Method and device for automatically cleaning floor

Abstract

The present invention discloses a method and device for automatically cleaning the floor. The method is applied to a cleaning device, and the method comprises: collecting the position information of all target collection points determined in a target area and the item information of all objects in contact with the floor in the target area, wherein the item information of each item includes at least the position information of the item; determining the movement trajectory of the cleaning device based on the position information of all target collection points and the item information of all items; and controlling the cleaning device to move and clean the target area based on the determined movement trajectory. It can be seen that the implementation of the present invention can plan the cleaning trajectory of the cleaning device in advance, reduce the occurrence of collisions between the cleaning device and obstacles, and reduce the occurrence of repeated cleaning of some areas or omission of some areas due to random movement and repeated detours around obstacles of the cleaning device, which is conducive to improving the intelligence and cleaning efficiency of the cleaning device, thereby improving the comfort level of people's living and working environment.

Description

Technical Field

[0001] The present invention relates to the field of intelligent cleaning technology, and in particular to a method and device for automatically cleaning a floor. Background Art

[0002] With the rapid development of science and technology, more and more devices are moving towards intelligent technology, such as cleaning equipment. Due to the fact that automated cleaning replaces manual labor and can thoroughly clean even small corners, intelligent cleaning equipment is becoming increasingly popular in people's daily lives and work.

[0003] In real life, intelligent cleaning equipment usually moves randomly within a certain area to clean the ground. In addition, during the cleaning process, the cleaning equipment will scan the route ahead while moving, and automatically detour to avoid obstacles when they are scanned. However, practice has found that when cleaning equipment moves randomly to clean the ground, it often repeats cleaning some areas or misses sweeping some areas. Moreover, when there are many obstacles in the area, the cleaning equipment may repeatedly detour around the same obstacle, causing the cleaning equipment to repeatedly clean the area around the obstacle, reducing the cleaning efficiency of the cleaning equipment. It can be seen that how to reduce the situation where the cleaning equipment repeats cleaning some areas or misses sweeping some areas, thereby improving the cleaning efficiency of the cleaning equipment, is particularly important. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and device for automatically cleaning the floor, which can help reduce the situation where the cleaning equipment repeatedly cleans some areas or misses some areas, thereby improving the cleaning efficiency of the cleaning equipment.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses a method for automatically cleaning a floor, which is applied to a cleaning device and comprises:

[0006] Collecting position information of all target collection points determined in a target area and item information of all items in contact with the floor in the target area, wherein the item information of each item at least includes the position information of the item;

[0007] Determining a moving trajectory of the cleaning device based on the position information of all the target collection points and the item information of all the items;

[0008] The cleaning device is controlled to move and clean the target area based on the determined movement trajectory.

[0009] As an optional embodiment, in the first aspect of the present invention, determining the movement trajectory of the cleaning device based on the position information of all the target collection points and the item information of all the items includes:

[0010] Constructing a two-dimensional map corresponding to the target area based on the location information of all the target collection points;

[0011] Constructing a three-dimensional virtual module corresponding to each item according to the item information of the item;

[0012] Determining, based on the item information of each item, a corresponding position of the three-dimensional virtual module corresponding to the item in the two-dimensional map;

[0013] generating a three-dimensional map corresponding to the target area based on the two-dimensional map, the three-dimensional virtual modules corresponding to all the items, and the corresponding positions of the three-dimensional virtual modules corresponding to all the items in the two-dimensional map;

[0014] Based on the generated three-dimensional map, the movement trajectory of the cleaning device is determined.

[0015] As an optional embodiment, in the first aspect of the present invention, before determining the movement trajectory of the cleaning device based on the generated three-dimensional map, the method further includes:

[0016] Determining the size information of the cleaning surface of the cleaning device in contact with the floor;

[0017] And, determining the movement trajectory of the cleaning device based on the generated three-dimensional map includes:

[0018] Based on the size information of the cleaning surface and the generated three-dimensional map, determining a shortest trajectory for the cleaning device that traverses the blank ground of the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as uncleanable objects;

[0019] The determined shortest trajectory is determined as the moving trajectory of the cleaning device.

[0020] As an optional embodiment, in the first aspect of the present invention, before determining, based on the size information of the cleaning surface and the generated three-dimensional map, the shortest trajectory of the cleaning device that traverses the blank ground of the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as non-cleanable objects, the method further includes:

[0021] Determining whether the cleaning device needs to go to a certain determined point after completing the cleaning task for the target area;

[0022] When the judgment result is yes, the current position of the cleaning device is determined as the starting point, and the certain point is determined as the end point;

[0023] Furthermore, determining, based on the size information of the cleaning surface and the generated three-dimensional map, the shortest trajectory of the cleaning device that traverses the blank ground of the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as uncleanable objects, includes:

[0024] Based on the size information of the cleaning surface and the generated three-dimensional map, the shortest trajectory of the cleaning device from the starting point is determined, which traverses the blank ground of the target area, all items in the target area that are classified as cleanable objects, and avoids all items in the target area that are classified as uncleanable objects, and reaches the end point.

[0025] As an optional embodiment, in the first aspect of the present invention, before collecting the position information of all target collection points determined in the target area and the object information of all objects in contact with the floor in the target area, the method further includes:

[0026] Determining an acquisition mode for the target area, wherein the acquisition mode includes a global point acquisition mode or a key point acquisition mode;

[0027] When the acquisition mode is the global point acquisition mode, all acquisition points in the target area are determined as target acquisition points;

[0028] When the collection mode is the key point collection mode, a cleaning area that needs to be cleaned in the target area is determined based on one or more of the identified current activity areas and current activity types of all target persons in the target area, and / or based on one or more of the determined habitual activity areas and habitual activity types of all target persons in the target area, and all collection points in the cleaning area are determined as target collection points.

[0029] As an optional implementation manner, in the first aspect of the present invention, determining the acquisition mode for the target area includes:

[0030] Obtain historical collection records for the target area;

[0031] Determine, based on the historical collection records, the recording time of the last first-category collection record, where the first-category collection records include collection records in the historical collection records whose collection mode is the global point collection mode; calculate the interval between the recording time and the current time, and determine whether the interval is greater than or equal to a preset interval threshold; when the judgment result is yes, determine that the collection mode for the target area is the global point collection mode; when the judgment result is no, determine that the collection mode for the target area is the key point collection mode, wherein the recording time includes the collection start time of the last first-category collection record or the collection end time of the last first-category collection record; or,

[0032] According to the historical collection records, determine whether the last collection record is a first-category collection record; when the judgment result is yes, determine that the collection mode for the target area is a key point collection mode; when the judgment result is no, determine the number of collections of the second-category collection records between the recording moment of the last first-category collection record and the current moment, and determine whether the number of collections is greater than or equal to a preset number threshold; when the number of collections is greater than or equal to the number threshold, determine that the collection mode for the target area is a global point collection mode; when the number of collections is less than the number threshold, determine that the collection mode for the target area is a key point collection mode; the second-category collection records include collection records in the historical collection records whose collection mode is the key point collection mode.

