Cleaning method, device, equipment and product of Gemini cleaning machine

Abstract

The present invention provides a cleaning method, device, equipment, and product for twin cleaning machines. The method includes: responding to an operation instruction, obtaining an operation area corresponding to the operation instruction, having a first cleaning machine enter the operation area to perform a cleaning operation, extracting regional topographic data and dirt characteristic data of the operation area, and generating a cleaning big data feature corresponding to the operation area based on the regional topographic data and dirt characteristic data; judging based on the cleaning big data feature, determining that the operation area requires cleaning by a second cleaning machine, and then the second cleaning machine cleans the operation area based on the cleaning big data feature. By providing independent twin cleaning machines with different functions, the present invention maximizes the efficiency of each cleaning machine's own functional components, enhances the cleaning ability of each cleaning machine, and simultaneously, the twin cleaning machines cooperate with each other to clean indoor areas, thereby improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the field of smart home technology, and in particular to a cleaning method, device, equipment and product of a twin cleaning machine. Background Art

[0002] With the development of science and technology, smart homes play an increasingly important role in people's lives. Smart devices such as cleaning robots have added a lot of convenience to people's lives. Existing cleaning robots mainly include sweepers, floor scrubbers, etc. However, due to structural and size limitations, the functions of various components of cleaning robots are limited by structure and size, resulting in insufficient battery life for cleaning robots when performing indoor cleaning. After cleaning for a period of time, they need to be changed with water, dried, disinfected and charged, which seriously affects the cleaning efficiency. Summary of the Invention

[0003] The present invention provides a cleaning method, device, equipment and product for a twin cleaning machine, which is used to solve the problem that the functions of various components of the cleaning robot in the prior art are limited by the structure and size, resulting in insufficient endurance of the cleaning robot when performing indoor cleaning.

[0004] According to a first aspect of the present invention, a cleaning method for a twin cleaning machine is provided, which is applied to a server. The twin cleaning machine comprises: a first cleaning machine and a second cleaning machine that are communicatively connected to each other;

[0005] The method comprises:

[0006] In response to an operation instruction, obtaining an operation area corresponding to the operation instruction;

[0007] The first cleaning machine enters the operation area to perform a cleaning operation, extracts regional topographic data and dirt characteristic data of the operation area, and generates cleaning big data features corresponding to the operation area based on the regional topographic data and the dirt characteristic data;

[0008] A judgment is made based on the cleaning big data features to determine that the operation area needs to be cleaned by the second cleaning machine, and then the second cleaning machine cleans the operation area based on the cleaning big data features.

[0009] According to an embodiment of the present invention, the step of obtaining the operation area corresponding to the operation instruction in response to the operation instruction specifically includes:

[0010] Acquiring operation characteristic information contained in the operation instruction, and making a judgment based on the operation characteristic information;

[0011] Determining that the operation characteristic information includes a regional location feature, and determining the operation area according to the regional location feature;

[0012] If it is determined that the operation characteristic information includes a first dirt type characteristic, all indoor areas are acquired, and all the indoor areas are inspected according to the first dirt type characteristic.

[0013] According to an embodiment of the present invention, the step of determining that the operation feature information includes regional location features, and determining the operation area according to the regional location features, specifically includes:

[0014] Identification information of regional location features is obtained, a suspected indoor area where dirt is located is determined based on the identification information, and an operation area is generated based on the suspected indoor area.

[0015] According to an embodiment of the present invention, the identification information is at least any one or a combination of coordinate parameters, preset names and remark names that identify the location features of the region;

[0016] Wherein, the coordinate parameter identifies the position of the regional position feature in the indoor area;

[0017] The preset name is the code of the preset regional location feature in the indoor area;

[0018] The remark name is a code for the regional location feature in the indoor area set by the user.

[0019] According to an embodiment of the present invention, the step of determining that the operation characteristic information includes a first dirt type characteristic, obtaining all indoor areas, and inspecting all indoor areas according to the first dirt type characteristic specifically includes:

[0020] Extracting a dirt image and a suspected dirt image from the first dirt type feature, wherein the dirt image is a preset dirt classification, and the suspected dirt image is a derivative form of the dirt in the preset dirt classification;

[0021] Constructing an inspection target object based on the dirt image and the suspected dirt image;

[0022] The first cleaning machine performs inspection on a preset inspection path in the indoor area according to the inspection target object.

