Cleaning method after recharging of self-contained mobile equipment, self-contained mobile equipment, equipment and medium

Abstract

The present invention belongs to the technical field of cleaning of self-mobile equipment, and discloses a cleaning method after recharging of a self-mobile equipment, a self-mobile equipment, a device and a medium, the method comprising: when the self-mobile equipment completes cleaning of a working area and recharges, after receiving a re-cleaning instruction, determining a re-cleaning area located in the working area according to cleaning data corresponding to the working area; controlling the self-mobile equipment to perform re-cleaning in the re-cleaning area according to a preset cleaning strategy, and after determining that the re-cleaning is completed, controlling the self-mobile equipment to move to a preset parking position. The present invention can solve the problem of continuous snowfall in the current working environment and covering the working area, and can also solve the problem of incomplete cleaning of the accumulated snow in the current working environment, by determining the re-cleaning area and controlling the self-mobile equipment to clean the re-cleaning area, thereby improving the cleaning effect of the working area and improving the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning a self-moving device, and in particular to a cleaning method for a self-moving device after recharging, a self-moving device, a device and a medium. Background Art

[0002] The self-moving device can be used as an automated robot for clearing snow in the courtyard, and it can clear snow from its working area according to the needs of the user; however, in one case, the battery power set in the self-moving device is in a limited state or when the self-moving device receives a recharging instruction from the user, the snow in the working area has not been completely cleared, and the environment where the working area is located may be in a situation where it is snowing continuously, that is, the snow in the working area is always covered; in another case, the self-moving device is recharged after it has completely completed the cleaning, and the environment where the working area is located may be in a situation where it is snowing continuously, that is, the snow in the working area is always covered; if the snow in the working area in the above case is not cleared in time, the cleaning effect of the working area will be directly affected;

[0003] Therefore, those skilled in the art are in urgent need of finding a new technical solution to solve the above technical problems. Summary of the invention

[0004] Based on this, it is necessary to provide a cleaning method after recharging of a self-moving device, a self-moving device, a device and a medium to address the above technical problems, so as to solve the problem of unsatisfactory cleaning effect of the working area in the prior art.

[0005] To achieve the above object, a cleaning method after recharging a mobile device is provided, the method comprising:

[0006] When the self-mobile device is recharged after completing cleaning of the working area, after receiving a re-cleaning instruction, a re-cleaning area located in the working area is determined according to the cleaning data corresponding to the working area;

[0007] The self-moving device is controlled to perform re-cleaning in the re-cleaning area according to a preset cleaning strategy, and after determining that the re-cleaning is completed, the self-moving device is controlled to move to a preset parking position.

[0008] Optionally, the cleaning data includes environmental data and cleaning area data; and determining the re-cleaning area in the working area according to the cleaning data corresponding to the working area includes:

[0009] Obtain environmental data for the time period from recharging to receiving the re-cleaning instruction and the cleaning area data corresponding to before recharging;

[0010] Calculate the required cleaning height corresponding to the working area according to the environmental data;

[0011] A re-cleaning area in the working area is determined according to the required cleaning height and the cleaning area data.

[0012] Optionally, the cleaning data includes key area data and cleaning area data; and determining the re-cleaning area in the working area according to the cleaning data corresponding to the working area includes:

[0013] Get the corresponding cleaning area data before recharging;

[0014] Determine the key area data according to the size of the overall cleaning area corresponding to the working area;

[0015] A re-cleaning area in the working area is determined according to the cleaning area data and the key area data.

[0016] Optionally, before the self-mobile device is recharged after cleaning the working area, the method further includes:

[0017] Determining whether the work area has been completely cleaned;

[0018] When it is determined that the working area has not been completely cleaned, determining whether the self-mobile device will pass through the uncleaned area when moving to the recharging position point;

[0019] When it is determined that the self-moving device will pass through an uncleaned area when moving to the recharging position, the height of the working device in the self-moving device is controlled to be adjusted to the highest height above the ground;

[0020] When it is determined that the self-moving device will not pass through the uncleaned area when moving to the recharging position, the height above the ground of the working device in the self-moving device is maintained at the current height above the ground.

[0021] Optionally, after determining whether the self-mobile device will pass through an uncleaned area when moving to the recharging position, the method further includes:

[0022] When it is determined that the self-mobile device will pass through an uncleaned area when moving to the recharging position point, determining whether the recharging position point is close to a target boundary in the working area;

[0023] When it is determined that the recharging position is close to the target boundary in the working area, the height of the working device in the self-moving device is controlled to be adjusted to the lowest level above the ground, and the snow in the working area is pushed to the target boundary in the working area by the working device.