[0033] As an optional embodiment, in the first aspect of the present invention, before controlling the cleaning device to move and clean the target area based on the determined movement trajectory, the method further includes:

[0034] Collecting environmental data of the target area, and determining a movement mode and a cleaning mode of the cleaning device for the target area based on the environmental data;

[0035] Furthermore, controlling the cleaning device to move and clean the target area based on the determined movement trajectory includes:

[0036] generating a movement control instruction for the cleaning device based on the determined movement trajectory and the movement mode;

[0037] generating a cleaning control instruction for the cleaning device based on the determined movement trajectory and the cleaning mode;

[0038] According to the movement control instruction and the cleaning control instruction, the cleaning device is controlled to move and clean the target area.

[0039] As an optional embodiment, in the first aspect of the present invention, the item information of each of the items also includes one or more of the item name, item category and item size of the item, and the item category of each of the items includes a cleanable item category or an uncleanable item category. When the item category of the item indicates that the item is a cleanable item, the item information of the item also includes the cleaning level of the item, and the cleaning level of the item includes a complete cleaning level or a surface cleaning level.

[0040] A second aspect of the present invention discloses a device for automatically cleaning a floor, the device comprising:

[0041] a collection module, configured to collect position information of all target collection points determined in a target area and item information of all items in contact with the floor in the target area, wherein the item information of each item at least includes the position information of the item;

[0042] A first determining module is used to determine the movement trajectory of the cleaning device according to the position information of all the target collection points and the item information of all the items;

[0043] A control module is used to control the cleaning device to move and clean the target area based on the determined movement trajectory.

[0044] As an optional implementation manner, in the second aspect of the present invention, the first determining module includes:

[0045] A construction submodule, configured to construct a two-dimensional map corresponding to the target area based on the location information of all the target collection points, and to construct a three-dimensional virtual module corresponding to each of the items based on the item information of the item;

[0046] a determination submodule, configured to determine, based on the item information of each item, a corresponding position of the three-dimensional virtual module corresponding to the item in the two-dimensional map;

[0047] a generating submodule, configured to generate a three-dimensional map corresponding to the target area based on the two-dimensional map, the three-dimensional virtual modules corresponding to all the items, and the corresponding positions of the three-dimensional virtual modules corresponding to all the items in the two-dimensional map;

[0048] The determination submodule is further used to determine the movement trajectory of the cleaning device based on the generated three-dimensional map.

[0049] As an optional embodiment, in the second aspect of the present invention, the determining submodule is further configured to determine the size information of the cleaning surface of the cleaning device in contact with the floor before determining the movement trajectory of the cleaning device based on the generated three-dimensional map;

[0050] Furthermore, the specific manner in which the determination submodule determines the moving trajectory of the cleaning device based on the generated three-dimensional map is as follows:

[0051] Based on the size information of the cleaning surface and the generated three-dimensional map, determining a shortest trajectory for the cleaning device that traverses the blank ground of the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as uncleanable objects;

[0052] The determined shortest trajectory is determined as the moving trajectory of the cleaning device.

[0053] As an optional implementation manner, in the second aspect of the present invention, the first determining module further includes:

[0054] a judgment submodule, configured to judge whether the cleaning device needs to proceed to the determined certain point after completing a cleaning task for the target area, before the determination submodule determines, based on the size information of the cleaning surface and the generated three-dimensional map, a shortest trajectory for the cleaning device to traverse the blank ground of the target area, all objects of the cleanable object category in the target area, and avoid all objects of the non-cleanable object category in the target area;

[0055] The determining submodule is further configured to determine the current position of the cleaning device as a starting point and the certain point as an end point when the judging submodule determines that the cleaning device needs to go to a certain point after completing the cleaning task for the target area;

[0056] Furthermore, the determination submodule determines, based on the size information of the cleaning surface and the generated three-dimensional map, a shortest trajectory for the cleaning device to traverse the blank ground in the target area, all objects in the target area that are classified as cleanable objects, and to avoid all objects in the target area that are classified as uncleanable objects in the following specific manner:

[0057] Based on the size information of the cleaning surface and the generated three-dimensional map, the shortest trajectory of the cleaning device from the starting point is determined, which traverses the blank ground of the target area, all items in the target area that are classified as cleanable objects, and avoids all items in the target area that are classified as uncleanable objects, and reaches the end point.

[0058] As an optional embodiment, in the second aspect of the present invention, the device further includes:

[0059] The second determination module is configured to determine a collection mode for the target area before the collection module collects the position information of all target collection points determined in the target area and the item information of all items in contact with the floor in the target area, wherein the collection mode includes a global point collection mode or a key point collection mode; when the collection mode is the global point collection mode, all collection points in the target area are determined as target collection points; when the collection mode is the key point collection mode, a cleaning area that needs to be cleaned in the target area is determined based on one or more of the current activity areas and current activity types of all identified target persons in the target area, and / or based on one or more of the determined habitual activity areas and habitual activity types of all determined target persons in the target area, and all collection points in the cleaning area are determined as target collection points.

[0060] As an optional implementation, in the second aspect of the present invention, the specific manner in which the second determination module determines the acquisition mode for the target area is:

[0061] Obtain historical collection records for the target area;

[0062] Determine, based on the historical collection records, the recording time of the last first-category collection record, where the first-category collection records include collection records in the historical collection records whose collection mode is the global point collection mode; calculate the interval between the recording time and the current time, and determine whether the interval is greater than or equal to a preset interval threshold; when the judgment result is yes, determine that the collection mode for the target area is the global point collection mode; when the judgment result is no, determine that the collection mode for the target area is the key point collection mode, wherein the recording time includes the collection start time of the last first-category collection record or the collection end time of the last first-category collection record; or,

[0063] According to the historical collection records, determine whether the last collection record is a first-category collection record; when the judgment result is yes, determine that the collection mode for the target area is a key point collection mode; when the judgment result is no, determine the number of collections of the second-category collection records between the recording moment of the last first-category collection record and the current moment, and determine whether the number of collections is greater than or equal to a preset number threshold; when the number of collections is greater than or equal to the number threshold, determine that the collection mode for the target area is a global point collection mode; when the number of collections is less than the number threshold, determine that the collection mode for the target area is a key point collection mode; the second-category collection records include collection records in the historical collection records whose collection mode is the key point collection mode.

