Cleaning method and device for an object to be cleaned, storage medium and electronic device

Abstract

The application discloses a cleaning method and device of a to-be-cleaned object, a storage medium and an electronic device. The cleaning method comprises the following steps: acquiring a first image of a first to-be-cleaned area of a self-moving device; in the case that a first to-be-cleaned object is identified in the first to-be-cleaned area according to the first image, determining a first cleaning track of the self-moving device according to a center position and a boundary area of the first to-be-cleaned object, wherein the first cleaning track is in a spiral shape, a starting point position of the first cleaning track is located outside the boundary area, a distance between an end point position of the first cleaning track and the center position is less than a first preset threshold, and a rotating direction of the first cleaning track is opposite to a setting direction of an edge brush of the self-moving device; and controlling the self-moving device to clean the first to-be-cleaned object according to the first cleaning track.

Description

Technical Field

[0001] This invention relates to the field of communications, and more specifically, to a cleaning method and apparatus, storage medium, and electronic device for an object to be cleaned. Background Technology

[0002] With the development of technology, more and more people are starting to use robot vacuum cleaners in their daily lives. These robot vacuum cleaners can autonomously identify the area they are in in order to perform cleaning tasks in different areas.

[0003] While robot vacuums bring numerous conveniences to our lives, self-moving devices can also suffer from a lack of intelligence during use. For example:

[0004] Currently, robotic vacuum cleaners typically clean stains in a straight, back-and-forth motion. Since the side brushes are located on the side of the robotic vacuum cleaner, this straight-back-and-forth cleaning method may cause the side brushes to become contaminated.

[0005] Therefore, no effective solution has yet been proposed for the problem that robotic vacuum cleaners typically clean stains in a straight back-and-forth motion, which leads to the side brushes becoming easily contaminated. Summary of the Invention

[0006] This invention provides a cleaning method and apparatus, storage medium and electronic device for an object to be cleaned, to at least solve the problem in the prior art that, in the prior art, the sweeping robot generally cleans the identified stains in a straight back-and-forth manner, resulting in the side brushes being easily contaminated by stains.

[0007] According to one embodiment of the present invention, a cleaning method for an object to be cleaned is provided, comprising: acquiring a first image of a first area to be cleaned by a self-moving device; when a first object to be cleaned is identified in the first area to be cleaned based on the first image, determining a first cleaning trajectory of the self-moving device based on the center position and boundary area of ​​the first object to be cleaned, wherein the first cleaning trajectory is spiral-shaped, the starting position of the first cleaning trajectory is located outside the boundary area, the distance between the ending position of the first cleaning trajectory and the center position is less than a first preset threshold, and the rotation direction of the first cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device; and controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory.

[0008] In an exemplary embodiment, determining a first cleaning trajectory of the self-moving device based on the center position and boundary area of ​​the first object to be cleaned includes: obtaining a first width of the mop pad of the self-moving device; determining the width between the lines of the spiral shape as a second width, wherein the second width is smaller than the first width; and determining the spiral shape based on the starting position, the ending position, and the second width to determine the first cleaning trajectory.

[0009] In an exemplary embodiment, determining a first cleaning trajectory of the self-moving device based on the center position and boundary area of ​​the first object to be cleaned includes: determining the rotation direction of the first cleaning trajectory, wherein the rotation direction of the first cleaning trajectory is determined according to one of the following methods: when the side brush is located to the upper right of the self-moving device, the rotation direction of the first cleaning trajectory is determined to be a left-hand rotation; when the side brush is located to the upper left of the self-moving device, the rotation direction of the first cleaning trajectory is determined to be a right-hand rotation; the first cleaning trajectory of the self-moving device is determined based on the center position, boundary area, and rotation direction of the first object to be cleaned.

[0010] In an exemplary embodiment, controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory includes: controlling the mop tray and side brush of the self-moving device to operate, and controlling the main brush of the self-moving device to lift; and cleaning the first object to be cleaned by the mop tray and the side brush.

[0011] In an exemplary embodiment, after acquiring a first image of a first area to be cleaned by a self-moving device, the method further includes: when the image acquisition device of the self-moving device acquires the first image, controlling the self-moving device to move from a first position to a second position, wherein the first position is the position of the self-moving device when the image acquisition device acquires the first image; acquiring a second image of the first area to be cleaned acquired by the image acquisition device when the self-moving device is located at the second position; determining whether the first object to be cleaned exists in the first area to be cleaned based on the second image; and determining that the first object to be cleaned exists in the first area to be cleaned if the first object to be cleaned is determined to exist in the first area to be cleaned based on the second image.

[0012] In an exemplary embodiment, after acquiring a first image of a first area to be cleaned from a mobile device, the method further includes: sending a first request message to a second device when the image acquisition device of the first device acquires the first image, wherein the first device and the second device are devices other than the mobile device, and the first request message is used to request a third image of the first area to be cleaned acquired by the image acquisition device of the second device, and to request to acquire the third image; receiving a first response message carrying the third image sent by the second device based on the first request message; determining whether the first object to be cleaned exists in the first area to be cleaned based on the third image; and determining that the first object to be cleaned exists in the first area to be cleaned if the first object to be cleaned is determined to exist in the first area to be cleaned based on the third image.

[0013] In an exemplary embodiment, after controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: when the image acquisition device of the self-moving device acquires the first image, controlling the self-moving device to move to a first position, wherein the first position is the position of the self-moving device when the image acquisition device acquires the first image; acquiring a fourth image of the first area to be cleaned acquired by the image acquisition device when the self-moving device is located at the first position; determining whether there is a second object to be cleaned in the first area to be cleaned based on the fourth image, wherein the second object to be cleaned is part or all of the first object to be cleaned; and determining the execution strategy of the self-moving device based on whether there is a second object to be cleaned in the first area to be cleaned.

[0014] In an exemplary embodiment, after controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: when the image acquisition device of the first device acquires the first image, sending a second request message to the first device, wherein the first device is a device other than the self-moving device, and the second request message is used to request the image acquisition device on the first device to acquire a fifth image of the first area to be cleaned, and to request to acquire the fifth image; receiving a second response message carrying the fifth image sent by the first device based on the second request message; determining whether there is a second object to be cleaned in the first area to be cleaned according to the fifth image, wherein the second object to be cleaned is part or all of the first object to be cleaned; and determining the execution strategy of the self-moving device according to whether there is a second object to be cleaned in the first area to be cleaned.

