Data processing methods for robotic vacuum cleaners, robotic vacuum cleaners and media

Abstract

This invention discloses a data processing method for a robotic vacuum cleaner, comprising: receiving a cleaning command and obtaining a cleaning area from the cleaning command; the cleaning area includes a first sub-area; obtaining first human presence information in the first sub-area; when it is determined based on the first human presence information that there is no human in the first sub-area, performing a first cleaning operation on the first sub-area according to the cleaning command; during the execution of the first cleaning operation, obtaining second human presence information in the first sub-area in real time; when it is determined based on the second human presence information that there is a human in the first sub-area, pausing the execution of the first cleaning operation according to a preset pause condition, and recording first cleaning data; the first cleaning data includes a first cleaning map and a first uncleaned area in the first sub-area, as well as the first pause coordinate position of the robotic vacuum cleaner in the first sub-area. This invention avoids disturbing users in the cleaning area and improves the user experience.

Description

Technical Field

[0001] This invention relates to the field of robotic vacuum cleaners, and more particularly to a data processing method for robotic vacuum cleaners, a robotic vacuum cleaner, and a medium. Background Technology

[0002] Robotic vacuum cleaners, also known as automatic cleaning machines, smart vacuum cleaners, or robotic vacuum cleaners, are a type of smart home appliance that uses artificial intelligence to automatically clean floors both indoors and outdoors. However, in current technology, if a user is in the area being cleaned by a robotic vacuum cleaner, the robot's movement and the noise it generates can disrupt their life. In such cases, users who wish to avoid being disturbed by the robot need to manually pause the cleaning process and then manually restart it when they leave, resulting in a poor user experience. Summary of the Invention

[0003] Therefore, it is necessary to provide a data processing method for a sweeping robot, a sweeping robot, and a medium to address the aforementioned technical problems, in order to solve the problem of sweeping robots disturbing users in the cleaning area when performing cleaning tasks.

[0004] A data processing method for a robotic vacuum cleaner includes:

[0005] Receive a cleaning instruction and obtain the cleaning area in the cleaning instruction; the cleaning area includes a first sub-area.

[0006] Obtain the presence information of the first human body in the first sub-region;

[0007] When it is determined that there is no human body in the first sub-region based on the first human body presence information, the first cleaning operation is performed on the first sub-region according to the cleaning instruction;

[0008] During the execution of the first cleaning operation, the presence information of the second human body in the first sub-region is acquired in real time.

[0009] When it is determined that a human body exists in the first sub-region based on the second human body presence information, the first cleaning operation is paused according to the preset pause conditions, and the first cleaning data is recorded; the first cleaning data includes the first cleaning map and the first uncleaned area of ​​the first sub-region, as well as the first pause coordinate position of the sweeping robot in the first sub-region.

[0010] Optionally, pausing the first cleaning operation according to preset pause conditions includes:

[0011] Determine the preset time period in which the current time falls; wherein, each day is divided into multiple preset time periods according to preset segmentation conditions; each preset time period is associated with a preset pause duration;

[0012] Within the predetermined preset time period, the duration of continuous human presence in the first sub-region is determined based on the second human presence information;

[0013] Obtain the preset pause duration associated with the determined preset time period. When the duration exceeds the preset pause duration, confirm that the preset pause condition is met and pause the execution of the first cleaning operation.

[0014] Optionally, after pausing the first cleaning operation according to the preset pause conditions, the method further includes:

[0015] The presence information of a third human body in the first sub-region is acquired in real time. When it is determined that there is no longer a human body in the first sub-region based on the presence information of the third human body, the first resume cleaning operation is performed on the first uncleaned area in the first sub-region starting from the first pause coordinate position in the first sub-region and based on the first cleaning map.

[0016] Optionally, after obtaining the first human presence information in the first sub-region, the method further includes:

[0017] When it is determined that a human body exists in the first sub-region based on the first human body presence information, the fourth human body presence information in the first sub-region is obtained in real time.

[0018] When it is determined that there is no longer a human body in the first sub-region based on the fourth human body presence information, the first cleaning operation is performed on the first sub-region according to the cleaning instruction.

[0019] Optionally, the cleaning area further includes a second sub-area;

[0020] After pausing the first cleaning operation according to the preset pause conditions and recording the first cleaning data, the method further includes:

[0021] Obtain the presence information of the fifth human body in the second sub-region;

[0022] When it is determined, based on the fifth human presence information, that there is no human body in the second sub-region, a second cleaning operation is performed on the second sub-region.