[0064] As an optional embodiment, in the second aspect of the present invention, the acquisition module is further configured to acquire environmental data of the target area before the control module controls the cleaning device to move and clean the target area based on the determined movement trajectory;

[0065] The second determining module is further configured to determine a movement mode and a cleaning mode of the cleaning device for the target area based on the environmental data:

[0066] Furthermore, the specific manner in which the control module controls the cleaning device to move and clean the target area based on the determined movement trajectory is as follows:

[0067] generating a movement control instruction for the cleaning device based on the determined movement trajectory and the movement mode;

[0068] generating a cleaning control instruction for the cleaning device based on the determined movement trajectory and the cleaning mode;

[0069] According to the movement control instruction and the cleaning control instruction, the cleaning device is controlled to move and clean the target area.

[0070] As an optional embodiment, in the second aspect of the present invention, the item information of each of the items also includes one or more of the item name, item category and item size of the item, and the item category of each of the items includes a cleanable item category or an uncleanable item category. When the item category of the item indicates that the item is a cleanable item, the item information of the item also includes the cleaning level of the item, and the cleaning level of the item includes a complete removal level or a surface cleaning level.

[0071] A third aspect of the present invention discloses another device for automatically cleaning a floor, the device comprising:

[0072] a memory storing executable program code;

[0073] a processor coupled to the memory;

[0074] The processor calls the executable program code stored in the memory to execute the method for automatically cleaning the floor disclosed in the first aspect of the present invention.

[0075] A fourth aspect of the present invention discloses a computer storage medium, wherein the computer storage medium stores computer instructions. When the computer instructions are called, they are used to execute the method for automatically cleaning a floor disclosed in the first aspect of the present invention.

[0076] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0077] In an embodiment of the present invention, the location information of all target collection points determined in the target area and the item information of all items in contact with the floor in the target area are collected, wherein the item information of each item includes at least the location information of the item; the movement trajectory of the cleaning device is determined based on the location information of all target collection points and the item information of all items; and the cleaning device is controlled to move and clean the target area based on the determined movement trajectory. It can be seen that the implementation of the present invention can plan the cleaning trajectory of the cleaning device in advance, reduce the occurrence of collisions between the cleaning device and obstacles, and reduce the occurrence of repeated cleaning of some areas or omission of some areas due to random movement and repeated detours around obstacles of the cleaning device, which is conducive to improving the intelligence and cleaning efficiency of the cleaning device, thereby improving the comfort level of people's living and working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0079] Figure 1 This is a flow chart of a method for automatically cleaning a floor disclosed in an embodiment of the present invention;

[0080] Figure 2 This is a flow chart of another method for automatically cleaning a floor disclosed in an embodiment of the present invention;

[0081] Figure 3 This is a schematic structural diagram of an automatic floor cleaning device disclosed in an embodiment of the present invention;

[0082] Figure 4 1 is a schematic structural diagram of another automatic floor cleaning device disclosed in an embodiment of the present invention;

[0083] Figure 5 This is a schematic structural diagram of another automatic floor cleaning device disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0084] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0085] The terms "first," "second," and so on, in the description and claims of the present invention and the accompanying drawings are used to distinguish between different items, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or end comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed therein, or may optionally include other steps or elements inherent to such process, method, product, or end.

[0086] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0087] The present invention discloses a method and device for automatically cleaning floors. These methods enable pre-planning of the cleaning trajectory of a cleaning device, reducing collisions with obstacles and minimizing the chance of repeated cleaning or missed cleaning of areas due to random movement and repeated detours around obstacles. This improves the intelligence and efficiency of the cleaning device, thereby enhancing the comfort of people's living and working environments. These are described in detail below.

[0088] Example 1

[0089] See also Figure 1 , Figure 1 This is a flow chart of a method for automatically cleaning the floor disclosed in an embodiment of the present invention. Figure 1 The method for automatically cleaning the floor described can be applied to cleaning equipment, such as a cleaning robot, or can be applied to a control center for controlling the cleaning equipment, such as a cloud server or a local server, and the embodiment of the present invention does not limit this. Figure 1 As shown, the method for automatically cleaning the floor may include the following operations:

[0090] 101. Collect location information of all target collection points determined in a target area and item information of all items in contact with a floor in the target area, wherein the item information of each item includes at least location information of the item.

[0091] In an embodiment of the present invention, the target collection point can optionally be a collection point pre-set by the user. The target collection point can be set at a key location in the target area, such as a door, window, bed, or room corner, to determine the regional attributes of the target area, such as a kitchen or bedroom. Furthermore, after collecting the location information of the target collection point and identifying the regional attributes of the target area, the item information of the item can be collected in combination with the identified image and regional attributes, thereby improving collection efficiency. Furthermore, while collecting the location information of the target collection point, environmental data of the target collection point can also be collected, so that the cleaning device can be controlled based on the environmental data to select a corresponding cleaning mode to clean the area near the target collection point.

[0092] In an embodiment of the present invention, optionally, the item information of each item may further include one or more of the item name, item category, and item size of the item. The item category of each item may include a cleanable item category or an uncleanable item category. When the item category of the item indicates that the item is a cleanable item, the item information of the item may further include the cleaning level of the item. The cleaning level of the item may include a complete removal level or a surface cleaning level. Further optionally, items with the item category of the uncleanable item category may include some non-garbage items (such as tables, sofas, etc.), and may also include garbage items that cannot be cleaned (such as plastic bags, etc.), which can reduce the entanglement of some garbage items in the cleaning equipment and improve the cleaning efficiency and the service life of the cleaning equipment; items with the cleaning level of the complete removal level may include paper scraps, hair, fruit peels, etc., and items with the cleaning level of the surface cleaning level may include carpets, etc. It should be noted that the item category or cleaning level of an item is not fixed, but can change with the cleaning method of the cleaning device. For example, when the cleaning device is sweeping the floor, the item category of a carpet is cleanable, while when the cleaning device is mopping the floor, the item category of a carpet is uncleanable. This can increase the diversity of item information, helping the cleaning device to avoid obstacles on the ground while cleaning garbage. In addition, grading the items to be cleaned can help the cleaning device provide a variety of cleaning methods for different items, thereby improving the intelligence, flexibility, and cleaning ability of the cleaning device, and thus improving the comfort of people's living and working environments.