[0015] In an exemplary embodiment, determining the execution strategy of the self-moving device based on whether the second object to be cleaned exists in the first area to be cleaned includes: if the second object to be cleaned exists in the first area to be cleaned, determining the number of times the self-moving device will clean the first object to be cleaned; if the number of cleaning times is less than or equal to a second preset threshold, determining a second cleaning trajectory of the self-moving device based on the center position and the boundary area of ​​the second object to be cleaned, and controlling the self-moving device to clean the second object to be cleaned according to the second cleaning trajectory, wherein the second cleaning trajectory is spiral-shaped, the starting position of the second cleaning trajectory is located outside the boundary area of ​​the second object to be cleaned, the distance between the ending position of the second cleaning trajectory and the center position of the second object to be cleaned is less than a first preset threshold, and the rotation direction of the second cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device; if the second object to be cleaned does not exist in the first area to be cleaned, controlling the self-moving device to move to the cleaning device of the self-moving device so that the cleaning device cleans the cleaning components of the self-moving device, wherein the cleaning components include: a mop disc, a main brush, and a side brush.

[0016] In an exemplary embodiment, after determining the number of times the self-moving device cleans the first object to be cleaned, the method further includes: if the number of cleaning times is greater than a second preset threshold, controlling the self-moving device to move into a cleaning device of the self-moving device, so that the cleaning device cleans the cleaning components of the self-moving device; if the cleaning device has finished cleaning the cleaning components of the self-moving device, determining a second cleaning trajectory of the self-moving device based on the center position of the second object to be cleaned and the boundary area of ​​the second object to be cleaned; and controlling the self-moving device to clean the second object to be cleaned according to the second cleaning trajectory.

[0017] In one exemplary embodiment, determining a second cleaning trajectory of the self-moving device based on the center position of the second object to be cleaned and the boundary region of the second object to be cleaned includes at least one of the following: obtaining a first width of the mop pad of the self-moving device; determining a second width as the width between the lines of the spiral shape, wherein the second width is smaller than the first width; determining the spiral shape based on the start position of the second cleaning trajectory, the end position of the second cleaning trajectory, and the second width to determine a first cleaning trajectory; determining a ratio between the area size of the boundary region of the second object to be cleaned and the area size of the boundary region of the first object to be cleaned; and determining the second cleaning trajectory in the first cleaning trajectory based on the ratio and the center position of the second object to be cleaned.

[0018] In an exemplary embodiment, after determining that the second object to be cleaned exists in the first area to be cleaned, the method further includes: determining the shape of the second object to be cleaned; if the second object to be cleaned has a first shape, determining a second cleaning trajectory of the self-moving device based on the center position of the second object to be cleaned and the boundary area of ​​the second object to be cleaned, wherein the width between the spiral lines of the second cleaning trajectory is less than the width between the spiral lines of the first cleaning trajectory; if the second object to be cleaned has a second shape, lowering the position of the mop disc so that the distance between the mop disc and the ground is less than a third preset threshold.

[0019] In an exemplary embodiment, after controlling the self-mobile device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: when the self-mobile device has finished cleaning the first object to be cleaned, determining the cleaning mode when the self-mobile device executes the cleaning event, wherein the time of executing the cleaning event is earlier than the time of cleaning the object to be cleaned, and the cleaning mode includes one of the following: sweeping mode, sweeping and mopping mode; controlling the self-mobile device to start the cleaning mode, and continuing to execute the cleaning event through the cleaning mode.

[0020] In an exemplary embodiment, after controlling the self-mobile device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: saving a first distance set between the boundary region and the center position, and a first cleaning trajectory corresponding to the first distance set; acquiring a sixth image of the second area to be cleaned of the self-mobile device; if a third object to be cleaned is identified in the second area to be cleaned based on the sixth image, determining a second distance set between the center position of the third object to be cleaned and the boundary region of the third object to be cleaned; and if the matching degree between the second distance set and the first distance set is greater than a fourth preset threshold, determining the cleaning trajectory of the self-mobile device as the first cleaning trajectory.

[0021] According to another aspect of the present invention, a cleaning device for an object to be cleaned is also provided, comprising: an acquisition module, configured to acquire a first image of a first area to be cleaned by a self-moving device; a determination module, configured to determine a first cleaning trajectory of the self-moving device based on the center position and boundary area of ​​the first object to be cleaned when the existence of a first object to be cleaned in the first area to be cleaned is identified according to the first image, wherein the first cleaning trajectory is spiral-shaped, the starting position of the first cleaning trajectory is located outside the boundary area, the distance between the ending position of the first cleaning trajectory and the center position is less than a first preset threshold, and the rotation direction of the first cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device; and a control module, configured to control the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory.

[0022] According to another aspect of the present invention, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the cleaning method for the object to be cleaned as described in any of the preceding embodiments through the computer program.

[0023] This invention obtains a first image of a first area to be cleaned by a self-moving device; when a first object to be cleaned is identified in the first area to be cleaned based on the first image, a first cleaning trajectory of the self-moving device is determined based on the center position and boundary area of ​​the first object to be cleaned. The first cleaning trajectory is spiral-shaped, with its starting point located outside the boundary area, and the distance between its ending point and the center position less than a first preset threshold. The rotation direction of the first cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device. The self-moving device is controlled to clean the first object to be cleaned according to the first cleaning trajectory. That is, the self-moving device can clean the object to be cleaned using a spiral-shaped cleaning trajectory opposite to the setting direction of the side brush. This technical solution solves the problem in the prior art where sweeping robots generally clean stains locally by moving back and forth in a straight line, leading to easy contamination of the side brush. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and, together with the description thereof, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0025] Figure 1 This is a hardware structure block diagram of a self-moving device for an optional cleaning method of an object to be cleaned according to an embodiment of the present invention.

[0026] Figure 2 This is a flowchart of an optional cleaning method for an object to be cleaned according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic flowchart of an optional cleaning method for an object to be cleaned according to an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of an optional self-cleaning device detecting an object to be cleaned according to an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of an optional cleaning trajectory according to an embodiment of the present invention;

[0030] Figure 6 This is a structural block diagram of an optional cleaning device for an object to be cleaned, according to an embodiment of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] The method embodiments provided in these inventions can be executed in self-moving devices or similar computing devices. Taking running on a self-moving device as an example... Figure 1 This is a hardware structure block diagram of a self-moving device for an optional cleaning method of an object to be cleaned, according to an embodiment of the present invention. For example... Figure 1 As shown, a self-moving device may include one or more ( Figure 1Only one is shown in the image. A processor 102 (which may include, but is not limited to, a microprocessor unit (MPU) or a programmable logic device (PLD)) and a memory 104 for storing data are also shown. In one exemplary embodiment, the self-moving device may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the switching device described above. For example, the self-moving device may also include a... Figure 1 The more or fewer components shown, or having the same Figure 1 Equivalent functions or ratios shown Figure 1 The functions shown have more different configurations.