[0023] According to one embodiment of the present invention, the first cleaning machine enters the operation area to perform a cleaning operation, extracts regional terrain data and dirt characteristic data of the operation area, and generates cleaning big data features corresponding to the operation area based on the regional terrain data and the dirt characteristic data, specifically including:

[0024] Obtain a first cleaning path and a second cleaning path of the first cleaning machine in the working area, wherein the first cleaning path refers to a moving path of the first cleaning machine in the working area, and the second cleaning path refers to a cleaning track of the first cleaning machine in the process of cleaning dirt in the working area;

[0025] Obtaining an updated dirt image, an updated suspected dirt image, and a cleanliness index of the work area after cleaning, wherein the updated dirt image is an image of dirt after cleaning the work area, the updated suspected dirt image is a suspected area within a preset range of the updated dirt image, and the cleanliness index is an evaluation grade of the updated dirt image and the updated suspected dirt image after cleaning the work area;

[0026] A cleaning big data feature is generated according to the first cleaning path, the second cleaning path, the dirt update portrait, the suspected dirt update portrait, and the cleanliness index.

[0027] According to one embodiment of the present invention, the step of determining, based on the cleaning big data features, that the operating area requires cleaning by the second cleaning machine, and then the step of the second cleaning machine cleaning the operating area based on the cleaning big data features specifically includes:

[0028] Making a judgment based on the cleanliness index;

[0029] If it is determined that the cleanliness index does not meet a preset cleaning threshold or the second dirt type characteristic indicated by the cleanliness index is the dirt cleaning type of the second cleaning machine, the second cleaning machine is controlled to clean the working area.

[0030] According to one embodiment of the present invention, the step of controlling the second cleaning machine to clean the working area specifically includes:

[0031] determining a movement path of the second cleaning machine to the working area according to the first cleaning path;

[0032] The second cleaning machine is controlled to perform cleaning in the working area according to the second cleaning path, the contamination update portrait, and the suspected contamination update portrait.

[0033] According to a second aspect of the present invention, a cleaning device of a twin cleaning machine is provided, comprising: an instruction response module, a data generation module and a job execution module;

[0034] The instruction response module is used to respond to the operation instruction and obtain the operation area corresponding to the operation instruction;

[0035] The data generation module is used for the first cleaning machine to enter the operation area to perform cleaning operations, extract regional terrain data and dirt characteristic data of the operation area, and generate cleaning big data features corresponding to the operation area based on the regional terrain data and the dirt characteristic data;

[0036] The operation execution module is used to judge based on the cleaning big data characteristics and determine that the operation area needs to be cleaned by a second cleaning machine, and then the second cleaning machine cleans the operation area based on the cleaning big data characteristics.

[0037] According to a third aspect of the present invention, an electronic device is provided, comprising: a memory and a processor;

[0038] The memory and the processor communicate with each other via a bus;

[0039] The memory stores computer instructions that can be executed on the processor;

[0040] When the processor calls the computer instructions, it can execute the cleaning method of the twin cleaning machine.

[0041] According to a fourth aspect of the present invention, a computer program product is provided, which includes a non-transitory machine-readable medium storing a computer program, and when the computer program is executed by a processor, the steps of the cleaning method of the twin cleaning machine are implemented.

[0042] The above-mentioned one or more technical solutions in the present invention have at least one of the following technical effects: the present invention provides a cleaning method, device, equipment and product of a twin cleaning machine, which maximizes the efficiency of each cleaning machine's own functional components by setting up independent twin cleaning machines with different functions, thereby enhancing the cleaning ability of each cleaning machine. At the same time, the twin cleaning machines cooperate with each other to clean the indoor area, which also improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 This is one of the schematic diagrams of the arrangement relationship between the twin cleaning machines and the server provided by the present invention;

[0045] Figure 2 This is the second schematic diagram of the arrangement relationship between the twin cleaning machines and the server provided by the present invention;

[0046] Figure 3 It is a schematic flow chart of the cleaning method of the twin cleaning machine provided by the present invention;

[0047] Figure 4 It is a structural schematic diagram of the cleaning device of the twin cleaning machine provided by the present invention;

[0048] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention.