[0093] When collecting the item information of all items in contact with the floor in the target area, the item shape of all items in contact with the floor can be identified based on the identification device corresponding to the cleaning device (such as a scanning identification instrument, a camera identification instrument, etc.), and the item information of each item is obtained by matching the item shape of each item with all the item information in the knowledge graph corresponding to the cleaning device. Optionally, the knowledge graph can be stored in the cleaning device or in a control center for controlling the operation of the cleaning device. The embodiment of the present invention is not limited to this. When the knowledge graph is stored in the control center, the cleaning device can upload the image of the identified item to the control center, and the control center matches the image with all the item information in the knowledge graph to obtain the item information of the item, and then transmits the item information of the item to the cleaning device or issues a control instruction corresponding to the item to the cleaning device, which can improve the accuracy of determining the item information. Further optionally, when there is no item information matching a certain item in the knowledge graph, the cleaning device or control center can send the image of the item to the terminal of the user or administrator, and after receiving the item information of the item entered through the terminal, the item information of the item is stored in the knowledge graph, thereby realizing the update and expansion of the knowledge graph.

[0094] In an embodiment of the present invention, optionally, while collecting item information of all items in contact with the floor in the target area, item information of items that are not in contact with the ground can also be collected. For example, for a hanging storage rack, when the distance between the bottom surface of the item and the ground is less than the height of the cleaning equipment, the area under the item can be determined as an uncleanable area to reduce collisions between the cleaning equipment and obstacles.

[0095] 102. Determine the moving trajectory of the cleaning equipment based on the location information of all target collection points and the item information of all items.

[0096] As an optional implementation, determining the movement trajectory of the cleaning device based on the location information of all target collection points and the item information of all items may include:

[0097] Based on the location information of all target collection points, a two-dimensional map corresponding to the target area is constructed;

[0098] According to the item information of each item, a three-dimensional virtual module corresponding to the item is constructed;

[0099] According to the item information of each item, determining the corresponding position of the three-dimensional virtual module corresponding to the item in the two-dimensional map;

[0100] Generate a three-dimensional map corresponding to the target area based on the two-dimensional map, the three-dimensional virtual modules corresponding to all items, and the corresponding positions of the three-dimensional virtual modules corresponding to all items in the two-dimensional map;

[0101] Based on the generated three-dimensional map, the movement trajectory of the cleaning equipment is determined.

[0102] It can be seen that the implementation of this optional implementation method can determine the moving trajectory of the cleaning equipment based on the constructed three-dimensional map, which is beneficial for the cleaning equipment to avoid obstacles in three-dimensional space while cleaning the ground not covered by furniture, improves the accuracy and reliability of determining the moving trajectory, and reduces the occurrence of collisions between the cleaning equipment and obstacles or omissions of some areas, thereby helping to improve the intelligence, flexibility and cleaning ability of the cleaning equipment.

[0103] In this optional embodiment, when constructing a two-dimensional map based on the position information of all target collection points, the positions of doors, windows, and walls of the target area can be determined based on the collection points, thereby constructing a two-dimensional map of the target area. Moreover, when there are collection points for some furniture in the target area and the three-dimensional virtual modules of some furniture are pre-stored in the database corresponding to the cleaning equipment, the three-dimensional virtual modules corresponding to the part of the furniture and the corresponding positions of the three-dimensional virtual modules corresponding to the part of the furniture in the two-dimensional map can be directly obtained, which can improve the efficiency of generating three-dimensional maps.

[0104] 103. Control the cleaning device to move and clean the target area based on the determined movement trajectory.

[0105] As an optional implementation, controlling the cleaning device to move and clean the target area based on the determined movement trajectory may include:

[0106] Determine whether the initial position of the cleaning equipment is within the target area;

[0107] When the judgment result is no, the movement mode of the cleaning device outside the target area is determined to be a movement-only mode without cleaning, and the movement mode within the target area is a movement-while-cleaning mode, wherein the movement speed corresponding to the movement-only mode without cleaning is greater than the movement speed corresponding to the movement-while-cleaning mode;

[0108] According to the determined movement trajectory, the movement mode of the cleaning device outside the target area and the movement mode of the cleaning device within the target area, the cleaning device is controlled to move and clean the target area.

[0109] It can be seen that implementing this optional implementation method can increase the moving speed of the cleaning equipment outside the target area and reduce unnecessary cleaning operations, thereby improving the cleaning efficiency of the cleaning equipment.

[0110] In this optional embodiment, further optionally, when the cleaning device moves in the target area, the cleaned area in the target area is recorded, and when the cleaning device re-enters the cleaned area according to the movement trajectory, it can move in the cleaned area based on the movement-only mode without cleaning. This can reduce the repeated cleaning of some areas, thereby reducing the energy consumption of the cleaning device.

[0111] It can be seen that the implementation of the embodiments of the present invention can plan the cleaning trajectory of the cleaning equipment in advance, reduce the occurrence of collisions between the cleaning equipment and obstacles, and reduce the occurrence of repeated cleaning of some areas or omission of some areas due to random movement and repeated detours of the cleaning equipment around obstacles, which is beneficial to improving the intelligence and cleaning efficiency of the cleaning equipment, thereby improving the comfort level of people's living and working environment.

[0112] In an optional embodiment, before determining the movement trajectory of the cleaning device based on the generated three-dimensional map, the method for automatically cleaning the floor may further include:

[0113] Determine the size information of the cleaning surface where the cleaning equipment contacts the floor;

[0114] Furthermore, determining the movement trajectory of the cleaning device based on the generated three-dimensional map may include:

[0115] Based on the size information of the cleaning surface and the generated three-dimensional map, determining the shortest trajectory of the cleaning device that traverses the blank ground in the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as non-cleanable objects;

[0116] The shortest trajectory determined is determined as the moving trajectory of the cleaning device.

[0117] It can be seen that the implementation of this optional embodiment enables the cleaning equipment to clean the area that needs to be cleaned with the shortest moving trajectory and avoid obstacles, which improves the accuracy and reliability of determining the moving trajectory, is conducive to improving the intelligence and cleaning efficiency of the cleaning equipment, and thus improves the comfort level of people's living and working environment.