[0023] Optionally, after performing the second cleaning operation on the second sub-region, the method further includes:

[0024] Upon confirmation that the second cleaning operation has ended, information on the presence of a sixth human body in the first sub-region is obtained;

[0025] When it is determined, based on the sixth human presence information, that there is no human body in the first sub-region, the system returns to the first pause coordinate position in the first sub-region to continue performing the second follow-up scanning operation on the first uncleaned area in the first sub-region.

[0026] Optionally, after performing the second cleaning operation on the second sub-region, the method further includes:

[0027] During the second cleaning operation, the presence information of the seventh human body in the second sub-region is acquired in real time.

[0028] When it is determined that a human body exists in the second sub-region based on the seventh human body presence information, the second cleaning operation is paused according to the preset pause condition, and the second cleaning data is recorded; the second cleaning data includes the second cleaning map and the second uncleaned area of ​​the second sub-region, as well as the second pause coordinate position of the sweeping robot in the second sub-region;

[0029] Obtain the presence information of the eighth human body in the first sub-region;

[0030] When it is determined that there is no human body in the first sub-region based on the eighth human body presence information, the system returns to the first pause coordinate position in the first sub-region to continue the third cleaning operation on the first uncleaned area in the first sub-region based on the first cleaning map.

[0031] Optionally, after obtaining the presence information of the eighth human body in the first sub-region, the method further includes:

[0032] When it is determined that a human body exists in the first sub-region based on the eighth human body presence information, the ninth human body presence information in the first sub-region and the tenth human body presence information in the second sub-region are acquired in real time.

[0033] When it is determined that there is no human body in the first sub-region based on the eighth human body presence information, the first pause coordinate position in the first sub-region is recorded as the target coordinate position and / or the second pause coordinate position in the second sub-region is recorded as the target coordinate position based on the ninth human body presence information.

[0034] After determining the target coordinate position closest to the robot vacuum cleaner, the fourth follow-up cleaning operation is performed on the first sub-area and / or the second sub-area where no human is present, starting from the target coordinate position closest to the robot vacuum cleaner.

[0035] A robotic vacuum cleaner includes a control module, which is used to execute the robotic vacuum cleaner data processing method.

[0036] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the data processing method for the sweeping robot described above.

[0037] The above-mentioned data processing method, robot, and medium for a robotic vacuum cleaner, wherein the data processing method includes: receiving a cleaning instruction and obtaining a cleaning area in the cleaning instruction; the cleaning area includes a first sub-area; obtaining first human presence information in the first sub-area; when it is determined based on the first human presence information that there is no human in the first sub-area, performing a first cleaning operation on the first sub-area according to the cleaning instruction; obtaining second human presence information in the first sub-area in real time during the execution of the first cleaning operation; when it is determined based on the second human presence information that there is a human in the first sub-area, pausing the execution of the first cleaning operation according to a preset pause condition, and recording the first cleaning data; the first cleaning data includes a first cleaning map and a first uncleaned area in the first sub-area, as well as the first pause coordinate position of the robotic vacuum cleaner in the first sub-area.

[0038] In this invention, after receiving a cleaning command and obtaining the cleaning area including a first sub-region from the cleaning command, the system first obtains the presence information of a first human body in the first sub-region. If it is determined that no human body is present in the first sub-region, a first cleaning operation is performed on the first sub-region according to the cleaning command. Furthermore, during the execution of the first cleaning operation, the system also obtains the presence information of a second human body in the first sub-region in real time. If it is determined that a human body is present in the first sub-region based on the second human body presence information, the first cleaning operation is paused according to a preset pause condition, and the first cleaning data is recorded. This process avoids disturbing the user in the cleaning area and improves the user experience. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a flowchart illustrating the data processing method for a sweeping robot in the first embodiment of the present invention.

[0041] Figure 2 This is a flowchart illustrating step S50 of the data processing method for a sweeping robot in one embodiment of the present invention.

[0042] Figure 3 This is a flowchart illustrating the data processing method for a sweeping robot in the second embodiment of the present invention.

[0043] Figure 4 This is a flowchart illustrating the data processing method for a sweeping robot in the third embodiment of the present invention.