[0049] Reference numerals:

[0050] 10. Server; 20. First cleaning machine; 30. Second cleaning machine;

[0051] 40. Command response module; 50. Data generation module; 60. Job execution module;

[0052] 810 , processor; 820 , communication interface; 830 , memory; 840 , communication bus. DETAILED DESCRIPTION

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0054] The present invention is described in detail below with reference to the accompanying drawings. The specific operating methods in the method embodiments can also be applied to device embodiments or system embodiments. In the description of the present invention, unless otherwise specified, "at least one" includes one or more. "Multiple" refers to two or more. For example, at least one of A, B, and C includes: A exists alone, B exists alone, A and B exist at the same time, A and C exist at the same time, B and C exist at the same time, and A, B, and C exist at the same time. In the present invention, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0055] The present invention will be described in detail below with reference to specific embodiments.

[0056] In some specific embodiments of the present invention, Figures 1 to 3As shown, this solution provides a cleaning method of a twin cleaning machine, which is applied to a server 10, and the twin cleaning machine includes: a first cleaning machine 20 and a second cleaning machine 30 that are communicatively connected to each other;

[0057] Methods include:

[0058] In response to the operation instruction, obtaining the operation area corresponding to the operation instruction;

[0059] The first cleaning machine 20 enters the work area to perform cleaning operations, extracts regional topographic data and dirt characteristic data of the work area, and generates cleaning big data features corresponding to the work area based on the regional topographic data and dirt characteristic data;

[0060] A judgment is made based on the cleaning big data characteristics to determine that the working area needs to be cleaned by the second cleaning machine 30, and then the second cleaning machine 30 cleans the working area based on the cleaning big data characteristics.

[0061] It should be noted that by setting up twin cleaning machines, the functions of the same cleaning machine are fully or partially divided into two cleaning machines, which improves the functions of each cleaning machine itself and solves the problem of all functions being concentrated on the same machine, resulting in the weakening of the functions of each part.

[0062] In a possible implementation, the server 10 is a cloud service device.

[0063] In a possible implementation, the server 10 is a chip provided in the first cleaning machine 20 and / or the second cleaning machine 30 and / or the home Internet of Things.

[0064] In one application scenario, the twin cleaning machines include a first cleaning machine 20 and a second cleaning machine 30 which are two cleaning robots with different functions.

[0065] In one application scenario, the twin cleaning machines include a first cleaning machine 20 and a second cleaning machine 30 which are two cleaning robots with completely different functions.

[0066] In one application scenario, the twin cleaning machines include a first cleaning machine 20 and a second cleaning machine 30 which are two cleaning robots with different functional parts.

[0067] In one application scenario, the first cleaning machine 20 is a sweeping machine or a floor scrubber, and the second cleaning machine 30 is a floor scrubber or a sweeping machine.

[0068] In some possible embodiments of the present invention, in response to a job instruction, the step of obtaining a job area corresponding to the job instruction specifically includes:

[0069] Obtaining the operation characteristic information contained in the operation instruction and making judgments based on the operation characteristic information;

[0070] Determining that the operation feature information includes a regional location feature, then determining the operation area according to the regional location feature;

[0071] If it is determined that the operation characteristic information includes the first dirt type characteristic, all indoor areas are acquired and all indoor areas are inspected according to the first dirt type characteristic.

[0072] Specifically, this embodiment provides an implementation method for obtaining the work area corresponding to the work instruction. By obtaining the work characteristic information of the work instruction, the first cleaning machine 20 can perform corresponding operations according to the work characteristic information. According to different work characteristic information, the first cleaning machine 20 performs different execution actions.

[0073] Furthermore, the operation characteristic information includes the location of the operation area and / or the type of dirt that needs to be cleaned. The first cleaning machine 20 identifies the operation characteristic information, makes a corresponding judgment, and performs a corresponding execution action based on the judgment result.

[0074] In a possible embodiment, the first cleaning machine 20 and the second cleaning machine 30 are both provided with a sensor module, a voice recognition module, an image acquisition module, an AI recognition module and a WIFI module, so that the first cleaning machine 20 and the second cleaning machine 30 can communicate with each other and with the home Internet of Things, and also enable the first cleaning machine 20 and the second cleaning machine 30 to obtain regional terrain data and dirt characteristic data of the working area.