[0118] In another optional embodiment, before determining, based on the size information of the cleaning surface and the generated three-dimensional map, the shortest trajectory of the cleaning device that traverses the blank ground in the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as non-cleanable objects, the method for automatically cleaning the ground may further include:

[0119] Determine whether the cleaning equipment needs to go to a certain point after completing the cleaning task for the target area;

[0120] When the judgment result is yes, the current position of the cleaning device is determined as the starting point, and a certain point is determined as the end point;

[0121] Furthermore, based on the size information of the cleaning surface and the generated three-dimensional map, determining the shortest trajectory of the cleaning device that traverses the blank ground in the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as non-cleanable objects may include:

[0122] Based on the size information of the cleaning surface and the generated three-dimensional map, the shortest trajectory of the cleaning equipment from the starting point is determined, which traverses the blank ground of the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as uncleanable objects, and then reaches the end point.

[0123] In this optional embodiment, optionally, the certain point may be the current location of the cleaning device, the charging area of ​​the cleaning device, the usual placement location of the cleaning device, the starting point of the next area to be cleaned, etc.

[0124] It can be seen that the implementation of this optional embodiment can determine the shortest moving trajectory of the cleaning equipment during cleaning based on the current position of the cleaning equipment and the location it needs to go to after cleaning, reducing unnecessary detours, improving the intelligence and cleaning efficiency of the cleaning equipment, and reducing unnecessary energy consumption of the cleaning equipment.

[0125] Example 2

[0126] See also Figure 2 , Figure 2 This is a flow chart of another method for automatically cleaning the floor disclosed in an embodiment of the present invention. Figure 2 The method for automatically cleaning the floor described can be applied to cleaning equipment, such as a cleaning robot, or to a control center for controlling the cleaning equipment, such as a cloud server or a local server, and the embodiment of the present invention does not limit this. Figure 2 As shown, the method for automatically cleaning the floor may include the following operations:

[0127] 201. Determine a collection mode for a target area, where the collection mode includes a global point collection mode or a key point collection mode.

[0128] The global point acquisition mode indicates that the position information of all acquisition points in the target area needs to be acquired, and the key point acquisition mode indicates that the position information of all acquisition points in the key area of ​​the target area needs to be acquired.

[0129] As an optional implementation, determining the acquisition mode for the target area may include:

[0130] Obtain historical collection records for the target area;

[0131] Determine the recording time of the last first-category collection record based on the historical collection records, where the first-category collection records include collection records in which the collection mode is the global point collection mode in the historical collection records; calculate the interval between the recording time and the current time, and determine whether the interval is greater than or equal to a preset interval threshold; if the judgment result is yes, determine that the collection mode for the target area is the global point collection mode; if the judgment result is no, determine that the collection mode for the target area is the key point collection mode, wherein the recording time includes the collection start time of the last first-category collection record or the collection end time of the last first-category collection record; or,

[0132] According to the historical collection records, determine whether the last collection record is a first-category collection record. When the judgment result is yes, determine that the collection mode for the target area is the key point collection mode. When the judgment result is no, determine the number of collections of the second-category collection records between the recording time of the last first-category collection record and the current time, and determine whether the number of collections is greater than or equal to the preset number threshold. When the number of collections is greater than or equal to the number threshold, determine that the collection mode for the target area is the global point collection mode. When the number of collections is less than the number threshold, determine that the collection mode for the target area is the key point collection mode. The second-category collection records include collection records whose collection mode is the key point collection mode in the historical collection records.

[0133] It can be seen that the implementation of this optional implementation method can alternately select the global point acquisition mode and the key point acquisition mode according to a preset plurality of rules, thereby improving the diversity, accuracy and reliability of determining the acquisition mode, and reducing unnecessary cleaning of clean areas caused by selecting the global point acquisition mode each time, thereby reducing unnecessary energy consumption of the cleaning equipment and improving the intelligence and cleaning efficiency of the cleaning equipment.

[0134] 202. When the acquisition mode is the global point acquisition mode, all acquisition points in the target area are determined as target acquisition points.

[0135] 203. When the acquisition mode is the key point acquisition mode, the cleaning area that needs to be cleaned in the target area is determined based on one or more of the current activity areas and current activity types of all identified target persons in the target area, and / or based on one or more of the habitual activity areas and habitual activity types of all determined target persons in the target area.

[0136] For example, when a person is identified as watching TV on the sofa in the living room, the area near the sofa can be determined as a cleaning area; when a person is identified as doing strenuous exercise on the floor of the room, the ground near the person can be determined as an area that does not need to be cleaned, thereby reducing collisions between cleaning equipment and people; when it is determined that a person is accustomed to sitting at a computer desk to work, the area near the computer desk can be determined as a cleaning area.

[0137] In an embodiment of the present invention, the target area can optionally be divided into at least one sub-area based on one or more of the target person's habitual activity area and habitual activity type. Each sub-area has a corresponding cleaning level, and the cleaning level corresponding to each sub-area is used to indicate the number of times the sub-area is cleaned within a preset time period. The higher the cleaning level corresponding to the sub-area, the more times the sub-area is cleaned. This can improve the intelligence and user experience of the cleaning equipment, thereby enhancing the comfort of people's living and working environments.

[0138] 204. Determine all collection points in the cleaning area as target collection points.

[0139] 205. Collect position information of all target collection points determined in the target area and object information of all objects in contact with the floor in the target area, wherein the object information of each object includes at least the position information of the object.

[0140] 206. Determine the movement trajectory of the cleaning device based on the location information of all target collection points and the item information of all items.

[0141] 207. Control the cleaning device to move and clean the target area based on the determined movement trajectory.

[0142] In the embodiment of the present invention, it should be noted that for other related descriptions of steps 205 to 207, please refer to the detailed description of steps 101 to 103 in the first embodiment, which will not be repeated in the embodiment of the present invention.

[0143] It can be seen that the implementation of the embodiment of the present invention can collect regional information under different collection modes and thus plan different cleaning trajectories in advance, which is conducive to improving the diversity and flexibility of collection methods and cleaning methods, and reducing unnecessary cleaning of clean areas due to selecting the global point collection mode each time, thereby reducing unnecessary energy consumption of the cleaning equipment. In addition, it can also reduce the occurrence of collisions between the cleaning equipment and obstacles, and reduce the occurrence of repeated cleaning of some areas or omission of some areas due to random movement and repeated detours of the cleaning equipment around obstacles, which is conducive to improving the intelligence and cleaning efficiency of the cleaning equipment, thereby improving the comfort level of people's living and working environment.