[0044] Figure 5 This is a flowchart illustrating the data processing method for a sweeping robot in the fourth embodiment of the present invention.

[0045] Figure 6 This is a flowchart illustrating the data processing method for a sweeping robot in the fifth embodiment of the present invention.

[0046] Figure 7 This is a flowchart illustrating the data processing method for a sweeping robot in the sixth embodiment of the present invention. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] The data processing method for a sweeping robot provided in this embodiment can be applied to the control module of a sweeping robot. The control module is installed inside the shell of the sweeping robot and can be integrated from one or more sub-modules.

[0049] like Figure 1 As shown, in one embodiment, a data processing method for a robotic vacuum cleaner is provided, including the following steps S100-S500:

[0050] S100: Receive a cleaning command and obtain the cleaning area from the cleaning command; the cleaning area includes a first sub-area. The cleaning area refers to the area the robot vacuum will clean, and the cleaning command includes, but is not limited to, information such as the sub-areas included in the cleaning area. The cleaning command can be triggered by a user-defined timed task; the cleaning command can also be generated by the user triggering a preset physical button on the robot vacuum or a virtual button on the robot vacuum's display screen via a preset method (such as pressing, sliding, clicking, etc.); the cleaning command can also be entered by the user on a smart terminal and sent to the robot vacuum's control module.

[0051] S200, acquire the presence information of a first human body in the first sub-region. This presence information is detected by a device such as a first human body sensor or a first camera located within the first sub-region and transmitted to the control module of the robotic vacuum cleaner via signal transmission. The first human body sensor or the first camera is associated with the first sub-region, allowing the control module of the robotic vacuum cleaner to associate the presence information of a first human body with the first sub-region, thereby determining whether a human body exists in the first sub-region.

[0052] S300: When it is determined, based on the first human presence information, that there is no human body in the first sub-region, a first cleaning operation is performed on the first sub-region according to the cleaning instruction. It is understood that the first human presence information is associated with the first sub-region; the presence of a human body in the first sub-region can be determined through this information. To avoid performing the first cleaning operation on the first sub-region when a human body is present, thereby disturbing the user, it is necessary to first determine whether a human body is present in the first sub-region based on the first human presence information before performing the first cleaning operation. Once it is determined that there is no human body in the first sub-region, the first cleaning operation can be performed on the first sub-region.

[0053] S400, during the execution of the first cleaning operation, the presence information of a second human body in the first sub-area is acquired in real time. Understandably, the presence information of the second human body is detected by a device such as a first human body sensor or a first camera located in the first sub-area and transmitted to the control module of the sweeping robot via signal transmission. The first human body sensor or the first camera is associated with the first sub-area, thereby enabling the control module of the sweeping robot to associate the presence information of the second human body with the first sub-area, and thus determine whether a human body exists in the first sub-area. The presence information of the second human body is acquired in real time during the execution of the first cleaning operation. The sweeping robot acquires the presence information of the second human body in the first sub-area in real time during the execution of the first cleaning operation, thereby determining whether a human body exists in the first sub-area during the execution of the first cleaning operation (i.e., whether a human body has entered).

[0054] S500, when it is determined that a human body exists in the first sub-region based on the second human body presence information, the first cleaning operation is paused according to a preset pause condition, and the first cleaning data is recorded. The first cleaning data includes a first cleaning map and a first uncleaned area in the first sub-region, as well as the first pause coordinate position of the robot vacuum cleaner in the first sub-region. The preset pause condition includes the time period (i.e., the time when it is determined that a human body exists in the first sub-region) and the duration of continuous human presence in the first sub-region within the aforementioned time period (i.e., the preset pause duration within the preset time period). After determining that a human body exists in the first sub-region, to avoid continuing the first cleaning operation in the first sub-region and disturbing the user, the robot vacuum cleaner pauses the first cleaning operation after the preset pause condition is met. To facilitate more efficient continuation of cleaning the first uncleaned area in the first sub-region, the first cleaning data is recorded when the first cleaning operation is paused, so that the robot vacuum cleaner can resume cleaning from the aforementioned first pause coordinate position.

