shown by reference numeral 105 in the attached drawing.

[0022] It should be noted that the aforementioned computing device 101 can be either hardware or software. When the computing device 101 is hardware, it can be implemented as a distributed cluster consisting of multiple servers or terminal devices, or as a single server or a single terminal device. When the computing device 101 is software, it can be installed in the hardware devices listed above. It can be implemented as, for example, multiple software programs or software modules used to provide distributed services, or as a single software program or software module. No specific limitations are made here.

[0023] It should be understood that Figure 1 The number of computing devices shown is merely illustrative. Any number of computing devices can be used depending on implementation needs.

[0024] Figure 2 This is a flowchart of some embodiments of the floor cleaning method according to the present disclosure. Figure 2 Floor cleaning methods can be provided by Figure 1The computing device 101 performs the operation. For example... Figure 2 As shown, the floor cleaning method includes:

[0025] Step S201: Based on the SLAM map, determine the cleaning type of the cleaning area.

[0026] In some embodiments, based on SLAM maps, the implementers of ground cleaning methods (such as...) Figure 1 The computing device 101 shown can determine the cleaning type of the cleaning area through the following steps:

[0027] The first step involves the execution entity acquiring an SLAM map. This SLAM map is built using SLAM (Simultaneous Localization and Mapping) technology. For example, the execution entity can employ visual SLAM technology, constructing an SLAM map from images captured by cameras or other image sensors pre-installed on the robot vacuum's body. By combining these images with information uploaded from other sensors, the robot vacuum can be positioned on the SLAM map. This information from other sensors includes, but is not limited to, inertial measurement unit (IMU) information measuring physical quantities such as speed and direction.

[0028] The second step is to create a new cleaning task based on the aforementioned SLAM map. The executing entity can mark at least one cleaning area. Specifically, a new cleaning task is created, and the cleaning area of ​​the current cleaning task is marked based on the SLAM map.

[0029] Third, the aforementioned executing entity can set a cleaning type for each cleaning area within the at least one cleaning area. For example, each cleaning area or sub-area within the current cleaning task is identified. Since different cleaning types require different cleaning functions from the robot vacuum, a cleaning type needs to be set for each cleaning area or sub-area within the cleaning area to control the robot vacuum to activate different functions during cleaning.

[0030] Fourth, based on the above-mentioned at least one cleaning area and the above-mentioned cleaning type, the above-mentioned execution entity can set the cleaning route.

[0031] In some alternative implementations of some embodiments, the cleaning types described above include floor types and carpet types.

[0032] In some optional implementations of certain embodiments, based on the above-described at least one cleaning area and the above-described cleaning type, the execution entity can set the cleaning route through the following sub-steps:

[0033] In the first sub-step, the aforementioned executing entity can connect cleaning areas of the same cleaning type to obtain the number of connected areas. For example, cleaning areas or small areas of the same floor cleaning type that are interconnected are considered as one connected area; cleaning areas or small areas of the same carpet cleaning type that are interconnected are also considered as one connected area. When there is only one cleaning type within a cleaning area, only one connected area is obtained, and the number of connected areas is 1. When there are two cleaning types within a cleaning area, at least two connected areas are obtained, and the number of connected areas is greater than 1.

[0034] In the second sub-step, when the number of connected regions is 1, the executing entity can use the charging station of the robotic vacuum cleaner as the starting point and obtain the point on the boundary of the connected region that is adjacent to the charging station, as the starting point of the connected region. For example, the point on the boundary of the connected region that is adjacent to the charging station can be the point on the boundary of the connected region that is closest to the charging station.

[0035] The third sub-step involves setting a cleaning route based on the aforementioned starting point. For example, based on the aforementioned starting point, the executing entity can set a cleaning route from the outside in, with the starting point as the starting point. The cleaning route is set under the condition that the robot vacuum can clean the entire connected area.

[0036] In the fourth sub-step, when the number of connected regions is greater than 1, the aforementioned execution entity can sort the connected regions to obtain a connected region sequence. For example, the point on the boundary of each connected region that is closest to the charging pile can be obtained, and each connected region can be sorted according to the distance between that point and the charging pile to obtain a connected region sequence.