[0034] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the cleaning method for the object to be cleaned in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the self-moving device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0035] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the switching device. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0036] This embodiment provides a cleaning method for an object to be cleaned, which is applied to the aforementioned self-moving device. Figure 2 This is a flowchart of a cleaning method for an object to be cleaned according to an embodiment of the present invention. The process includes the following steps:

[0037] Step S202: Obtain a first image of the first area to be cleaned from the mobile device;

[0038] It should be noted that the first image can be an image acquired by the image acquisition device of the self-moving device during its movement, or it can be an image acquired by the self-moving device from other devices. This embodiment of the invention does not limit this. The first area to be cleaned can be understood as the area accessible to the self-moving device. For example, if the self-moving device is a robot vacuum cleaner purchased for home use, then the first area to be cleaned can refer to the entire home area.

[0039] Step S204: When a first object to be cleaned is identified in the first area to be cleaned based on the first image, a first cleaning trajectory of the self-moving device is determined based on the center position and boundary area of ​​the first object to be cleaned. The first cleaning trajectory is spiral-shaped, the starting position of the first cleaning trajectory is located outside the boundary area, the distance between the ending position of the first cleaning trajectory and the center position is less than a first preset threshold, and the rotation direction of the first cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device.

[0040] It should be noted that the spiral shape described above can be either a square spiral or a circular spiral. When the distance between the endpoint of the first cleaning trajectory and the center position is 0, the endpoint of the cleaning trajectory coincides with the center position.

[0041] Step S206: Control the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory.

[0042] Through the above steps, a first image of the first area to be cleaned by the self-moving device is obtained; when a first object to be cleaned is identified in the first area to be cleaned based on the first image, a first cleaning trajectory of the self-moving device is determined based on the center position and boundary area of ​​the first object to be cleaned. The first cleaning trajectory is spiral-shaped, with its starting point located outside the boundary area, and the distance between its ending point and the center position less than a first preset threshold. The rotation direction of the first cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device. The self-moving device is controlled to clean the first object to be cleaned according to the first cleaning trajectory. That is, the self-moving device can clean the object to be cleaned through a spiral-shaped cleaning trajectory opposite to the setting direction of the side brush of the self-moving device. By adopting the above technical solution, the problem in the prior art that sweeping robots generally clean stains locally by moving back and forth in a straight line, leading to easy contamination of the side brush, is solved.

[0043] In this embodiment of the invention, step S204 can be implemented in various ways. In one optional embodiment, it can be implemented in the following way: obtaining the first width of the mop pad of the self-moving device; determining the width between the lines of the spiral shape as the second width, wherein the second width is smaller than the first width; determining the spiral shape according to the starting position, the ending position and the second width, so as to determine the first cleaning trajectory.

[0044] Understandably, in practical solutions, when determining the cleaning trajectory, in order to thoroughly clean the object to be cleaned, the self-cleaning device makes the width between the spiral lines corresponding to the cleaning trajectory smaller than the width of the mop disc, and then determines the spiral shape based on the starting position, the ending position and the second width to determine the first cleaning trajectory.

[0045] This invention also provides a method for determining a first cleaning trajectory of the self-moving device, specifically: determining the rotation direction of the first cleaning trajectory, wherein the rotation direction of the first cleaning trajectory is determined according to one of the following methods: when the side brush is located at the upper right of the self-moving device, the rotation direction of the first cleaning trajectory is determined to be a left-hand rotation; when the side brush is located at the upper left of the self-moving device, the rotation direction of the first cleaning trajectory is determined to be a right-hand rotation; the first cleaning trajectory of the self-moving device is determined based on the center position, boundary area, and rotation direction of the first object to be cleaned.

[0046] In other words, when the side brush is positioned above and to the right of the self-moving device, the rotation direction of the first cleaning trajectory is counterclockwise, such as... Figure 5 As shown, when the side brush is located at the upper left of the self-moving device, the rotation direction of the first cleaning trajectory is clockwise, thereby obtaining the first width of the mop disc of the self-moving device; the width between the lines of the spiral shape is determined as the second width, wherein the second width is less than the first width; the spiral shape is determined according to the starting position, the ending position, the second width, and the rotation direction of the first cleaning trajectory, so as to determine the first cleaning trajectory.

[0047] There are multiple ways to implement step S206. In one optional embodiment, the operation of the mop tray and side brush of the self-moving device is controlled, and the main brush of the self-moving device is raised; the first object to be cleaned is cleaned by the mop tray and the side brush.

[0048] When cleaning the first object to be cleaned using the first cleaning trajectory according to the embodiment of the present invention, although the side brush of the self-moving device still works, since the setting direction of the side brush of the self-moving device is opposite to the direction of the spiral-shaped cleaning trajectory, the above technical solution solves the problem in the prior art that the sweeping robot generally cleans the identified stains in a straight back-and-forth manner, which leads to the side brush being easily contaminated by stains.

[0049] To reduce the occurrence of misidentification, when it is first determined from the first image that the first area to be cleaned contains a first object to be cleaned, and the first image is an image acquired by the image acquisition device of the mobile device, the following steps also need to be performed:

[0050] Step 1: Control the self-moving device to move from a first position to a second position, wherein the first position is the position of the self-moving device when the image acquisition device acquires the first image; acquire a second image of the first area to be cleaned acquired by the image acquisition device when the self-moving device is in the second position;

[0051] Step 2: Determine whether the first object to be cleaned exists in the first area to be cleaned based on the second image;

[0052] Step 3: If it is determined from the second image that the first object to be cleaned exists in the first area to be cleaned, then the first object to be cleaned exists in the first area to be cleaned.

[0053] In other words, when the first image is an image acquired by an image acquisition device on a mobile device, the mobile device is controlled to move to a second position different from the first position. The second position can acquire a second image containing the first area to be cleaned. The system detects whether the first object to be cleaned exists in the second image acquired by the mobile device at the second position. If the first object to be cleaned still exists in the second image, it is determined that the first object to be cleaned exists in the first area to be cleaned. If the first object to be cleaned does not exist in the second image, it is determined that the first object to be cleaned does not exist in the first area to be cleaned. This reduces the occurrence of misidentification and achieves the technical effect of improving the efficiency of identifying objects to be cleaned.

[0054] For example, consider a robotic vacuum cleaner as an example of a self-moving device. When the robotic vacuum cleaner moves to the living room, if it detects that there is a first object to be cleaned in the first image captured by the robotic vacuum cleaner at position A in the living room (equivalent to the first position in the above embodiment), it controls the robotic vacuum cleaner to move from position A to position B (equivalent to the second position in the above embodiment), and then controls the robotic vacuum cleaner to acquire a second image again at position B, so as to detect whether the first object to be cleaned exists in the first area to be cleaned in the second image.