[0055] like Figure 2 As shown, in one embodiment, step S500, pausing the first cleaning operation according to a preset pause condition, includes:

[0056] S510, determine the preset time period in which the current time falls; wherein, each day is divided into multiple preset time periods according to preset segmentation conditions; each preset time period is associated with a preset pause duration. Understandably, the preset pause conditions include a preset pause duration corresponding to the preset time period, that is, each preset time period is associated with a preset pause duration. For example: if each day is divided into two preset time periods, 8:00 AM to 8:00 PM and 8:00 PM to 8:00 AM, then the preset pause duration associated with the 8:00 AM to 8:00 PM preset time period can be 1 minute, and the preset pause duration associated with the 8:00 PM to 8:00 AM preset time period can be 10 seconds. Understandably, the user can set the first sub-area to different types of areas, such as: living room, bedroom, or study. The preset segmentation conditions can divide each day into multiple preset time periods based on the user's tolerance level for moving objects and noise in different types of areas (e.g., living room, bedroom, or study) within different time periods (e.g., tolerance may be higher during the day and lower at night; tolerance may be higher in the living room and lower in the study). The preset pause duration can then be set according to the duration of the user's tolerance for moving objects and noise within each preset time period. Specifically, the preset segmentation conditions can be set based on historical human activity frequency data within the first sub-area (e.g., homework time, work time, meeting time, or TV watching time); the preset segmentation conditions can also be set based on the user's daily routine data (e.g., daytime wake-up time or nighttime rest time on weekdays or non-weekdays); the preset segmentation conditions can also be set according to the user's needs. The preset segmentation conditions can include one or more of the above-mentioned settings combined. After dividing each day into multiple preset time periods according to preset segmentation conditions, different preset pause durations can be set for different preset time periods according to actual needs (e.g., the duration of a user's tolerance for moving objects and noise), thereby improving the intelligence of the robot vacuum cleaner. Furthermore, the preset time period can be an entire day, and the preset pause duration can also be 0 (that is, the robot vacuum cleaner immediately pauses the first cleaning operation when it determines that a human is present in the first sub-area).

[0057] S520, within the predetermined preset time period, the duration of continuous existence of the human body in the first sub-region is determined based on the second human body presence information. It can be understood that the duration is within the predetermined preset time period determined in step S510. If the duration of continuous existence of the human body in the first sub-region determined based on the second human body presence information exceeds the predetermined time period, then the duration only includes the duration within the predetermined time period.

[0058] S530, obtain the preset pause duration associated with the determined preset time period. When the duration exceeds the preset pause duration, confirm that the preset pause condition is met, and pause the execution of the first cleaning operation. It can be understood that the preset pause condition includes the preset pause duration associated with the preset time period. Therefore, if the duration exceeds the preset pause duration within the preset time period, it can be confirmed that the first sub-region meets the preset pause condition.

[0059] In one embodiment, after obtaining the preset pause duration associated with the determined preset time period in step S530, the method further includes: when the duration does not exceed the preset pause duration, confirming that the preset pause condition is not met, and repeatedly executing step S510 until the preset pause condition is confirmed to be met, and then pausing the execution of the first cleaning operation.

[0060] The data processing method for a robotic vacuum cleaner provided by this invention, after receiving a cleaning instruction and obtaining the cleaning area including a first sub-region in the cleaning instruction, firstly obtains the presence information of a first human being in the first sub-region; when it is determined that there is no human being in the first sub-region, a first cleaning operation is performed on the first sub-region according to the cleaning instruction; furthermore, during the execution of the first cleaning operation, the presence information of a second human being in the first sub-region is also obtained in real time; when it is determined that there is a human being in the first sub-region based on the presence information of the second human being, the execution of the first cleaning operation is paused according to a preset pause condition, and the first cleaning data is recorded. In the above process, disturbance to the user in the cleaning area is avoided, improving the user experience.

[0061] like Figure 3 As shown, in one embodiment, after obtaining the first human presence information of the first sub-region in step S200, the method further includes:

[0062] S600: When it is determined that a human body exists in the first sub-region based on the first human body presence information, the fourth human body presence information in the first sub-region is acquired in real time. It is understandable that if a human body exists in the first sub-region, performing the first cleaning operation on the first sub-region may disturb the user. Therefore, when it is determined that a human body exists in the first sub-region, the first cleaning operation is temporarily suspended, and the acquisition of the fourth human body presence information in the first sub-region continues in real time.