[0037] In the fifth sub-step, the aforementioned executing entity can take the charging station of the aforementioned sweeping robot as the starting point, and take the point on the boundary of the first connected region in the aforementioned connected region sequence that is closest to the aforementioned charging station as the aforementioned first starting point.

[0038] In the sixth sub-step, the executing entity can use the midpoint of the overlapping boundary between the second connected region and the first connected region in the connected region sequence as the second starting point. Further, the executing entity can use the midpoint of the overlapping boundary between each subsequent connected region in the connected region sequence and the previous connected region as the starting point for each subsequent connected region.

[0039] The seventh sub-step involves setting a cleaning route based on the first and second starting points. Specifically, the cleaning route is set from the outside in, using the first and second starting points and the starting point of each subsequent connected area as the starting point of the corresponding connected area. The cleaning route is set under the condition that the robot vacuum can clean all the corresponding connected areas.

[0040] Step S202: Based on the above cleaning type, control the sweeping robot to clean the above cleaning area and determine the cleaned area.

[0041] In some embodiments, based on the cleaning type described above, the execution entity can control the sweeping robot to clean the cleaning area through the following steps to determine the cleaned area:

[0042] First, when the cleaning type of the cleaning area is floor type, based on the cleaning route, the execution entity can control the robot vacuum to start the vacuuming, washing and mopping functions to clean the cleaning area.

[0043] The second step is that when the cleaning type of the cleaning area is carpet type, based on the cleaning route, the execution entity can control the robot vacuum to start the vacuuming and mopping functions to clean the cleaning area.

[0044] Third, once the cleaning is confirmed to be complete, the aforementioned implementing entity can identify the cleaned area.

[0045] In some optional implementations of certain embodiments, after step S202, the above method further includes the following steps:

[0046] The first step is that, during the cleaning process, if the aforementioned robot vacuum fails to reach the starting point, the executing entity can control the robot vacuum to retry. Specifically, during the cleaning process, if the aforementioned robot vacuum fails to reach the starting point for various reasons, the executing entity can control the robot vacuum to retry.

[0047] In the second step, if the retry fails and the number of connected regions is 1, the executing entity can control the robotic vacuum cleaner to return to the charging station. Further, if the retry fails and the number of connected regions is 1, the executing entity can control the robotic vacuum cleaner to return to the charging station; if the retry fails and the number of connected regions is greater than 1, the executing entity can control the robotic vacuum cleaner to skip the connected region corresponding to the starting point and continue cleaning the next connected region. When the connected region corresponding to the starting point is the last connected region, the executing entity controls the robotic vacuum cleaner to return to the charging station.

[0048] Step S203: Based on the above SLAM map and the above cleaned areas, determine whether there are any uncleaned areas.

[0049] In some embodiments, based on the aforementioned SLAM map and the aforementioned cleaned areas, the aforementioned execution entity can determine whether there are any uncleaned areas.

[0050] Step S204: If it is determined that there is an uncleaned area, control the above-mentioned sweeping robot to clean the uncleaned area.

[0051] In some embodiments, if an uncleaned area is determined to exist, the executing entity can control the robotic vacuum cleaner to clean the uncleaned area. Further, if no uncleaned area is determined to exist, the executing entity can control the robotic vacuum cleaner to return to the charging dock and record that the current cleaning task is completed; if an uncleaned area is determined to exist, the executing entity can control the robotic vacuum cleaner to clean the uncleaned area. If cleaning is unsuccessful, the uncleaned area is recorded, and the current cleaning task is recorded as incomplete. If cleaning is successful, the executing entity can control the robotic vacuum cleaner to return to the charging dock and record that the current cleaning task is completed.

[0052] In some optional implementations of certain embodiments, the above method further includes the following steps:

[0053] The first step is that, within a preset time period, when the cleaning area defined by the aforementioned SLAM map is the same as the cleaning area of ​​an adjacent historical cleaning task, the executing entity can obtain the completion status of the adjacent historical cleaning task. As an example, the preset time period can be 10 hours, 24 hours, etc., and is not limited here.