[0055] To reduce the occurrence of misidentification, when it is first determined from the first image that the first area to be cleaned contains a first object to be cleaned, and the first image is an image acquired by an image acquisition device other than a self-moving device, the following steps also need to be performed:

[0056] Step 1: When the image acquisition device of the first device acquires the first image, a first request message is sent to the second device, wherein the first device and the second device are devices other than the self-moving device. The first request message is used to request the third image of the first area to be cleaned acquired by the image acquisition device on the second device, and to request to acquire the third image.

[0057] Step 2: Receive the first response information carrying the third image sent by the second device based on the first request information;

[0058] Step 3: Determine whether the first object to be cleaned exists in the first area to be cleaned based on the third image;

[0059] Step 4: If it is determined from the third image that the first object to be cleaned exists in the first area to be cleaned, then the first object to be cleaned exists in the first area to be cleaned.

[0060] In other words, when the first image is an image acquired by an image acquisition device on another device, a request to acquire a third image is sent to a second device in the target area according to the target area map corresponding to the self-moving device. The system also detects whether there is a first object to be cleaned in the third image acquired by the second device. If the first object to be cleaned is still present in the third image, it is determined that the first object to be cleaned exists in the first area to be cleaned. If the first object to be cleaned is not present in the third image, it is determined that the first object to be cleaned does not exist in the first area to be cleaned. This reduces the occurrence of misidentification and achieves the technical effect of improving the efficiency of identifying objects to be cleaned.

[0061] For example, taking a robotic vacuum cleaner as an example of a self-moving device. When the robotic vacuum cleaner moves to the living room, if it detects that there is a first object to be cleaned in the first image captured by the first device with image acquisition function at position C in the living room, it sends a request to the second device with image acquisition function at position D to obtain a third image according to the living room device distribution map; then it controls the robotic vacuum cleaner to obtain the third image again to detect whether the first object to be cleaned exists in the first area to be cleaned in the third image.

[0062] It should be noted that, if the first device is a mobile device, the second device and the first device can be the same device.

[0063] To reduce the occurrence of incomplete cleaning, after the self-moving device acquires the first image and cleans the first object to be cleaned, the following steps are also required:

[0064] Step 1: Control the self-moving device to move to the first position, wherein the first position is the position of the self-moving device when the image acquisition device acquires the first image;

[0065] Step 2: Obtain a fourth image of the first area to be cleaned captured by the image acquisition device when the self-moving device is located at the first position;

[0066] Step 3: Determine whether there is a second object to be cleaned in the first area to be cleaned based on the fourth image, wherein the second object to be cleaned is part or all of the first object to be cleaned;

[0067] Step 4: Determine the execution strategy of the self-moving device based on whether the second object to be cleaned exists in the first area to be cleaned.

[0068] In other words, after the first image is acquired by the image acquisition device on the self-moving device, and the self-moving device cleans the first object to be cleaned according to the cleaning trajectory, the self-moving device needs to move back to the first position to acquire a third image. The self-moving device then determines whether the first object to be cleaned has been cleaned completely based on the third image. This reduces the occurrence of incomplete cleaning and achieves the technical effect of improving the cleaning efficiency of the object to be cleaned.

[0069] To reduce the occurrence of incomplete cleaning, after the first image is acquired by an image acquisition device other than the self-moving device, and the self-moving device has cleaned the first object to be cleaned, the following steps are also required:

[0070] Step 1: Send a second request message to the first device, wherein the first device is a device other than the self-moving device, and the second request message is used to request the image acquisition device on the first device to acquire a fifth image of the first area to be cleaned, and to request to obtain the fifth image;

[0071] Step 2: Receive the second response information carrying the fifth image sent by the first device based on the second request information;

[0072] Step 3: Determine whether there is a second object to be cleaned in the first area to be cleaned based on the fifth image, wherein the second object to be cleaned is part or all of the first object to be cleaned;

[0073] Step 4: Determine the execution strategy of the self-moving device based on whether the second object to be cleaned exists in the first area to be cleaned.

[0074] In other words, if the first image is acquired by the image acquisition device on the first device, the self-moving device sends a request to the first device to acquire a fifth image. The self-moving device then determines whether the first object to be cleaned has been cleaned based on the fifth image. This reduces the occurrence of incomplete cleaning and achieves the technical effect of improving the cleaning efficiency of the object to be cleaned.

[0075] It should be noted that, when the first device is a mobile device, after the mobile device sends a request to the first device to acquire the fifth image, the first device needs to acquire the fifth image at the location where the first image was acquired.

[0076] In an exemplary embodiment, determining the execution strategy of the self-moving device based on whether the second object to be cleaned exists in the first area to be cleaned includes: if the second object to be cleaned exists in the first area to be cleaned, determining the number of times the self-moving device will clean the first object to be cleaned; if the number of cleaning times is less than or equal to a second preset threshold, determining a second cleaning trajectory of the self-moving device based on the center position and boundary area of ​​the second object to be cleaned, and controlling the self-moving device to clean the second object to be cleaned according to the second cleaning trajectory; if the second object to be cleaned does not exist in the first area to be cleaned, controlling the self-moving device to move to the cleaning device of the self-moving device so that the cleaning device cleans the cleaning components of the self-moving device, wherein the cleaning components include: a mop disc, a main brush, and a side brush.

[0077] Optionally, if the number of cleaning cycles exceeds the second preset threshold, the self-moving device is controlled to move into the cleaning device of the self-moving device so that the cleaning device cleans the cleaning components of the self-moving device; if the cleaning device has finished cleaning the cleaning components of the self-moving device, a second cleaning trajectory of the self-moving device is determined based on the center position of the second object to be cleaned and the boundary area of ​​the second object to be cleaned; the self-moving device is controlled to clean the second object to be cleaned according to the second cleaning trajectory.

[0078] Understandably, if the second object to be cleaned exists in the first area to be cleaned, it is determined whether the number of times the same object to be cleaned has reached the maximum number of times it can be cleaned (e.g., 3 times); if the number of times the same object to be cleaned has not reached the maximum number of times it can be cleaned, the cleaning trajectory is determined again and the object is cleaned; if the number of times the same object to be cleaned has reached the maximum number of times it can be cleaned, the device returns to the cleaning device of the self-moving device to clean the cleaning components of the self-moving device; and if the second object to be cleaned does not exist in the first area to be cleaned, the device returns to the cleaning device of the self-moving device to clean the cleaning components of the self-moving device.

[0079] In one exemplary embodiment, two methods for determining the second cleaning trajectory of the self-moving device are provided, as follows:

[0080] Method 1: Obtain the first width of the mop pad of the self-moving device; determine the width between the lines of the spiral shape as the second width, wherein the second width is smaller than the first width; determine the spiral shape based on the starting position of the second cleaning trajectory, the ending position of the second cleaning trajectory, and the second width to determine the first cleaning trajectory;

[0081] Method 2: Determine the ratio of the area size of the boundary region of the second object to be cleaned to the area size of the boundary region of the first object to be cleaned; determine the second cleaning trajectory in the first cleaning trajectory based on the ratio and the center position of the second object to be cleaned.