[0075] In some possible embodiments of the present invention, determining that the operation feature information includes a regional location feature, the step of determining the operation area according to the regional location feature specifically includes:

[0076] Obtain identification information of regional location features, determine the suspected indoor area where the dirt is located based on the identification information, and generate an operation area based on the suspected indoor area.

[0077] Specifically, this embodiment provides an implementation method for determining the working area based on the regional location characteristics. By extracting the identification information in the regional location characteristics, the first cleaning machine 20 can accurately locate the suspected indoor area where the dirt is located, and generate the working area for the suspected indoor area, thereby achieving cleaning of the working area.

[0078] In some possible embodiments of the present invention, the identification information is at least any one or a combination of coordinate parameters, preset names, and remark names of the identification area location features;

[0079] Among them, the coordinate parameter identifies the location of the regional location feature in the indoor area;

[0080] The preset name is the code of the preset regional location feature in the indoor area;

[0081] The remark name is the code of the regional location feature in the indoor area set by the user.

[0082] Specifically, this embodiment provides an implementation method for identification information. The identification information has various forms. Through the settings of various forms, the first cleaning machine 20 can more accurately locate the suspected indoor area where the dirt is located, thereby improving the accuracy of the judgment.

[0083] In a possible implementation, the identification information is a coordinate parameter identification. By marking the indoor area according to the coordinates in the virtual map, the first cleaning machine 20 can determine the location of the dirt specified by the user through the coordinates, and then determine the suspected indoor area.

[0084] In a possible implementation manner, the coordinate parameter identifier may be a three-dimensional coordinate in a Cartesian coordinate system, or a relative coordinate referenced to certain internal facilities of a home.

[0085] In an application scenario, the user sends identification information of coordinate parameter identification to the first cleaning machine 20 through the controller. The coordinate parameter identification content is (102, 163, 188). The specific value identifies the relative position of the location sent by the user in the virtual map. The first cleaning machine 20 confirms the working area based on the coordinate parameter identification.

[0086] It can be understood that the coordinate parameter identification sent by the user to the first cleaning machine 20 is realized through the corresponding operating device 5, and the operating device is provided with a controller for controlling the action of the first cleaning machine 20.

[0087] In one application scenario, the user sends a voice message to the first cleaning machine 20, which includes a coordinate parameter identifier, such as "the first cleaning machine 20 goes to clean around the chair", "the first

[0088] A cleaning machine 20 goes to clean the area around the sofa, etc. The first cleaning machine 20 confirms the working area according to the coordinate parameter identifier 0.

[0089] In a possible implementation, the identification information is a preset name. By setting the preset name for the indoor area in the system, the first cleaning machine 20 can determine the location of the dirt specified by the user through the preset name, and then determine the suspected indoor area.

[0090] In one application scenario, the user sends a voice message to the first cleaning machine 20. The voice message 5 includes the preset name of the indoor area, such as "the first cleaning machine 20 goes to clean the living room".

[0091] “The first cleaning machine 20 goes to clean the study,” “The first cleaning machine 20 goes to clean the cloakroom,” etc. The first cleaning machine 20 confirms the operation area according to the preset name.

[0092] In a possible implementation, the identification information is a note name, which is obtained by placing the indoor area in the

[0093] The system sets the remark name, provides the user with personalized customization, improves the user experience, and also facilitates the first cleaning machine 20 to determine the location of the dirt specified by the user through the remark name.

[0094] The suspected indoor area is then determined.

[0095] In one application scenario, the user sends a voice message to the first cleaning machine 20, which contains the name of the indoor area, such as "the first cleaning machine 20 goes to clean the baby's room",

[0096] "The first cleaning machine 20 goes to clean the sun room", "The first cleaning machine 20 goes to clean area A", etc., where "baby room", "sun room" and "area A" are the remark names set by the user.

[0097] The first cleaning machine 20 confirms the work area based on the remark name.

[0098] In some possible embodiments of the present invention, when determining that the operation characteristic information includes a first contamination type characteristic, the step of obtaining all indoor areas and inspecting all indoor areas according to the first contamination type characteristic specifically includes:

[0099] Extracting a dirt image and a suspected dirt image from the first dirt type feature, where the dirt image is a preset dirt classification, and the suspected dirt image is a derivative form of the dirt in the preset dirt classification;

[0100] Construct inspection targets based on dirt profiles and suspected dirt profiles;

[0101] The first cleaning machine 20 performs inspection on a preset inspection path in the indoor area according to the inspection target object.