[0063] S700, when it is determined, based on the fourth human presence information, that there is no longer a human in the first sub-area, a first cleaning operation is performed on the first sub-area according to the cleaning command. It can be understood that the fourth human presence information is detected by a device such as a first human sensor or a first camera located within the first sub-area and transmitted to the control module of the robotic vacuum cleaner via signal transmission. The second human sensor or the first camera is associated with the first sub-area, thereby enabling the control module of the robotic vacuum cleaner to associate the fourth human presence information obtained with the first sub-area, and thus determine whether a human exists in the first sub-area. The first cleaning operation is performed on the first sub-area only when it is determined that there is no human in the first sub-area (i.e., the human may have left the first sub-area).

[0064] In one embodiment, after pausing the first cleaning operation according to a preset pause condition in step S500, the method further includes:

[0065] The system acquires real-time information on the presence of a third person in the first sub-region. When it determines that no person is present in the first sub-region based on this information, it resumes cleaning the first uncleaned area from the first pause coordinate position within the first sub-region, according to the first cleaning map. The presence information is detected by a first human sensor or camera located within the first sub-region and transmitted to the robot's control module via signal transmission. The first human sensor or camera is associated with the first sub-region, allowing the robot's control module to associate the presence information with the first sub-region, thus determining whether a person is present. Once it is determined that no person is present in the first sub-region, the robot can resume cleaning the first uncleaned area without disturbing the user. The first cleaning data includes the first cleaning map and the first uncleaned area of ​​the first sub-region, as well as the robot's first pause coordinate position within the first sub-region. The first resume cleaning operation, based on the first cleaning map, begins cleaning the first uncleaned area from the first pause coordinate position.

[0066] like Figure 4 As shown, in one embodiment, the cleaning area further includes a second sub-area; in step S500, after pausing the first cleaning operation according to a preset pause condition and recording the first cleaning data, the method further includes:

[0067] S800, Obtain the presence information of a fifth human body in the second sub-region. Understandably, in this embodiment, the cleaning area includes the first sub-region and the second sub-region. When a human body is determined to be present in the first sub-region, after pausing the first cleaning operation according to a preset pause condition, the robot vacuum can be arranged to clean other areas in the cleaning area (e.g., the second sub-region). Before cleaning the second sub-region, to avoid performing the second cleaning operation in the second sub-region when a human body is present, thereby disturbing the user, it is necessary to first obtain the presence information of a fifth human body in the second sub-region. The presence information of the fifth human body is detected by a second human body sensor or a second camera, etc., set in the second sub-region, and sent to the control module of the robot vacuum through signal transmission or other means. The second human body sensor or the second camera is associated with the second sub-region, thereby enabling the control module of the robot vacuum to associate the presence information of the fifth human body with the second sub-region, and thus determine whether a human body is present in the second sub-region.

[0068] S900, when it is determined, based on the fifth human presence information, that there is no human body in the second sub-region, a second cleaning operation is performed on the second sub-region. It can be understood that the second cleaning operation can be performed on the second sub-region simply by determining that there is no human body in the second sub-region.

[0069] like Figure 5 As shown, in one embodiment, after performing the second cleaning operation on the second sub-region in step S900, the method further includes:

[0070] S1000, upon confirming the completion of the second cleaning operation, information regarding the presence of a sixth human being in the first sub-area is acquired. This information is detected by a first human body sensor or camera located within the first sub-area and transmitted to the robot's control module via signal transmission. The first human body sensor or camera is associated with the first sub-area, allowing the robot's control module to associate the sixth human body presence information with the first sub-area, thereby determining whether a human being exists in the first sub-area. Understandably, at the end of the second cleaning operation, i.e., after the robot has finished cleaning the second sub-area, cleaning of the first sub-area needs to continue. Before cleaning the first sub-area, to avoid disturbing the user by cleaning the first sub-area when a human being is present, information regarding the presence of a sixth human being in the first sub-area is acquired first. This information is detected by a first human body sensor or camera located within the first sub-area and transmitted to the robot's control module via signal transmission. The first human body sensor or the first camera is associated with the first sub-region, so that the control module of the sweeping robot can associate the sixth human body presence information obtained with the first sub-region, thereby determining whether there is a human body in the first sub-region.

[0071] S1100, when it is determined, based on the sixth human presence information, that there is no human body in the first sub-region, the system returns to the first pause coordinate position in the first sub-region to continue performing the second follow-up cleaning operation on the first uncleaned area in the first sub-region. It can be understood that if it is determined that there is no longer a human body in the first sub-region at the end of the second cleaning operation, the first follow-up cleaning operation can continue to be performed on the first uncleaned area without disturbing the user in the first sub-region. The second follow-up cleaning operation involves cleaning the first uncleaned area starting from the first pause coordinate position according to the first cleaning map.