[0082] In the above method 1, when the self-cleaning device determines the second cleaning trajectory, in order to thoroughly clean the object to be cleaned, the width between the spiral lines corresponding to the cleaning trajectory is smaller than the width of the mop disc. Then, the spiral shape is determined according to the starting position, the ending position and the second width, and the second cleaning trajectory is determined.

[0083] In the above method 2, since the second cleaning object is the cleaning object obtained after cleaning the first cleaning object, theoretically the area size of the second cleaning object should be smaller than the size of the first cleaning object. Therefore, the ratio of the area size of the second cleaning object to the size of the first cleaning object is determined, and the second cleaning trajectory is determined in the first cleaning trajectory according to the ratio. The second ratio of the length of the second cleaning trajectory to the length of the first cleaning trajectory is the same as the first ratio of the area size of the second cleaning object to the size of the first cleaning object. The distance between the end position of the second cleaning trajectory and the center position of the second object to be cleaned is less than the first preset threshold.

[0084] In an exemplary embodiment, after determining that the second object to be cleaned exists in the first area to be cleaned, the method further includes: determining the shape of the second object to be cleaned; if the second object to be cleaned has a first shape, determining a second cleaning trajectory of the self-moving device based on the center position of the second object to be cleaned and the boundary area of ​​the second object to be cleaned, wherein the width between the spiral lines of the second cleaning trajectory is less than the width between the spiral lines of the first cleaning trajectory; if the second object to be cleaned has a second shape, lowering the position of the mop disc so that the distance between the mop disc and the ground is less than a third preset threshold.

[0085] Understandably, if the self-moving device fails to clean the first object to be cleaned, the shape of the second object to be cleaned is determined to identify the reason for the incomplete cleaning, and then the self-moving device is adjusted accordingly. For example, if the second object to be cleaned is multiple strips, and the width between two lines corresponding to the cleaning trajectory is too large, the width between the spiral lines can be reduced. If a large area is not cleaned, it is believed that the distance between the mop pad and the ground is too large, and the position of the mop pad can be lowered to make the mop pad fit the ground more closely.

[0086] In an exemplary embodiment, after controlling the self-mobile device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: when the self-mobile device has finished cleaning the first object to be cleaned, determining the cleaning mode when the self-mobile device executes the cleaning event, wherein the time of executing the cleaning event is earlier than the time of cleaning the object to be cleaned, and the cleaning mode includes one of the following: sweeping mode, sweeping and mopping mode; controlling the self-mobile device to start the cleaning mode, and continuing to execute the cleaning event through the cleaning mode.

[0087] It is understood that before the self-moving device cleans the first object to be cleaned, the self-moving device is performing a cleaning event, wherein the cleaning mode of the self-moving device when performing the cleaning event is sweeping mode or sweeping and mopping mode; after the self-moving device has finished cleaning the first object to be cleaned, the cleaning event continues to be performed through the sweeping mode.

[0088] In an exemplary embodiment, after controlling the self-mobile device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: saving a first distance set between the boundary region and the center position, and a first cleaning trajectory corresponding to the first distance set; acquiring a sixth image of the second area to be cleaned of the self-mobile device; if a third object to be cleaned is identified in the second area to be cleaned based on the sixth image, determining a second distance set between the center position of the third object to be cleaned and the boundary region of the third object to be cleaned; and determining the cleaning trajectory of the self-mobile device as the first cleaning trajectory if the matching degree between the second distance set and the first distance set is greater than a fourth preset threshold.

[0089] It is understandable that after cleaning the first object to be cleaned, the first distance set between the boundary region of the first object to be cleaned and the center position of the first object to be cleaned, as well as the first cleaning trajectory corresponding to the first distance set, can be saved. When the second distance set between the boundary region of the third object to be cleaned and the center position of the third object to be cleaned is obtained again, the cleaning trajectory corresponding to the third object to be cleaned can be determined from the multiple cleaning trajectories saved locally based on the second distance set, thereby achieving the technical effect of reducing the amount of computation.

[0090] Obviously, the embodiments described above are only some embodiments of the present invention, and not all embodiments. In order to better understand the cleaning method of the object to be cleaned, the above process will be described in conjunction with optional embodiments below, but it is not intended to limit the technical solution of the embodiments of the present invention.

[0091] This embodiment provides a cleaning method for an object to be cleaned, which is a flowchart illustrating an optional cleaning method for an object to be cleaned according to an embodiment of the present invention. Figure 3 As shown, the specific steps are as follows:

[0092] Step S301: The robotic vacuum cleaner (equivalent to the self-moving device in the above embodiment) executes a cleaning event;

[0093] It should be noted that during the cleaning process, a stain avoidance mode is executed.

[0094] Step S302: Confirm whether the AI ​​has identified a stain (equivalent to the first object to be cleaned in the above embodiment); if the AI ​​detects a suspected stain, proceed to step S303; otherwise, proceed to step S301; such as Figure 4 As shown;

[0095] Step S303: Perform a second check on the stain;

[0096] Optionally, AI stain recognition can be performed again from different locations and angles.

[0097] Step S304: Determine whether the suspected stain is a stain; if the suspected stain is determined to be a stain, proceed to step S305, otherwise proceed to step S301;

[0098] Step S305: When a stain is confirmed, a square spiral cleaning trajectory (equivalent to the first cleaning trajectory in the above embodiment) is planned centered on the stain location, and a spiral fine mopping is performed from the outside to the inside along this spiral cleaning trajectory; Figure 5 As shown;

[0099] Step S306: After the fine mopping is completed, the robot vacuum returns to the location where the stain was identified and performs a second confirmation to determine whether the stain has been cleaned. If the stain has not been cleaned, proceed to step S307; otherwise, proceed to step S301.

[0100] Step S307: Determine whether the number of times the stain has been cleaned has reached the maximum number of cleaning times; if the number of times the stain has been cleaned has reached the maximum number of cleaning times, proceed to step S308; otherwise, proceed to step S305.

[0101] Step S308: Return to the base station to clean the cleaning components of the sweeping robot.

[0102] Through the above embodiments, when the robotic vacuum cleaner detects stains, it determines the cleaning trajectory of the robotic vacuum cleaner based on the center position and boundary area of ​​the stains. The cleaning trajectory is spiral-shaped, and the rotation direction of the cleaning trajectory is opposite to the setting direction of the side brushes of the robotic vacuum cleaner. The robotic vacuum cleaner cleans the stains according to the cleaning trajectory. That is, the robotic vacuum cleaner can clean the object to be cleaned by using a spiral-shaped cleaning trajectory opposite to the setting direction of the side brushes. This technical solution solves the problem in the prior art where robotic vacuum cleaners generally clean stains locally by moving back and forth in a straight line, leading to easy contamination of the side brushes.