[0102] Specifically, this embodiment provides an implementation method for inspecting all indoor areas according to the first dirt type characteristics. The first cleaning machine 20 inspects the indoor areas according to the dirt type and finally determines the operation area according to the inspection results.

[0103] It should be noted that the dirt portrait is a preset dirt classification in the system, such as paper scraps, fruit peels, hair, sand, etc., and the suspected dirt portrait is a derivative form of the preset dirt classification in the system. For example, the system has pre-stored the size, shape and other judgment feature examples of paper scraps, but paper scraps may also exist in unconventional shapes or together with other dirt. Therefore, the system sets up suspected dirt portraits derived from the preset dirt classification.

[0104] Furthermore, the first cleaning machine 20 inspects a preset inspection path in the indoor area by constructing an inspection target object based on the dirt image and the suspected dirt image, thereby determining the operation area.

[0105] In some possible embodiments of the present invention, the first cleaning machine 20 enters the work area to perform a cleaning operation, extracts regional terrain data and dirt characteristic data of the work area, and generates cleaning big data features corresponding to the work area based on the regional terrain data and dirt characteristic data, specifically including:

[0106] Obtain a first cleaning path and a second cleaning path of the first cleaning machine 20 in the working area, where the first cleaning path refers to the movement path of the first cleaning machine 20 in the working area, and the second cleaning path refers to the cleaning trajectory of the first cleaning machine 20 in the process of cleaning dirt in the working area;

[0107] Obtaining an updated dirt image, an updated suspected dirt image, and a cleanliness index of the work area after cleaning. The updated dirt image is an image of dirt after cleaning the work area. The updated suspected dirt image is a suspected area within a preset range of the updated dirt image. The cleanliness index is an evaluation grade of the updated dirt image and the updated suspected dirt image after cleaning the work area.

[0108] Clean big data features are generated based on the first cleaning path, the second cleaning path, the dirt update portrait, the suspected dirt update portrait and the cleanliness index.

[0109] Specifically, this embodiment provides an implementation method for generating cleaning big data features of the corresponding working area based on regional terrain data and dirt feature data. By acquiring the first cleaning path, the second cleaning path, the dirt update portrait, the suspected dirt update portrait and the cleanliness index, the generation of cleaning big data features is achieved, so that the second cleaning machine 30 can use the cleaning big data features to re-clean the dirt that has not been cleaned in the working area or the dirt that cannot be cleaned by the first cleaning machine 20, thereby improving the effect of the cleaning operation.

[0110] In some possible embodiments of the present invention, if it is determined based on the cleaning big data characteristics that the working area needs to be cleaned by the second cleaning machine 30, then the step of the second cleaning machine 30 cleaning the working area based on the cleaning big data characteristics specifically includes:

[0111] Judge based on the cleanliness index;

[0112] If it is determined that the cleanliness index does not meet the preset cleaning threshold or the second dirt type characteristic indicated by the cleanliness index is the dirt cleaning type of the second cleaning machine 30, the second cleaning machine 30 is controlled to clean the working area.

[0113] Specifically, this embodiment provides an implementation method in which a second cleaning machine 30 cleans the working area according to the cleaning big data characteristics. When the cleanliness index of the working area after cleaning the dirt does not meet the preset cleaning threshold or the second dirt type characteristic pointed to by the cleanliness index is the dirty cleaning type of the second cleaning machine 30, the second cleaning machine 30 is required to enter the working area to clean the dirt again.

[0114] In some possible embodiments of the present invention, the step of controlling the second cleaning machine 30 to clean the working area specifically includes:

[0115] Determine a movement path for the second cleaning machine 30 to move to the working area according to the first cleaning path;

[0116] The second cleaning machine 30 is controlled to perform cleaning in the working area according to the second cleaning path, the updated contamination profile, and the updated suspected contamination profile.

[0117] Specifically, this embodiment provides an implementation method for controlling the second cleaning machine 30 to clean the working area. The second cleaning machine 30 cleans the working area again according to the second cleaning path, the dirt update portrait and the suspected dirt update portrait, thereby improving the effect of the cleaning operation.