[0144] In an optional embodiment, before controlling the cleaning device to move and clean the target area based on the determined movement trajectory, the method for automatically cleaning the floor may further include:

[0145] Collect environmental data of the target area and determine the movement mode and cleaning mode of the cleaning equipment for the target area based on the environmental data;

[0146] Furthermore, controlling the cleaning device to move and clean the target area based on the determined movement trajectory may include:

[0147] Based on the determined movement trajectory and movement pattern, generating movement control instructions for the cleaning equipment;

[0148] Based on the determined movement trajectory and cleaning mode, generating cleaning control instructions for the cleaning equipment;

[0149] According to the movement control instructions and cleaning control instructions, the cleaning equipment is controlled to move and clean the target area.

[0150] In this optional embodiment, optionally, the environmental data may include temperature and / or humidity, the movement mode may include movement speed, the cleaning mode may include cleaning type and / or cleaning strength, and the cleaning type may include sweeping type and / or mopping type.

[0151] It can be seen that the implementation of this optional embodiment can determine the movement mode and cleaning mode in combination with the movement trajectory and environmental data in the area, which is conducive to improving the adaptability of the cleaning equipment to the environment during movement and cleaning, thereby improving the intelligence and cleaning ability of the cleaning equipment, and by realizing the movement control and cleaning control of the cleaning equipment according to the generated control instructions, it is conducive to improving the accuracy and reliability of controlling the movement and cleaning of the cleaning equipment.

[0152] Example 3

[0153] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of an automatic floor cleaning device disclosed in an embodiment of the present invention. Figure 3 The described automatic floor cleaning device can be applied to cleaning equipment, such as a cleaning robot, or can be applied to a cloud server that controls the cleaning equipment, and the embodiment of the present invention does not limit this. Figure 3 As shown, the device for automatically cleaning the floor may include:

[0154] A collection module 301 is configured to collect location information of all target collection points determined in the target area and item information of all items in contact with the floor in the target area, wherein the item information of each item includes at least the location information of the item;

[0155] A first determining module 302 is configured to determine a movement trajectory of the cleaning device based on the location information of all target collection points and the item information of all items;

[0156] The control module 303 is used to control the cleaning device to move and clean the target area based on the determined movement trajectory.

[0157] It can be seen that implementation Figure 3 The described device can plan the cleaning trajectory of the cleaning equipment in advance, reduce the occurrence of collisions between the cleaning equipment and obstacles, and reduce the occurrence of repeated cleaning of some areas or omission of some areas due to random movement and repeated detours of the cleaning equipment around obstacles. This is conducive to improving the intelligence and cleaning efficiency of the cleaning equipment, thereby improving the comfort of people's living and working environment.

[0158] In an optional embodiment, if Figure 4 As shown, the first determining module 302 may include:

[0159] The construction submodule 3021 is used to construct a two-dimensional map corresponding to the target area based on the location information of all target collection points, and to construct a three-dimensional virtual module corresponding to each item based on the item information of the item;

[0160] The determination submodule 3022 is configured to determine the corresponding position of the three-dimensional virtual module corresponding to each item in the two-dimensional map based on the item information of the item;

[0161] A generating submodule 3023 is configured to generate a three-dimensional map corresponding to the target area based on the two-dimensional map, the three-dimensional virtual modules corresponding to all items, and the corresponding positions of the three-dimensional virtual modules corresponding to all items in the two-dimensional map;

[0162] The determination submodule 3022 is further used to determine the movement trajectory of the cleaning device based on the generated three-dimensional map.

[0163] It can be seen that implementation Figure 4 The described device can determine the movement trajectory of the cleaning equipment based on the constructed three-dimensional map, which is beneficial for the cleaning equipment to avoid obstacles in three-dimensional space while cleaning the ground not covered by furniture, improves the accuracy and reliability of determining the movement trajectory, reduces the occurrence of collisions between the cleaning equipment and obstacles or omissions of some areas, and thus helps to improve the intelligence, flexibility and cleaning ability of the cleaning equipment.

[0164] In another optional embodiment, Figure 4 As shown, the determination submodule 3022 is further configured to determine the size information of the cleaning surface of the cleaning device in contact with the floor before determining the movement trajectory of the cleaning device based on the generated three-dimensional map;

[0165] Furthermore, the specific method in which the determination submodule 3022 determines the movement trajectory of the cleaning device based on the generated three-dimensional map is as follows:

[0166] Based on the size information of the cleaning surface and the generated three-dimensional map, determining the shortest trajectory of the cleaning device that traverses the blank ground in the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as non-cleanable objects;

[0167] The shortest trajectory determined is determined as the moving trajectory of the cleaning device.

[0168] It can be seen that implementation Figure 4 The described device can also enable the cleaning equipment to clean the area to be cleaned with the shortest moving trajectory and avoid obstacles, thereby improving the accuracy and reliability of determining the moving trajectory, which is conducive to improving the intelligence and cleaning efficiency of the cleaning equipment, thereby improving the comfort of people's living and working environment.

[0169] In another optional embodiment, Figure 4 As shown, the first determining module 302 may further include:

[0170] The judgment submodule 3024 is configured to determine whether the cleaning device needs to proceed to the determined point after completing the cleaning task for the target area, before the determination submodule 3022 determines the shortest trajectory for the cleaning device to traverse the blank ground in the target area, all objects in the target area that are classified as cleanable objects, and avoid all objects in the target area that are classified as uncleanable objects based on the size information of the cleaning surface and the generated three-dimensional map;

[0171] The determination submodule 3022 is further configured to determine the current location of the cleaning device as the starting point and the certain point as the end point when the judgment submodule 3024 determines that the cleaning device needs to move to the determined certain point after completing the cleaning task for the target area;

[0172] Furthermore, the determination submodule 3022 determines, based on the size information of the cleaning surface and the generated three-dimensional map, the shortest trajectory of the cleaning device that traverses the blank ground in the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as non-cleanable objects in the target area in the following specific manner:

[0173] Based on the size information of the cleaning surface and the generated three-dimensional map, the shortest trajectory of the cleaning equipment from the starting point is determined, which traverses the blank ground of the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as uncleanable objects, and then reaches the end point.

[0174] It can be seen that implementation Figure 4 The described device can also determine the shortest moving trajectory of the cleaning equipment during cleaning based on the current position of the cleaning equipment and the location it needs to go to after cleaning, reducing unnecessary detours, improving the intelligence and cleaning efficiency of the cleaning equipment, and reducing unnecessary energy consumption of the cleaning equipment.