[0103] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0104] This embodiment also provides a cleaning device for an object to be cleaned, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0105] Figure 6 This is a structural block diagram of an optional cleaning device for an object to be cleaned, according to an embodiment of the present invention. The device includes:

[0106] The acquisition module 62 is used to acquire a first image of the first area to be cleaned from the mobile device;

[0107] The determining module 64 is used to determine the first cleaning trajectory of the self-moving device based on the center position and boundary area of ​​the first object to be cleaned when the first object to be cleaned is identified in the first cleaning area according to the first image. The first cleaning trajectory is spiral-shaped, the starting position of the first cleaning trajectory is located outside the boundary area, the distance between the ending position of the first cleaning trajectory and the center position is less than a first preset threshold, and the rotation direction of the first cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device.

[0108] The control module 66 is used to control the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory.

[0109] The above-described device includes an acquisition module that acquires a first image of the first area to be cleaned by the self-moving device; a determination module that, upon identifying a first object to be cleaned in the first area to be cleaned based on the first image, determines a first cleaning trajectory of the self-moving device based on the center position and boundary area of ​​the first object to be cleaned, wherein the first cleaning trajectory is spiral-shaped, the starting point of the first cleaning trajectory is located outside the boundary area, the distance between the ending point of the first cleaning trajectory and the center position is less than a first preset threshold, and the rotation direction of the first cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device; and a control module that controls the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory. That is, the self-moving device can clean the object to be cleaned by a spiral-shaped cleaning trajectory opposite to the setting direction of the side brush of the self-moving device. This technical solution solves the problem in the prior art where sweeping robots generally clean stains locally by moving back and forth in a straight line, leading to easy contamination of the side brush.

[0110] In one exemplary embodiment, a determining module 64 is configured to obtain a first width of the mop tray of the self-moving device; determine a second width as the width between the lines of the spiral shape, wherein the second width is less than the first width; and determine the spiral shape based on the starting position, the ending position, and the second width to determine the first cleaning trajectory.

[0111] In one exemplary embodiment, the determining module 64 is configured to determine the rotation direction of the first cleaning trajectory, wherein the rotation direction of the first cleaning trajectory is determined according to one of the following methods: when the side brush is located above the right of the self-moving device, the rotation direction of the first cleaning trajectory is determined to be a left-hand rotation; when the side brush is located above the left of the self-moving device, the rotation direction of the first cleaning trajectory is determined to be a right-hand rotation; the first cleaning trajectory of the self-moving device is determined based on the center position of the first object to be cleaned, the boundary area, and the rotation direction.

[0112] In one exemplary embodiment, the control module 66 is used to control the operation of the mop tray and side brush of the self-moving device, and to control the lifting of the main brush of the self-moving device; the first object to be cleaned is cleaned by the mop tray and the side brush.

[0113] In one exemplary embodiment, the control module 66 is configured to control the self-moving device to move from a first position to a second position when the image acquisition device of the self-moving device acquires the first image, wherein the first position is the position of the self-moving device when the image acquisition device acquires the first image; the acquisition module 62 is configured to acquire a second image of the first area to be cleaned acquired by the image acquisition device when the self-moving device is located in the second position; and the determination module 64 is configured to determine whether the first object to be cleaned exists in the first area to be cleaned based on the second image; and if the first object to be cleaned is determined to exist in the first area to be cleaned based on the second image, the first object to be cleaned is determined to exist in the first area to be cleaned.

[0114] In one exemplary embodiment, the apparatus further includes: a sending module, configured to send a first request message to a second device when the image acquisition device of the first device acquires the first image, wherein the first device and the second device are devices other than the self-moving device, and the first request message is used to request a third image of the first area to be cleaned acquired by the image acquisition device of the second device, and to request to acquire the third image; a receiving module, configured to receive a first response message carrying the third image sent by the second device based on the first request message; and a determining module, configured to determine whether the first object to be cleaned exists in the first area to be cleaned based on the third image; and if the first object to be cleaned exists in the first area to be cleaned based on the third image, to determine that the first object to be cleaned exists in the first area to be cleaned.

[0115] In one exemplary embodiment, a control module is configured to control the self-moving device to move to a first position when the image acquisition device of the self-moving device acquires the first image, wherein the first position is the position of the self-moving device when the image acquisition device acquires the first image; an acquisition module is configured to acquire a fourth image of the first area to be cleaned acquired by the image acquisition device when the self-moving device is located at the first position; a determination module is configured to determine whether there is a second object to be cleaned in the first area to be cleaned based on the fourth image, wherein the second object to be cleaned is part or all of the first object to be cleaned; and to determine the execution strategy of the self-moving device based on whether there is a second object to be cleaned in the first area to be cleaned.

[0116] In one exemplary embodiment, a sending module is configured to send a second request message to the first device when the image acquisition device of the first device acquires the first image, wherein the first device is a device other than the self-moving device, and the second request message is configured to request the image acquisition device on the first device to acquire a fifth image of the first area to be cleaned, and to request to acquire the fifth image; a receiving module is configured to receive a second response message carrying the fifth image sent by the first device based on the second request message; a determining module is configured to determine whether there is a second object to be cleaned in the first area to be cleaned based on the fifth image, wherein the second object to be cleaned is part or all of the first object to be cleaned; and to determine the execution strategy of the self-moving device based on whether there is a second object to be cleaned in the first area to be cleaned.

[0117] In an exemplary embodiment, a determining module is configured to: determine the number of times the self-moving device will clean the first object to be cleaned when the second object to be cleaned exists in the first area to be cleaned; if the number of cleaning times is less than or equal to a second preset threshold, determine a second cleaning trajectory of the self-moving device based on the center position and boundary area of ​​the second object to be cleaned, and control the self-moving device to clean the second object to be cleaned according to the second cleaning trajectory, wherein the second cleaning trajectory is spiral-shaped, the starting position of the second cleaning trajectory is located outside the boundary area of ​​the second object to be cleaned, the distance between the ending position of the second cleaning trajectory and the center position of the second object to be cleaned is less than a first preset threshold, and the rotation direction of the second cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device; if the second object to be cleaned does not exist in the first area to be cleaned, control the self-moving device to move into the cleaning device of the self-moving device so that the cleaning device cleans the cleaning components of the self-moving device, wherein the cleaning components include: a mop disc, a main brush, and a side brush.