[0054] The second step is that when the aforementioned adjacent historical cleaning tasks are not completed, the executing entity can obtain the historically uncleaned areas of the aforementioned adjacent historical cleaning tasks.

[0055] Third, based on the aforementioned adjacent historical cleaning tasks, the aforementioned executing entity can control the aforementioned sweeping robot to clean the aforementioned historically uncleaned areas.

[0056] Fourth, once the aforementioned adjacent historical cleaning tasks have been completed, the executing entity can control the robotic vacuum cleaner to perform cleaning again based on these tasks. Specifically, since the cleaning area marked on the SLAM map is the same as the cleaning area of ​​the adjacent historical cleaning tasks, there is no need to redetermine the cleaning type. Once the aforementioned adjacent historical cleaning tasks have been completed, the executing entity can control the robotic vacuum cleaner to perform cleaning again based on these tasks.

[0057] The beneficial effects of this disclosed embodiment compared to the prior art are as follows: First, based on the SLAM map, the cleaning type of the cleaning area is determined; then, based on the cleaning type, the robot vacuum cleaner is controlled to clean the cleaning area to determine the cleaned area; next, based on the SLAM map and the cleaned area, it is determined whether there are any uncleaned areas; finally, if uncleaned areas are determined to exist, the robot vacuum cleaner is controlled to clean the uncleaned areas. The method provided by this disclosure can automatically activate different cleaning functions based on the cleaning type of the indoor floor, improving the cleaning efficiency of the robot vacuum cleaner and enhancing the user experience.

[0058] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0059] The following are embodiments of the apparatus disclosed herein, which can be used to execute embodiments of the method disclosed herein. For details not disclosed in the apparatus embodiments of this disclosure, please refer to the embodiments of the method disclosed herein.

[0060] Figure 3 These are schematic diagrams illustrating the structure of some embodiments of the floor cleaning apparatus according to this disclosure. For example... Figure 3 As shown, the floor cleaning device includes: a first determining unit 301, a first cleaning unit 302, a second determining unit 303, and a second cleaning unit 304. The first determining unit 301 is configured to determine the cleaning type of the cleaning area based on an SLAM map; the first cleaning unit 302 is configured to control a robot vacuum cleaner to clean the cleaning area based on the cleaning type, thus determining the cleaned area; the second determining unit 303 is configured to determine whether there are any uncleaned areas based on the SLAM map and the cleaned areas; and the second cleaning unit 304 is configured to control the robot vacuum cleaner to clean the uncleaned areas if they are determined to exist.

[0061] In some optional implementations of some embodiments, the first determining unit 301 of the ground cleaning device is further configured to: acquire a SLAM map; create a new cleaning task based on the SLAM map and mark at least one cleaning area; set a cleaning type for each of the at least one cleaning area; and set a cleaning route based on the at least one cleaning area and the cleaning type.

[0062] In some alternative implementations of some embodiments, the cleaning types described above include floor types and carpet types.

[0063] In some optional implementations of certain embodiments, the above-mentioned setting of a cleaning route based on at least one cleaning area and the cleaning type includes: connecting cleaning areas of the same cleaning type to obtain a number of connected areas; when the number of connected areas is 1, taking the charging pile of the robot vacuum cleaner as the starting point, obtaining the point on the boundary of the connected area that is adjacent to the charging pile as the starting point of the connected area; setting a cleaning route based on the starting point; when the number of connected areas is greater than 1, sorting the connected areas to obtain a connected area sequence; taking the charging pile of the robot vacuum cleaner as the starting point, taking the point on the boundary of the first connected area in the connected area sequence that is closest to the charging pile as the first starting point; taking the midpoint of the overlapping boundary between the second connected area in the connected area sequence and the first connected area as the second starting point; and setting a cleaning route based on the first starting point and the second starting point.