[0175] In another optional embodiment, Figure 4 As shown, the device for automatically cleaning the floor may further include:

[0176] The second determination module 304 is used to determine a collection mode for the target area before the collection module 301 collects the position information of all target collection points determined in the target area and the item information of all items in contact with the floor in the target area, wherein the collection mode includes a global point collection mode or a key point collection mode; when the collection mode is the global point collection mode, all collection points in the target area are determined as target collection points; when the collection mode is the key point collection mode, a cleaning area that needs to be cleaned in the target area is determined based on one or more of the current activity areas and current activity types of all identified target persons in the target area, and / or based on one or more of the determined habitual activity areas and habitual activity types of all determined target persons in the target area, and all collection points in the cleaning area are determined as target collection points.

[0177] It can be seen that implementation Figure 4 The described device can also collect area information under different collection modes so as to plan different cleaning trajectories in advance, which is conducive to improving the diversity and flexibility of collection methods and cleaning methods, and reducing unnecessary cleaning of clean areas due to selecting the global point collection mode each time, thereby reducing unnecessary energy consumption of the cleaning equipment and improving the intelligence and cleaning efficiency of the cleaning equipment.

[0178] In another optional embodiment, Figure 4 As shown, the specific manner in which the second determining module 304 determines the acquisition mode for the target area is:

[0179] Obtain historical collection records for the target area;

[0180] Determine the recording time of the last first-category collection record based on the historical collection records, where the first-category collection records include collection records in which the collection mode is the global point collection mode in the historical collection records; calculate the interval between the recording time and the current time, and determine whether the interval is greater than or equal to a preset interval threshold; if the judgment result is yes, determine that the collection mode for the target area is the global point collection mode; if the judgment result is no, determine that the collection mode for the target area is the key point collection mode, wherein the recording time includes the collection start time of the last first-category collection record or the collection end time of the last first-category collection record; or,

[0181] According to the historical collection records, determine whether the last collection record is a first-category collection record. When the judgment result is yes, determine that the collection mode for the target area is the key point collection mode. When the judgment result is no, determine the number of collections of the second-category collection records between the recording time of the last first-category collection record and the current time, and determine whether the number of collections is greater than or equal to the preset number threshold. When the number of collections is greater than or equal to the number threshold, determine that the collection mode for the target area is the global point collection mode. When the number of collections is less than the number threshold, determine that the collection mode for the target area is the key point collection mode. The second-category collection records include collection records whose collection mode is the key point collection mode in the historical collection records.

[0182] It can be seen that implementation Figure 4 The described device can also alternately select the global point acquisition mode and the key point acquisition mode according to a preset plurality of rules, thereby improving the diversity, accuracy and reliability of determining the acquisition mode, and reducing unnecessary cleaning of clean areas caused by selecting the global point acquisition mode each time, thereby reducing unnecessary energy consumption of the cleaning equipment and improving the intelligence and cleaning efficiency of the cleaning equipment.

[0183] In another optional embodiment, Figure 4 As shown, the acquisition module 301 is further configured to collect environmental data of the target area before the control module 303 controls the cleaning device to move and clean the target area based on the determined movement trajectory;

[0184] The second determining module 304 is further configured to determine a movement mode and a cleaning mode of the cleaning device for the target area based on the environmental data:

[0185] Furthermore, the specific manner in which the control module 303 controls the cleaning device to move and clean the target area based on the determined movement trajectory is as follows:

[0186] Based on the determined movement trajectory and movement pattern, generating movement control instructions for the cleaning equipment;

[0187] Based on the determined movement trajectory and cleaning mode, generating cleaning control instructions for the cleaning equipment;

[0188] According to the movement control instructions and cleaning control instructions, the cleaning equipment is controlled to move and clean the target area.

[0189] It can be seen that implementation Figure 4 The described device can also determine the movement mode and cleaning mode based on the movement trajectory and environmental data in the area, which is conducive to improving the adaptability of the cleaning equipment to the environment during movement and cleaning, thereby improving the intelligence and cleaning ability of the cleaning equipment, and by realizing the movement control and cleaning control of the cleaning equipment according to the generated control instructions, it is conducive to improving the accuracy and reliability of controlling the movement and cleaning of the cleaning equipment.

[0190] In another optional embodiment, Figure 4 As shown, the item information of each item also includes one or more of the item name, item category and item size of the item. The item category of each item includes a cleanable item category or a non-cleanable item category. When the item category of the item indicates that the item is a cleanable item, the item information of the item also includes the cleaning level of the item. The cleaning level of the item includes a complete cleaning level or a surface cleaning level.

[0191] It can be seen that implementation Figure 4 The described device can also improve the diversity of object information, which is beneficial for the cleaning equipment to avoid obstacles on the ground while cleaning garbage. In addition, grading the objects to be cleaned can help the cleaning equipment provide a variety of cleaning methods for different objects, thereby improving the intelligence, flexibility and cleaning ability of the cleaning equipment, thereby improving the comfort of people's living and working environment.

[0192] Example 4

[0193] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of another automatic floor cleaning device disclosed in an embodiment of the present invention. Figure 5 As shown, the device for automatically cleaning the floor may include:

[0194] A memory 401 storing executable program code;

[0195] a processor 402 coupled to the memory 401;

[0196] The processor 402 calls the executable program code stored in the memory 401 to execute the steps of the method for automatically cleaning a floor described in the first embodiment or the second embodiment of the present invention.

[0197] Example 5

[0198] An embodiment of the present invention discloses a computer storage medium storing computer instructions. When the computer instructions are called, they are used to execute the steps of the method for automatically cleaning a floor described in the first embodiment or the second embodiment of the present invention.

[0199] Example 6

[0200] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute the steps in the method for automatically cleaning a floor described in embodiment one or embodiment two.

[0201] The device embodiments described above are merely illustrative, wherein the modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Those skilled in the art can understand and implement the present invention without inventive effort.