[0118] In an exemplary embodiment, the control module is further configured to, when the number of cleaning cycles exceeds the second preset threshold, control the self-moving device to move into the cleaning device of the self-moving device, so that the cleaning device cleans the cleaning components of the self-moving device; when the cleaning device has finished cleaning the cleaning components of the self-moving device, determine the second cleaning trajectory of the self-moving device based on the center position of the second object to be cleaned and the boundary area of ​​the second object to be cleaned; and control the self-moving device to clean the second object to be cleaned according to the second cleaning trajectory.

[0119] In one exemplary embodiment, the determining module is further configured to perform at least one of the following: obtaining a first width of the mop pad of the self-moving device; determining a second width as the width between the lines of the spiral shape, wherein the second width is less than the first width; determining the spiral shape based on the starting position of the second cleaning trajectory, the ending position of the second cleaning trajectory, and the second width to determine the first cleaning trajectory; determining a ratio between the area size of the boundary region of the second object to be cleaned and the area size of the boundary region of the first object to be cleaned; and determining the second cleaning trajectory in the first cleaning trajectory based on the ratio and the center position of the second object to be cleaned.

[0120] In an exemplary embodiment, the determining module is further configured to determine the shape of the second object to be cleaned; if the second object to be cleaned has a first shape, to determine a second cleaning trajectory of the self-moving device based on the center position of the second object to be cleaned and the boundary area of ​​the second object to be cleaned, wherein the width between the spiral lines of the second cleaning trajectory is less than the width between the spiral lines of the first cleaning trajectory; if the second object to be cleaned has a second shape, to lower the position of the mop pad so that the distance between the mop pad and the ground is less than a third preset threshold.

[0121] In an exemplary embodiment, the control module is further configured to, upon completion of cleaning the first object to be cleaned by the self-mobile device, determine the cleaning mode at which the self-mobile device executes the cleaning event, wherein the time of executing the cleaning event is earlier than the time of cleaning the object to be cleaned, and the cleaning mode includes one of the following: sweeping mode, sweeping and mopping mode; control the self-mobile device to start the cleaning mode, and continue to execute the cleaning event through the cleaning mode.

[0122] In an exemplary embodiment, the determining module is further configured to: store a first distance set between the boundary region and the center position, and a first cleaning trajectory corresponding to the first distance set; acquire a sixth image of the second area to be cleaned of the self-moving device; if a third object to be cleaned is identified in the second area to be cleaned based on the sixth image, determine a second distance set between the center position of the third object to be cleaned and the boundary region of the third object to be cleaned; and if the matching degree between the second distance set and the first distance set is greater than a fourth preset threshold, determine the cleaning trajectory of the self-moving device as the first cleaning trajectory.

[0123] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0124] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0125] S1, acquire a first image of the first area to be cleaned from the mobile device;

[0126] S2, when a first object to be cleaned is identified in the first area to be cleaned based on the first image, a first cleaning trajectory of the self-moving device is determined based on the center position and boundary area of ​​the first object to be cleaned. The first cleaning trajectory is spiral-shaped, the starting position of the first cleaning trajectory is located outside the boundary area, the distance between the ending position of the first cleaning trajectory and the center position is less than a first preset threshold, and the rotation direction of the first cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device.

[0127] S3, control the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory.

[0128] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0129] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0130] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0131] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0132] S1, acquire a first image of the first area to be cleaned from the mobile device;

[0133] S2, when a first object to be cleaned is identified in the first area to be cleaned based on the first image, a first cleaning trajectory of the self-moving device is determined based on the center position and boundary area of ​​the first object to be cleaned. The first cleaning trajectory is spiral-shaped, the starting position of the first cleaning trajectory is located outside the boundary area, the distance between the ending position of the first cleaning trajectory and the center position is less than a first preset threshold, and the rotation direction of the first cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device.

[0134] S3, control the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory.

[0135] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0136] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0137] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for cleaning an object, characterized in that, include: Acquire a first image of the first area to be cleaned from the mobile device; When a first object to be cleaned is identified in the first area to be cleaned based on the first image, a first cleaning trajectory of the self-moving device is determined based on the center position and boundary area of ​​the first object to be cleaned. The first cleaning trajectory is spiral-shaped, the starting position of the first cleaning trajectory is located outside the boundary area, the distance between the ending position of the first cleaning trajectory and the center position is less than a first preset threshold, and the rotation direction of the first cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device. The self-moving device is controlled to clean the first object to be cleaned according to the first cleaning trajectory.

2. The cleaning method for the object to be cleaned according to claim 1, characterized in that, Determining the first cleaning trajectory of the self-moving device based on the center position and boundary area of ​​the first object to be cleaned includes: Obtain the first width of the mop tray of the self-moving device; The width between the spiral-shaped lines is defined as a second width, wherein the second width is smaller than the first width; The spiral shape is determined based on the starting position, the ending position, and the second width to determine the first cleaning trajectory.

3. The cleaning method for the object to be cleaned according to claim 1, characterized in that, Determining the first cleaning trajectory of the self-moving device based on the center position and boundary area of ​​the first object to be cleaned includes: The rotation direction of the first cleaning trajectory is determined, wherein the rotation direction of the first cleaning trajectory is determined according to one of the following methods: when the side brush is located above the right of the self-moving device, the rotation direction of the first cleaning trajectory is determined to be a left-hand rotation; when the side brush is located above the left of the self-moving device, the rotation direction of the first cleaning trajectory is determined to be a right-hand rotation. The first cleaning trajectory of the self-moving device is determined based on the center position, boundary area, and rotation direction of the first object to be cleaned.

4. The cleaning method for the object to be cleaned according to claim 1, characterized in that, Controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory includes: Control the operation of the mop tray and side brush of the self-moving device, and control the lifting of the main brush of the self-moving device; The first object to be cleaned is cleaned using the mop head and the side brush.

5. The cleaning method for the object to be cleaned according to claim 1, characterized in that, After acquiring a first image of the first area to be cleaned from the mobile device, the method further includes: When the image acquisition device of the self-moving device acquires the first image, the self-moving device is controlled to move from a first position to a second position, wherein the first position is the position of the self-moving device when the image acquisition device acquires the first image; Acquire a second image of the first area to be cleaned captured by the image acquisition device when the self-moving device is located in the second position; Determine whether the first object to be cleaned exists in the first area to be cleaned based on the second image; If it is determined from the second image that the first object to be cleaned exists in the first area to be cleaned, then it is determined that the first object to be cleaned exists in the first area to be cleaned.

6. The cleaning method for the object to be cleaned according to claim 1, characterized in that, After acquiring a first image of the first area to be cleaned from the mobile device, the method further includes: When the image acquisition device of the first device acquires the first image, a first request message is sent to the second device, wherein the first device and the second device are devices other than the self-moving device, and the first request message is used to request a third image of the first area to be cleaned acquired by the image acquisition device on the second device, and to request to acquire the third image; Receive first response information carrying the third image sent by the second device based on the first request information; Determine whether the first object to be cleaned exists in the first area to be cleaned based on the third image; If it is determined from the third image that the first object to be cleaned exists in the first area to be cleaned, then it is determined that the first object to be cleaned exists in the first area to be cleaned.