[0072] like Figure 6 As shown, in one embodiment, after performing the second cleaning operation on the second sub-region in step S900, the method further includes:

[0073] S1200, during the execution of the second cleaning operation, the presence information of a seventh human body in the second sub-area is acquired in real time. Understandably, this presence information is detected by a second human body sensor or a second camera located within the second sub-area and transmitted to the robot vacuum's control module via signal transmission. The second human body sensor or the second camera is associated with the second sub-area, thereby allowing the robot vacuum's control module to associate the presence information of the seventh human body with the second sub-area, thus determining whether a human body exists in the second sub-area. This presence information is acquired in real time during the execution of the second cleaning operation. The robot vacuum acquires this presence information in real time during the second cleaning operation to determine whether a human body exists in the second sub-area (i.e., whether a human body has entered) during the execution of the second cleaning operation.

[0074] S1300, when it is determined that a human body exists in the second sub-region based on the seventh human body presence information, the second cleaning operation is paused according to the preset pause condition, and the second cleaning data is recorded. The second cleaning data includes the second cleaning map and the second uncleaned area of ​​the second sub-region, as well as the second pause coordinate position of the robot vacuum cleaner in the second sub-region. The preset pause condition includes the time period (i.e., the time when it is determined that a human body exists in the second sub-region) and the duration of continuous human presence in the second sub-region within the aforementioned time period (i.e., the preset pause duration within the preset time period). After determining that a human body exists in the second sub-region, to avoid continuing the second cleaning operation in the second sub-region and disturbing the user, the robot vacuum cleaner pauses the second cleaning operation after the preset pause condition is met. To facilitate more efficient continuation of cleaning the second uncleaned area of ​​the second sub-region, the second cleaning data is recorded when the second cleaning operation is paused, so that the robot vacuum cleaner can resume cleaning from the aforementioned second pause coordinate position.

[0075] S1400, Obtain the presence information of an eighth human body in the first sub-region. It is understood that in this embodiment, the cleaning area includes the first sub-region and the second sub-region, and the first sub-region has not yet been cleaned. Therefore, when it is determined that a human body is present in the second sub-region, after pausing the second cleaning operation according to a preset pause condition, the robot vacuum can be arranged to clean other areas in the cleaning area (e.g., the first uncleaned area in the first sub-region). Before cleaning the first uncleaned area, to avoid performing a third continuation cleaning operation in the first sub-region when a human body is present, thereby disturbing the user, it is necessary to first obtain the presence information of an eighth human body in the first sub-region. The presence information of the eighth human body is detected by a device such as a first human body sensor or a first camera located in the first sub-region and sent to the control module of the robot vacuum through signal transmission. The first human body sensor or the first camera is associated with the first sub-region, thereby enabling the control module of the robot vacuum to associate the presence information of the eighth human body with the first sub-region, and thus determine whether a human body is present in the first sub-region.

[0076] S1500, when it is determined, based on the eighth human presence information, that there is no human body in the first sub-region, the system returns to the first pause coordinate position in the first sub-region to continue performing a third follow-up cleaning operation on the first uncleaned area in the first sub-region according to the first cleaning map. It can be understood that when it is determined that there is no human body in the first sub-region, a third follow-up cleaning operation can be performed on the first uncleaned area in the first sub-region.

[0077] like Figure 7 As shown, in one embodiment, after obtaining the existence information of the eighth human body in the first sub-region, step S1400 further includes:

[0078] S1600, when determining that a human body exists in the first sub-region based on the eighth human body presence information, the ninth human body presence information in the first sub-region and the tenth human body presence information in the second sub-region are acquired in real time. The ninth human body presence information is detected by a device such as a first human body sensor or a first camera located in the first sub-region and transmitted to the control module of the robotic vacuum cleaner via signal transmission. The first human body sensor or the first camera is associated with the first sub-region, thereby enabling the control module of the robotic vacuum cleaner to associate the ninth human body presence information acquired with the first sub-region, thus determining whether a human body exists in the first sub-region. The tenth human body presence information is detected by a device such as a second human body sensor or a second camera located in the second sub-region and transmitted to the control module of the robotic vacuum cleaner via signal transmission. The second human body sensor or the second camera is associated with the second sub-region, thereby enabling the control module of the robotic vacuum cleaner to associate the tenth human body presence information acquired with the second sub-region, thus determining whether a human body exists in the second sub-region. Understandably, when it is determined that there are human bodies in both the first sub-area and the second sub-area, in order to avoid disturbing the user by cleaning in the sub-area where human bodies are present, the robot vacuum cleaner pauses the second cleaning operation under the pause condition, records the second cleaning data, and then continuously acquires the ninth human body presence information in the first sub-area and the tenth human body presence information in the second sub-area in real time, so as to determine in real time whether there are human bodies in the first sub-area or the second sub-area.

[0079] S1700, when it is determined that there is no human body in the first sub-region based on the eighth human body presence information, the first pause coordinate position in the first sub-region is recorded as the target coordinate position; or when it is determined that there is no human body in the second sub-region based on the ninth human body presence information, the second pause coordinate position in the second sub-region is recorded as the target coordinate position. In one embodiment, it is possible that both the first sub-region and the second sub-region are simultaneously determined to be devoid of human body information and the second sub-region. In this case, the first pause coordinate position in the first sub-region is recorded as the first target coordinate position, and the second pause coordinate position in the second sub-region is recorded as the second target coordinate position. It can be understood that the target coordinate position is the starting position for the robot vacuum to perform the fourth continued cleaning operation.

[0080] S1800, after determining the target coordinate position closest to the robot vacuum cleaner, starting from the target coordinate position closest to the robot vacuum cleaner, continue performing a fourth continuation cleaning operation on the first sub-area and / or the second sub-area where no human is present. It can be understood that if only the first pause coordinate position is recorded as the target coordinate position, then the first pause coordinate position is the target coordinate position closest to the robot vacuum cleaner; if only the second pause coordinate position is recorded as the target coordinate position, then the second pause coordinate position is the target coordinate position closest to the robot vacuum cleaner; if both the first pause coordinate position and the second pause coordinate position are recorded as target coordinate positions, then the first or second pause coordinate position closest to the robot vacuum cleaner is the target coordinate position.

[0081] In one embodiment, the cleaning area may further include multiple sub-areas; each sub-area is equipped with a human sensor or camera associated with that sub-area and used to detect the presence of a human, and the presence information is sent to the control module of the robot vacuum cleaner via signal transmission or other means. When it is determined that a human is present in a certain sub-area, cleaning of that sub-area with the human can be paused, and cleaning can then proceed to the sub-area where no human is determined to be present.

[0082] In one embodiment, after completing the cleaning operation on all sub-areas of the cleaning area, the robot vacuum returns to the base station to perform a refueling operation. This refueling operation includes one or more of charging, water replenishment, and self-cleaning.

[0083] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0084] In one embodiment, a robotic vacuum cleaner is also provided, including a control module, which is used to execute the above-described robotic vacuum cleaner data processing method.

[0085] The execution functions of this control module correspond one-to-one with the data processing methods for the robotic vacuum cleaners described in the above embodiments. Specific limitations of the control module can be found in the limitations of the data processing methods for the robotic vacuum cleaners described above, and will not be repeated here. Each sub-module in the above control module can be implemented entirely or partially through software, hardware, or a combination thereof. Each sub-module can be embedded in or independent of the processor in a computer device in hardware form, or it can be stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each sub-module.

[0086] In one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps in the above-described embodiments of the robot vacuum cleaner data processing method.