[0118] In some specific embodiments of the present invention, Figure 4 As shown, this solution provides a cleaning device for a twin cleaning machine, comprising: an instruction response module 40, a data generation module 50 and a job execution module 60;

[0119] The instruction response module 40 is used to respond to the operation instruction and obtain the operation area corresponding to the operation instruction;

[0120] The data generation module 50 is used for the first cleaning machine 20 to enter the working area to perform cleaning operations, extract regional terrain data and dirt characteristic data of the working area, and generate cleaning big data features corresponding to the working area based on the regional terrain data and dirt characteristic data;

[0121] The operation execution module 60 is used to make a judgment based on the cleaning big data characteristics and determine that the operation area needs to be cleaned by the second cleaning machine 30. Then, the second cleaning machine 30 cleans the operation area based on the cleaning big data characteristics.

[0122] Optionally, in response to the operation instruction, the step of obtaining the operation area corresponding to the operation instruction specifically includes:

[0123] Obtaining the operation characteristic information contained in the operation instruction and making judgments based on the operation characteristic information;

[0124] Determining that the operation feature information includes a regional location feature, then determining the operation area according to the regional location feature;

[0125] If it is determined that the operation characteristic information includes the first dirt type characteristic, all indoor areas are acquired and all indoor areas are inspected according to the first dirt type characteristic.

[0126] Optionally, if it is determined that the operation feature information includes a regional location feature, the step of determining the operation area according to the regional location feature specifically includes:

[0127] Obtain identification information of regional location features, determine the suspected indoor area where the dirt is located based on the identification information, and generate an operation area based on the suspected indoor area.

[0128] Optionally, the identification information is at least any one or a combination of coordinate parameters, preset names, and remark names that identify regional location features;

[0129] Among them, the coordinate parameter identifies the location of the regional location feature in the indoor area;

[0130] The preset name is the code of the preset regional location feature in the indoor area;

[0131] The remark name is the code of the regional location feature in the indoor area set by the user.

[0132] Optionally, if it is determined that the operation characteristic information includes the first contamination type characteristic, the step of acquiring all indoor areas and inspecting all indoor areas according to the first contamination type characteristic specifically includes:

[0133] Extracting a dirt image and a suspected dirt image from the first dirt type feature, where the dirt image is a preset dirt classification, and the suspected dirt image is a derivative form of the dirt in the preset dirt classification;

[0134] Construct inspection targets based on dirt profiles and suspected dirt profiles;

[0135] The first cleaning machine 20 performs inspection on a preset inspection path in the indoor area according to the inspection target object.

[0136] Optionally, the first cleaning machine 20 enters the working area to perform cleaning operations, extracts regional terrain data and dirt characteristic data of the working area, and generates cleaning big data features corresponding to the working area based on the regional terrain data and dirt characteristic data, specifically including:

[0137] Obtain a first cleaning path and a second cleaning path of the first cleaning machine 20 in the working area, where the first cleaning path refers to the movement path of the first cleaning machine 20 in the working area, and the second cleaning path refers to the cleaning trajectory of the first cleaning machine 20 in the process of cleaning dirt in the working area;

[0138] Obtaining an updated dirt image, an updated suspected dirt image, and a cleanliness index of the work area after cleaning. The updated dirt image is an image of dirt after cleaning the work area. The updated suspected dirt image is a suspected area within a preset range of the updated dirt image. The cleanliness index is an evaluation grade of the updated dirt image and the updated suspected dirt image after cleaning the work area.

[0139] Clean big data features are generated based on the first cleaning path, the second cleaning path, the dirt update portrait, the suspected dirt update portrait and the cleanliness index.

[0140] Optionally, if it is determined based on the cleaning big data characteristics that the working area needs to be cleaned by the second cleaning machine 30, the step of the second cleaning machine 30 cleaning the working area based on the cleaning big data characteristics specifically includes:

[0141] Judge based on the cleanliness index;

[0142] If it is determined that the cleanliness index does not meet the preset cleaning threshold or the second dirt type characteristic indicated by the cleanliness index is the dirt cleaning type of the second cleaning machine 30, the second cleaning machine 30 is controlled to clean the working area.

[0143] Optionally, the step of controlling the second cleaning machine 30 to clean the working area specifically includes:

[0144] Determine a movement path for the second cleaning machine 30 to move to the working area according to the first cleaning path;

[0145] The second cleaning machine 30 is controlled to perform cleaning in the working area according to the second cleaning path, the updated contamination profile, and the updated suspected contamination profile.