[0064] In some optional implementations of certain embodiments, the first cleaning unit 302 of the floor cleaning device is further configured to: when the cleaning type of the cleaning area is floor type, control the sweeping robot to start the vacuuming, washing and mopping functions based on the cleaning route to clean the cleaning area; when the cleaning type of the cleaning area is carpet type, control the sweeping robot to start the vacuuming and mopping functions based on the cleaning route to clean the cleaning area; and when it is determined that the cleaning is completed, determine the cleaned area.

[0065] In some optional implementations of some embodiments, the floor cleaning device is further configured to: during the cleaning process, if the sweeping robot fails to reach the starting point, control the sweeping robot to retry; if the retry is unsuccessful and the number of connected areas is 1, control the sweeping robot to return to the charging station.

[0066] In some optional implementations of certain embodiments, the floor cleaning device is further configured to: within a preset time period, when the cleaning area defined by the aforementioned SLAM map is the same as the cleaning area of ​​an adjacent historical cleaning task; obtain the completion status of the aforementioned adjacent historical cleaning task; when the aforementioned adjacent historical cleaning task is not completed, obtain the historical uncleaned area of ​​the aforementioned adjacent historical cleaning task; based on the aforementioned adjacent historical cleaning task, control the sweeping robot to clean the aforementioned historical uncleaned area; when the aforementioned adjacent historical cleaning task has been completed, control the sweeping robot to start cleaning again based on the aforementioned adjacent historical cleaning task.

[0067] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure.

[0068] The following is for reference. Figure 4 It illustrates electronic devices suitable for implementing some embodiments of this disclosure (e.g., Figure 1 A schematic diagram of the structure of the computing device 101)400. Figure 4 The server shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this disclosure.

[0069] like Figure 4 As shown, electronic device 400 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 401, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 402 or a program loaded from storage device 408 into random access memory (RAM) 403. RAM 403 also stores various programs and data required for the operation of electronic device 400. Processing device 401, ROM 402, and RAM 403 are interconnected via bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0070] Typically, the following devices can be connected to I / O interface 405: input devices 406 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 407 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 408 including, for example, magnetic tapes, hard disks, etc.; and communication devices 409. Communication device 409 allows electronic device 400 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 An electronic device 400 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively. Figure 4 Each box shown can represent a device or multiple devices as needed.

[0071] In particular, according to some embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 409, or installed from storage device 408, or installed from ROM 402. When the computer program is executed by processing device 401, it performs the functions defined above in the methods of some embodiments of this disclosure.

[0072] It should be noted that, in some embodiments of this disclosure, the computer-readable medium described above may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In some embodiments of this disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In some embodiments of this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0073] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0074] The aforementioned computer-readable medium may be included in the aforementioned device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: determine the cleaning type of the cleaning area based on the SLAM map; control the robotic vacuum cleaner to clean the cleaning area based on the cleaning type, and determine the cleaned area; determine whether there is an uncleaned area based on the SLAM map and the cleaned area; and, if an uncleaned area is determined to exist, control the robotic vacuum cleaner to clean the uncleaned area.

[0075] Computer program code for performing operations of some embodiments of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0076] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0077] The units described in some embodiments of this disclosure can be implemented in software or hardware. The described units can also be housed in a processor; for example, a processor may be described as including a first determining unit, a first cleaning unit, a second determining unit, and a second cleaning unit. The names of these units do not necessarily limit the specific unit; for example, the first determining unit may also be described as "a unit that determines the cleaning type of a cleaning area based on a SLAM map."