7. The cleaning method for the object to be cleaned according to claim 1, characterized in that, After controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: When the image acquisition device of the self-moving device acquires the first image, the self-moving device is controlled to move to a first position, wherein the first position is the position of the self-moving device when the image acquisition device acquires the first image; Acquire a fourth image of the first area to be cleaned captured by the image acquisition device when the self-moving device is located at the first position; Based on the fourth image, it is determined whether there is a second object to be cleaned in the first area to be cleaned, wherein the second object to be cleaned is part or all of the first object to be cleaned; The execution strategy of the self-moving device is determined based on whether the second object to be cleaned exists in the first area to be cleaned.

8. The cleaning method for the object to be cleaned according to claim 1, characterized in that, After controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: When the image acquisition device of the first device acquires the first image, a second request message is sent to the first device, wherein the first device is a device other than the self-moving device, and the second request message is used to request the image acquisition device on the first device to acquire a fifth image of the first area to be cleaned, and to request to acquire the fifth image; Receive second response information carrying the fifth image sent by the first device based on the second request information; Based on the fifth image, it is determined whether there is a second object to be cleaned in the first area to be cleaned, wherein the second object to be cleaned is part or all of the first object to be cleaned; The execution strategy of the self-moving device is determined based on whether the second object to be cleaned exists in the first area to be cleaned.

9. The cleaning method for the object to be cleaned according to claim 7 or 8, characterized in that, The execution strategy of the self-moving device is determined based on whether the second object to be cleaned exists in the first area to be cleaned, including: When the second object to be cleaned exists in the first area to be cleaned, the number of times the self-moving device cleans the first object to be cleaned is determined; when the number of cleaning times is less than or equal to a second preset threshold, a second cleaning trajectory of the self-moving device is determined based on the center position and the boundary area of ​​the second object to be cleaned, and the self-moving device is controlled to clean the second object to be cleaned according to the second cleaning trajectory, wherein the second cleaning trajectory is spiral-shaped, the starting position of the second cleaning trajectory is located outside the boundary area of ​​the second object to be cleaned, the distance between the ending position of the second cleaning trajectory and the center position of the second object to be cleaned is less than a first preset threshold, and the rotation direction of the second cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device; If the second object to be cleaned is not present in the first area to be cleaned, the self-moving device is controlled to move to the cleaning device of the self-moving device so that the cleaning device cleans the cleaning components of the self-moving device, wherein the cleaning components include: a mop disc, a main brush, and a side brush.

10. The cleaning method for an object to be cleaned according to claim 9, characterized in that, After determining the number of times the self-moving device will clean the first object to be cleaned, the method further includes: If the number of cleaning cycles exceeds the second preset threshold, the self-moving device is controlled to move into the cleaning device of the self-moving device so that the cleaning device cleans the cleaning components of the self-moving device. When the cleaning equipment has finished cleaning the cleaning components of the self-moving device, the second cleaning trajectory of the self-moving device is determined based on the center position of the second object to be cleaned and the boundary area of ​​the second object to be cleaned; Control the self-moving device to clean the second object to be cleaned according to the second cleaning trajectory.

11. The cleaning method for an object to be cleaned according to claim 10, characterized in that, The second cleaning trajectory of the self-moving device is determined based on the center position of the second object to be cleaned and the boundary area of ​​the second object to be cleaned, and includes at least one of the following: Obtain the first width of the mop pad of the self-moving device; determine the width between the lines of the spiral shape as the second width, wherein the second width is smaller than the first width; determine the spiral shape based on the starting position of the second cleaning trajectory, the ending position of the second cleaning trajectory, and the second width to determine the first cleaning trajectory; Determine the ratio of the area size of the boundary region of the second object to be cleaned to the area size of the boundary region of the first object to be cleaned; determine the second cleaning trajectory in the first cleaning trajectory based on the ratio and the center position of the second object to be cleaned.

12. The cleaning method for the object to be cleaned according to claim 9, characterized in that, After determining that the second object to be cleaned exists in the first area to be cleaned, the method further includes: Determine the shape of the second object to be cleaned; When the second object to be cleaned is of the first shape, the second cleaning trajectory of the self-moving device is determined based on the center position of the second object to be cleaned and the boundary area of ​​the second object to be cleaned, wherein the width between the spiral lines of the second cleaning trajectory is smaller than the width between the spiral lines of the first cleaning trajectory. If the second object to be cleaned is of the second shape, the position of the mop disc is lowered so that the distance between the mop disc and the ground is less than a third preset threshold.

13. The cleaning method for the object to be cleaned according to claim 1, characterized in that, After controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: When the self-moving device has finished cleaning the first object to be cleaned, the cleaning mode when the self-moving device executes the cleaning event is determined, wherein the time of executing the cleaning event is earlier than the time of cleaning the object to be cleaned, and the cleaning mode includes one of the following: sweeping mode, sweeping and mopping mode; Control the self-moving device to start the cleaning mode, and continue to execute the cleaning event through the cleaning mode.

14. The cleaning method for the object to be cleaned according to claim 1, characterized in that, After controlling the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory, the method further includes: Save a first set of distances between the boundary region and the center position, and a first cleaning trajectory corresponding to the first set of distances; The sixth image of the second area to be cleaned, acquired from the mobile device; If a third object to be cleaned is identified in the second area to be cleaned based on the sixth image, a second set of distances between the center position of the third object to be cleaned and the boundary area of ​​the third object to be cleaned is determined. If the matching degree between the second distance set and the first distance set is greater than a fourth preset threshold, the cleaning trajectory of the self-moving device is determined to be the first cleaning trajectory.

15. A cleaning device for an object to be cleaned, characterized in that, include: The acquisition module is used to acquire a first image of the first area to be cleaned from the mobile device; The determining module is used to determine the first cleaning trajectory of the self-moving device based on the center position and boundary area of ​​the first object to be cleaned when the first object to be cleaned is identified in the first cleaning area according to the first image. The first cleaning trajectory is spiral-shaped, the starting position of the first cleaning trajectory is located outside the boundary area, the distance between the ending position of the first cleaning trajectory and the center position is less than a first preset threshold, and the rotation direction of the first cleaning trajectory is opposite to the setting direction of the side brush of the self-moving device. The control module is used to control the self-moving device to clean the first object to be cleaned according to the first cleaning trajectory.

16. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 1 to 14 when it is run.

17. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method as described in any one of claims 1 to 14.

Images