[0146] Figure 5 An example of a physical structure diagram of an electronic device is shown below. Figure 5As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the cleaning method of the twin cleaning machine.

[0147] It should be noted that the electronic device in this embodiment can be a server, a PC, or other devices in specific implementation, as long as its structure includes the following: Figure 5 The processor 810, communication interface 820, memory 830, and communication bus 840 are shown, wherein the processor 810, communication interface 820, and memory 830 communicate with each other via the communication bus 840, and the processor 810 can call the logic instructions in the memory 830 to execute the above method. This embodiment does not limit the specific implementation form of the electronic device.

[0148] Among them, the server can be a single server or a server group. The server group can be centralized or distributed (for example, the server can be a distributed system). In some embodiments, the server can be local or remote relative to the terminal. For example, the server can access information stored in a user terminal, a database, or any combination thereof via a network. As another example, the server can be directly connected to at least one of the user terminal and the database to access the information and / or data stored therein. In some embodiments, the server can be implemented on a cloud platform; as an example only, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-cloud, a multi-cloud, etc., or any combination thereof. In some embodiments, the server and the user terminal can be implemented on an electronic device having one or more components in the embodiments of the present invention.

[0149] Furthermore, the network can be used for the exchange of information and / or data. In some embodiments, one or more components in the interactive scene (e.g., a server, a user terminal, and a database) can send information and / or data to other components. In some embodiments, the network can be any type of wired or wireless network, or a combination thereof. By way of example only, the network can include a wired network, a wireless network, a fiber optic network, a telecommunications network, an intranet, the Internet, a local area network (LAN), a wide area network (WAN), a wireless local area network (WLAN), a metropolitan area network (MAN), a wide area network (WAN), a public switched telephone network (PSTN), a Bluetooth network, a ZigBee network, or a near field communication (NFC) network, or any combination thereof. In some embodiments, the network can include one or more network access points. For example, the network can include a wired or wireless network access point, such as a base station and / or a network switching node, through which one or more components of the interactive scene can connect to the network to exchange data and / or information.

[0150] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0151] In a possible implementation, an embodiment of the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the cleaning method of the twin cleaning machine provided in the above embodiments is implemented.

[0152] In a possible implementation, an embodiment of the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the methods provided by the above-mentioned method embodiments.

[0153] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units. That is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0154] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or certain parts of the embodiment.

[0155] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A cleaning method for a twin cleaning machine, characterized in that: Applied to a server (10), the twin cleaning machines include: a first cleaning machine (20) and a second cleaning machine (30) communicatively connected to each other; The method comprises: In response to an operation instruction, obtaining an operation area corresponding to the operation instruction; The first cleaning machine (20) enters the operation area to perform cleaning operations, extracts regional topographic data and dirt characteristic data of the operation area, and generates cleaning big data features corresponding to the operation area based on the regional topographic data and the dirt characteristic data; Judging based on the cleaning big data characteristics, it is determined that the operation area needs to be cleaned by the second cleaning machine (30), and then the second cleaning machine (30) cleans the operation area based on the cleaning big data characteristics; The step of obtaining the operation area corresponding to the operation instruction specifically includes: Acquiring operation characteristic information contained in the operation instruction, and making a judgment based on the operation characteristic information; Determining that the operation characteristic information includes a regional location feature, and determining the operation area according to the regional location feature; If it is determined that the operation characteristic information includes a first dirt type characteristic, all indoor areas are acquired, and all the indoor areas are inspected according to the first dirt type characteristic.

2. The cleaning method of the twin cleaning machine according to claim 1, characterized in that: The step of determining that the operation feature information includes a regional location feature and determining the operation area according to the regional location feature specifically includes: Identification information of regional location features is obtained, a suspected indoor area where dirt is located is determined based on the identification information, and an operation area is generated based on the suspected indoor area.

3. The cleaning method of the twin cleaning machine according to claim 2, characterized in that: The identification information is at least any one or a combination of coordinate parameters, preset names and remark names that identify the location features of the area; Wherein, the coordinate parameter identifies the position of the regional position feature in the indoor area; The preset name is the code of the preset regional location feature in the indoor area; The remark name is a code for the regional location feature in the indoor area set by the user.