[0078] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0079] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A method for cleaning a floor, characterized in that, include: Based on the SLAM map, determine the cleaning type for the cleaning area; Based on the cleaning type, control the sweeping robot to clean the cleaning area and determine the cleaned area; Based on the SLAM map and the cleaned areas, determine whether there are any uncleaned areas; If an uncleaned area is identified, the robot vacuum cleaner is controlled to clean the uncleaned area. The determination of the cleaning type for the cleaning area based on the SLAM map includes: Get the SLAM map; Create a new cleaning task based on the SLAM map and mark at least one cleaning area; A cleaning type is set for each cleaning area in the at least one cleaning area; Based on the at least one cleaning area and the cleaning type, a cleaning route is set; The cleaning types include floor cleaning and carpet cleaning; The step of setting a cleaning route based on the at least one cleaning area and the cleaning type includes: Connect cleaning areas of the same cleaning type to obtain the number of connected areas; When the number of connected regions is 1, the charging station of the robot vacuum cleaner is taken as the starting point, and the point on the boundary of the connected region that is adjacent to the charging station is obtained as the starting point of the connected region. Based on the aforementioned starting point, a cleaning route is set; When the number of connected regions is greater than 1, the connected regions are sorted to obtain a connected region sequence; Taking the charging station of the robotic vacuum cleaner as the starting point, the point on the boundary of the first connected region in the connected region sequence that is closest to the charging station is taken as the first starting point. The midpoint of the overlapping boundary between the second connected region and the first connected region in the connected region sequence is taken as the second starting point. A cleaning route is set based on the first and second starting points.

2. The floor cleaning method according to claim 1, characterized in that, The step of controlling the sweeping robot to clean the cleaning area based on the cleaning type, and determining the cleaned area, includes: When the cleaning type of the cleaning area is floor type, the robot vacuum cleaner is controlled to start vacuuming, washing and mopping functions based on the cleaning route to clean the cleaning area. When the cleaning type of the cleaning area is carpet type, the robot vacuum cleaner is controlled to start the vacuuming and mopping functions based on the cleaning route to clean the cleaning area; Once you are certain that the cleaning is complete, identify the cleaned area.

3. The floor cleaning method according to claim 2, characterized in that, Based on the cleaning type, the method controls the robotic vacuum cleaner to clean the cleaning area. After determining the cleaned area, the method further includes: During the cleaning process, if the robot vacuum fails to reach the starting point, the robot vacuum will be controlled to retry. If the retry fails and the number of connected regions is 1, control the sweeping robot to return to the charging station.

4. The floor cleaning method according to claim 3, characterized in that, The method further includes: Within a preset time period, when the cleaning area defined by the SLAM map is the same as the cleaning area of ​​an adjacent historical cleaning task, the completion status of the adjacent historical cleaning task is obtained. When the adjacent historical cleaning task is not completed, obtain the historical uncleaned area of ​​the adjacent historical cleaning task; Based on the adjacent historical cleaning tasks, the robot vacuum cleaner is controlled to clean the historically uncleaned areas; When the adjacent historical cleaning task has been completed, the robot vacuum cleaner is controlled to start cleaning again based on the adjacent historical cleaning task.

5. A floor cleaning device, characterized in that, include: The first determining unit is configured to determine the cleaning type of the cleaning area based on the SLAM map; The first cleaning unit is configured to control the sweeping robot to clean the cleaning area based on the cleaning type, and to determine the cleaned area; The second determining unit is configured to determine whether there are any uncleaned areas based on the SLAM map and the cleaned areas; The second cleaning unit is configured to control the sweeping robot to clean the uncleaned area when it is determined that there is an uncleaned area; The determination of the cleaning type for the cleaning area based on the SLAM map includes: Get the SLAM map; Create a new cleaning task based on the SLAM map and mark at least one cleaning area; A cleaning type is set for each cleaning area in the at least one cleaning area; Based on the at least one cleaning area and the cleaning type, a cleaning route is set; The cleaning types include floor cleaning and carpet cleaning; The step of setting a cleaning route based on the at least one cleaning area and the cleaning type includes: Connect cleaning areas of the same cleaning type to obtain the number of connected areas; When the number of connected regions is 1, the charging station of the robot vacuum cleaner is taken as the starting point, and the point on the boundary of the connected region that is adjacent to the charging station is obtained as the starting point of the connected region. Based on the aforementioned starting point, a cleaning route is set; When the number of connected regions is greater than 1, the connected regions are sorted to obtain a connected region sequence; Taking the charging station of the robotic vacuum cleaner as the starting point, the point on the boundary of the first connected region in the connected region sequence that is closest to the charging station is taken as the first starting point. The midpoint of the overlapping boundary between the second connected region and the first connected region in the connected region sequence is taken as the second starting point. A cleaning route is set based on the first and second starting points.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 4.

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