[0087] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware with computer-readable instructions. These computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When executed, these computer-readable instructions can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0088] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0089] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for processing data of a sweeping robot, characterized in that, The method comprises the following steps: receiving a cleaning instruction and obtaining a cleaning area in the cleaning instruction; the cleaning area comprises a first sub-area; obtaining first human body existence information of the first sub-area; when it is determined according to the first human body existence information that no human body exists in the first sub-area, performing a first cleaning operation on the first sub-area according to the cleaning instruction; obtaining second human body existence information in the first sub-area in real time during the performance of the first cleaning operation; when it is determined according to the second human body existence information that a human body exists in the first sub-area, pausing the performance of the first cleaning operation according to a preset pause condition and recording first cleaning data; the first cleaning data comprises a first cleaning map and a first uncleaned area of the first sub-area, and a first pause coordinate position of the cleaning robot in the first sub-area; the pausing of the performance of the first cleaning operation according to the preset pause condition comprises the following steps: determining a preset time period in which a current time is located; each day is divided into a plurality of preset time periods according to a preset segmentation condition; each of the preset time periods is associated with a preset pause duration; the preset segmentation condition divides each day into a plurality of preset time periods according to the levels of the user's tolerance to moving objects and noise in different types of areas in different time periods, and the preset pause duration is set according to the duration of the user's tolerance to moving objects and noise in each of the preset time periods; determining a continuous duration in which a human body continuously exists in the first sub-area according to the second human body existence information in the determined preset time period; obtaining a preset pause duration associated with the determined preset time period, and confirming that the preset pause condition is met and the performance of the first cleaning operation is paused when the continuous duration exceeds the preset pause duration. 2.The data processing method of the robotic vacuum cleaner according to claim 1, wherein, after the pausing of the performance of the first cleaning operation according to the preset pause condition, the method further comprises the following steps: obtaining third human body existence information in the first sub-area in real time, and when it is determined according to the third human body existence information that no human body exists in the first sub-area, continuing to perform a first rescan operation on the first uncleaned area in the first sub-area according to the first cleaning map from the first pause coordinate position in the first sub-area. 3.The data processing method of the robotic vacuum cleaner according to claim 1, wherein, after the obtaining of the first human body existence information of the first sub-area, the method further comprises the following steps: when it is determined according to the first human body existence information that a human body exists in the first sub-area, obtaining fourth human body existence information in the first sub-area in real time; when it is determined according to the fourth human body existence information that no human body exists in the first sub-area, performing a first cleaning operation on the first sub-area according to the cleaning instruction. 4.The data processing method of the robotic vacuum cleaner according to claim 1, wherein, the cleaning area further comprises a second sub-area; after the pausing of the performance of the first cleaning operation according to the preset pause condition and the recording of the first cleaning data, the method further comprises the following steps: obtaining fifth human body existence information in the second sub-area; when it is determined according to the fifth human body existence information that no human body exists in the second sub-area, performing a second cleaning operation on the second sub-area. 5.The data processing method of the robotic vacuum cleaner according to claim 4, wherein, The method further comprises, after the second cleaning operation is performed on the second sub-region: acquiring sixth human body existence information in the first sub-region when it is confirmed that the second cleaning operation is completed; when it is determined according to the sixth human body existence information that there is no human body in the first sub-region, returning to the first pause coordinate position in the first sub-region to continue performing a second rescan operation on the first uncleaned region in the first sub-region according to the first cleaning map. 6.The data processing method of the robotic vacuum cleaner according to claim 4, wherein, The method further comprises, after the second cleaning operation is performed on the second sub-region: acquiring seventh human body existence information in the second sub-region in real time during the second cleaning operation; when it is determined according to the seventh human body existence information that there is a human body in the second sub-region, pausing the second cleaning operation according to the preset pause condition and recording second cleaning data; the second cleaning data comprises a second cleaning map and a second uncleaned region of the second sub-region, and a second pause coordinate position of the robot in the second sub-region; acquiring eighth human body existence information in the first sub-region; when it is determined according to the eighth human body existence information that there is no human body in the first sub-region, returning to the first pause coordinate position in the first sub-region to continue performing a third rescan operation on the first uncleaned region in the first sub-region according to the first cleaning map. 7.The data processing method of the robot cleaner according to claim 6, wherein, The method further comprises, after the eighth human body existence information in the first sub-region is acquired: when it is determined according to the eighth human body existence information that there is a human body in the first sub-region, acquiring ninth human body existence information in the first sub-region and tenth human body existence information in the second sub-region in real time; when it is determined according to the eighth human body existence information that there is no human body in the first sub-region, recording the first pause coordinate position in the first sub-region as a target coordinate position or / and, when it is determined according to the ninth human body existence information that there is no human body in the second sub-region, recording the second pause coordinate position in the second sub-region as a target coordinate position; after the target coordinate position closest to the robot is determined, starting from the target coordinate position closest to the robot, performing a fourth rescan operation on the first sub-region or / and the second sub-region in which there is no human body.

8. A robot vacuum cleaner characterised in that, The control module is configured to perform the method of claim 1 to 7.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. The computer program is configured to perform the method of claim 1 to 7 when executed by a processor.

Images