4. The cleaning method of the twin cleaning machine according to claim 1, characterized in that: The step of determining that the operation characteristic information includes a first dirt type characteristic, obtaining all indoor areas, and inspecting all indoor areas according to the first dirt type characteristic specifically includes: Extracting a dirt image and a suspected dirt image from the first dirt type feature, wherein the dirt image is a preset dirt classification, and the suspected dirt image is a derivative form of the dirt in the preset dirt classification; Constructing an inspection target object based on the dirt image and the suspected dirt image; The first cleaning machine (20) performs inspection on a preset inspection path in an indoor area according to the inspection target object.

5. The cleaning method of the twin cleaning machine according to any one of claims 1 to 4, characterized in that: The first cleaning machine (20) enters the operation area to perform cleaning operations, extracts regional topographic data and dirt characteristic data of the operation area, and generates cleaning big data features corresponding to the operation area based on the regional topographic data and the dirt characteristic data, specifically comprising: Obtaining a first cleaning path and a second cleaning path of the first cleaning machine (20) in the working area, wherein the first cleaning path refers to a moving path of the first cleaning machine (20) in the working area, and the second cleaning path refers to a cleaning track of the first cleaning machine (20) in the process of cleaning dirt in the working area; Obtaining an updated dirt image, an updated suspected dirt image, and a cleanliness index of the work area after cleaning, wherein the updated dirt image is an image of dirt after cleaning the work area, the updated suspected dirt image is a suspected area within a preset range of the updated dirt image, and the cleanliness index is an evaluation grade of the updated dirt image and the updated suspected dirt image after cleaning the work area; A cleaning big data feature is generated according to the first cleaning path, the second cleaning path, the dirt update portrait, the suspected dirt update portrait, and the cleanliness index.

6. The cleaning method of the twin cleaning machine according to claim 5, characterized in that: The step of judging based on the cleaning big data characteristics and determining that the operation area needs to be cleaned by the second cleaning machine (30), and then the second cleaning machine (30) cleaning the operation area based on the cleaning big data characteristics specifically includes: Making a judgment based on the cleanliness index; If it is determined that the cleanliness index does not meet a preset cleaning threshold or the second dirt type characteristic indicated by the cleanliness index is the dirt cleaning type of the second cleaning machine (30), the second cleaning machine (30) is controlled to clean the working area.

7. The cleaning method of the twin cleaning machine according to claim 6, characterized in that: The step of controlling the second cleaning machine (30) to clean the working area specifically includes: determining a movement path of the second cleaning machine (30) to the working area according to the first cleaning path; The second cleaning machine (30) is controlled to perform cleaning in the working area according to the second cleaning path, the dirt update portrait and the suspected dirt update portrait.

8. A cleaning device for a twin cleaning machine, characterized in that: include: Instruction response module (40), data generation module (50) and job execution module (60); The instruction response module (40) is used to respond to an operation instruction and obtain an operation area corresponding to the operation instruction; The data generation module (50) is used for the first cleaning machine (20) to enter the operation area to perform cleaning operations, extract regional topographic data and dirt characteristic data of the operation area, and generate cleaning big data features corresponding to the operation area based on the regional topographic data and the dirt characteristic data; The operation execution module (60) is used to judge based on the cleaning big data characteristics and determine that the operation area needs to be cleaned by the second cleaning machine (30), and then the second cleaning machine (30) cleans the operation area based on the cleaning big data characteristics; The step of obtaining the operation area corresponding to the operation instruction specifically includes: Acquiring operation characteristic information contained in the operation instruction, and making a judgment based on the operation characteristic information; Determining that the operation characteristic information includes a regional location feature, and determining the operation area according to the regional location feature; If it is determined that the operation characteristic information includes a first dirt type characteristic, all indoor areas are acquired, and all the indoor areas are inspected according to the first dirt type characteristic.

9. An electronic device, characterized in that: include: Memory (830) and processor (810); The memory (830) and the processor (810) communicate with each other via a bus; The memory (830) stores computer instructions that can be executed on the processor (810); When the processor (810) calls the computer instructions, it is capable of executing the cleaning method of the twin cleaning machine described in any one of claims 1 to 7.

10. A computer program product comprising a non-transitory machine-readable medium storing a computer program, characterized in that: When the computer program is executed by the processor (810), the steps of the cleaning method of the twin cleaning machine described in any one of claims 1 to 7 are implemented.

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