[0202] Through the detailed 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 means of hardware. Based on this understanding, the above technical solution, in essence, or the portion that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0203] Finally, it should be noted that the method and device for automatic floor cleaning disclosed in the embodiments of the present invention only disclose preferred embodiments of the present invention, which are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. 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 method for automatically cleaning the floor, characterized in that: The method is applied to a cleaning device, and the method comprises: Determining a collection mode for the target area, the collection mode including a global point collection mode or a key point collection mode; when the collection mode is the global point collection mode, determining all collection points in the target area as target collection points; when the collection mode is the key point collection mode, determining a cleaning area in the target area that needs to be cleaned based on one or more of the current activity areas and current activity types of all identified target persons in the target area, and / or based on one or more of the determined habitual activity areas and habitual activity types of all determined target persons in the target area, and determining all collection points in the cleaning area as target collection points; Collecting the position information of all the target collection points and the item information of all items in contact with the floor in the target area, wherein the item information of each item at least includes the position information of the item; Based on the location information of all the target collection points, a two-dimensional map corresponding to the target area is constructed; based on the item information of each item, a three-dimensional virtual module corresponding to the item is constructed; based on the item information of each item, a corresponding position of the three-dimensional virtual module corresponding to the item in the two-dimensional map is determined; based on the two-dimensional map, the three-dimensional virtual modules corresponding to all the items, and the corresponding positions of the three-dimensional virtual modules corresponding to all the items in the two-dimensional map, a three-dimensional map corresponding to the target area is generated; based on the generated three-dimensional map, a movement trajectory of the cleaning device is determined; The cleaning device is controlled to move and clean the target area based on the determined movement trajectory.

2. The method for automatically cleaning the floor according to claim 1, characterized in that: Before determining the movement trajectory of the cleaning device based on the generated three-dimensional map, the method further includes: Determining the size information of the cleaning surface of the cleaning device in contact with the floor; And, determining the movement trajectory of the cleaning device based on the generated three-dimensional map includes: Based on the size information of the cleaning surface and the generated three-dimensional map, determining a shortest trajectory for the cleaning device that traverses the blank ground of the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as uncleanable objects; The determined shortest trajectory is determined as the moving trajectory of the cleaning device.

3. The method for automatically cleaning the floor according to claim 2, characterized in that: Before determining, based on the size information of the cleaning surface and the generated three-dimensional map, the shortest trajectory of the cleaning device that traverses the blank ground of the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as uncleanable objects, the method further includes: Determining whether the cleaning device needs to go to a certain determined point after completing the cleaning task for the target area; When the judgment result is yes, the current position of the cleaning device is determined as the starting point, and the certain point is determined as the end point; Furthermore, determining, based on the size information of the cleaning surface and the generated three-dimensional map, the shortest trajectory of the cleaning device that traverses the blank ground of the target area, all objects in the target area that are classified as cleanable objects, and avoids all objects in the target area that are classified as uncleanable objects, includes: Based on the size information of the cleaning surface and the generated three-dimensional map, the shortest trajectory of the cleaning device from the starting point is determined, which traverses the blank ground of the target area, all items in the target area that are classified as cleanable objects, and avoids all items in the target area that are classified as uncleanable objects, and reaches the end point.

4. The method for automatically cleaning the floor according to claim 1, characterized in that: Determining the acquisition mode for the target area includes: Obtain historical collection records for the target area; Determine, based on the historical collection records, the recording time of the last first-category collection record, where the first-category collection records include collection records in the historical collection records whose collection mode is the global point collection mode; calculate the interval between the recording time and the current time, and determine whether the interval is greater than or equal to a preset interval threshold; when the judgment result is yes, determine that the collection mode for the target area is the global point collection mode; when the judgment result is no, determine that the collection mode for the target area is the key point collection mode, wherein the recording time includes the collection start time of the last first-category collection record or the collection end time of the last first-category collection record; or, According to the historical collection records, determine whether the last collection record is a first-category collection record; when the judgment result is yes, determine that the collection mode for the target area is a key point collection mode; when the judgment result is no, determine the number of collections of the second-category collection records between the recording moment of the last first-category collection record and the current moment, and determine whether the number of collections is greater than or equal to a preset number threshold; when the number of collections is greater than or equal to the number threshold, determine that the collection mode for the target area is a global point collection mode; when the number of collections is less than the number threshold, determine that the collection mode for the target area is a key point collection mode; the second-category collection records include collection records in the historical collection records whose collection mode is the key point collection mode.

5. The method for automatically cleaning the floor according to claim 4, characterized in that: Before controlling the cleaning device to move and clean the target area based on the determined movement trajectory, the method further includes: Collecting environmental data of the target area, and determining a movement mode and a cleaning mode of the cleaning device for the target area based on the environmental data; Furthermore, controlling the cleaning device to move and clean the target area based on the determined movement trajectory includes: generating a movement control instruction for the cleaning device based on the determined movement trajectory and the movement mode; generating a cleaning control instruction for the cleaning device based on the determined movement trajectory and the cleaning mode; According to the movement control instruction and the cleaning control instruction, the cleaning device is controlled to move and clean the target area.

6. The method for automatically cleaning the floor according to claim 4 or 5, characterized in that: The item information of each of the items further includes one or more of an item name, an item category, and an item size of the item. The item category of each of the items includes a cleanable item category or a non-cleanable item category. When the item category of the item indicates that the item is cleanable, the item information of the item further includes a cleaning level of the item. The cleaning level of the item includes a complete removal level or a surface cleaning level.

7. A device for automatically cleaning the floor, characterized in that: The device comprises: a collection module, configured to collect position information of all target collection points determined in a target area and item information of all items in contact with the floor in the target area, wherein the item information of each item at least includes the position information of the item; A first determination module is configured to construct a two-dimensional map corresponding to the target area based on the position information of all the target collection points; construct a three-dimensional virtual module corresponding to each of the items based on the item information of the item; determine the corresponding position of the three-dimensional virtual module corresponding to the item in the two-dimensional map based on the item information of each item; generate a three-dimensional map corresponding to the target area based on the two-dimensional map, the three-dimensional virtual modules corresponding to all the items, and the corresponding positions of the three-dimensional virtual modules corresponding to all the items in the two-dimensional map; and determine the movement trajectory of the cleaning device based on the generated three-dimensional map; A control module, configured to control the cleaning device to move and clean the target area based on the determined movement trajectory; And, the device further comprises: The second determination module is configured to determine a collection mode for the target area before the collection module collects the position information of all target collection points determined in the target area and the item information of all items in contact with the floor in the target area, wherein the collection mode includes a global point collection mode or a key point collection mode; when the collection mode is the global point collection mode, all collection points in the target area are determined as target collection points; when the collection mode is the key point collection mode, a cleaning area that needs to be cleaned in the target area is determined based on one or more of the current activity areas and current activity types of all identified target persons in the target area, and / or based on one or more of the determined habitual activity areas and habitual activity types of all determined target persons in the target area, and all collection points in the cleaning area are determined as target collection points.

8. A device for automatically cleaning the floor, characterized in that: The device comprises: a memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the method for automatically cleaning a floor as described in any one of claims 1 to 6.

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