[0024] Optionally, controlling the self-moving device to perform re-cleaning in the re-cleaning area according to a preset cleaning strategy includes:

[0025] Determine the path sequence based on the recharging location points and the re-cleaning area;

[0026] The self-moving device is controlled to move from the recharging position point to the cleaning area according to the path sequence to perform re-cleaning.

[0027] Optionally, the preset parking position includes a recharging position and a standby position; and controlling the self-moving device to move to the preset parking position includes:

[0028] Determine whether the current power value of the mobile device is lower than a preset power threshold;

[0029] When it is determined that the current power value of the mobile device is lower than the preset power threshold, the mobile device is controlled to move directly to the recharging location point and perform charging processing;

[0030] When it is determined that the current power value of the mobile device is not less than the preset power threshold, determining whether the mobile device needs to continue to perform another cleaning in the working area;

[0031] When it is determined that the self-moving device needs to continue to clean the working area again, the preset position point in the working area closest to the area corresponding to the re-cleaning is determined as the waiting position point, and the self-moving device is controlled to move to the preset parking position point and perform waiting processing.

[0032] In order to achieve the above-mentioned purpose, a self-moving device is also provided, including a controller and a memory, wherein the memory stores a cleaning program after the self-moving device is recharged, and the controller controls the cleaning program after the self-moving device is recharged to implement the steps of the above-mentioned cleaning method after the self-moving device is recharged.

[0033] To achieve the above-mentioned purpose, a computer 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 implements the steps of the above-mentioned cleaning method after recharging the mobile device when executing the computer program.

[0034] In order to achieve the above-mentioned purpose, a computer-readable storage medium is also provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned cleaning method after recharging the mobile device are implemented.

[0035] The cleaning method after recharging of the self-moving device provided by the present invention includes: when the self-moving device is recharged after completing the cleaning of the working area, after receiving the re-cleaning instruction, the re-cleaning area located in the working area is determined according to the cleaning data corresponding to the working area; according to the preset cleaning strategy, the self-moving device is controlled to perform re-cleaning in the re-cleaning area, and after determining that the re-cleaning is completed, the self-moving device is controlled to move to a preset parking position. In this way, by determining the re-cleaning area and controlling the self-moving device to clean the re-cleaning area, the situation where the current working environment continues to snow and covers the working area can be solved, and the situation where the snow in the current working environment is not completely cleaned can also be solved, thereby improving the cleaning effect of the working area where the self-moving device is located, and improving the user experience effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0037] Figure 1 It is a flow chart of an embodiment of a method for cleaning a mobile device after recharging according to the present invention.

[0038] Figure 2 It is a schematic block diagram of an embodiment of a mobile device of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] like Figure 1 As shown, a regional working method of a self-moving device provided by an embodiment of the present invention can be applied to a controller in the self-moving device, wherein the controller can also be understood as an MCU (microcontroller unit) or other devices with the same function, and the method includes the following steps S10 to S20:

[0041] S10, when the mobile device is recharged after completing cleaning of the working area, after receiving a re-cleaning instruction, a re-cleaning area located in the working area is determined according to the cleaning data corresponding to the working area.

[0042] Understandably, the working area can be the area where the self-mobile device performs snow clearing work, wherein the depth of snow covering the ground in the area is determined according to the amount of snowfall and the cleaning condition of the self-mobile device, e.g., if the snow in the working area is not cleared, and the depth formed after a period of continuous snowfall is 5 cm, etc.; the re-cleaning instruction can be an instruction issued by the user, or it can be an instruction automatically triggered after the system is fully charged, and the automatically triggered instruction is an instruction automatically generated after the self-mobile device is fully charged and there are areas that have not been cleaned in the working area or the working area is in a state of continuous snowing; the cleaning data can be the working parameter data involved in the cleaning performed by the self-mobile device, such as environmental data, cleaning area data and key area data; the area to be cleaned again can be part or all of the working area, and the self-mobile device can determine the cleaning area that the self-mobile device needs to perform subsequent work according to specific needs.

[0043] S20, controlling the self-moving device to perform re-cleaning in the re-cleaning area according to a preset cleaning strategy, and after determining that the re-cleaning is completed, controlling the self-moving device to move to a preset parking position.

[0044] It is understandable that the preset cleaning strategy can be the strategy required when the self-mobile device moves to the re-cleaning area, such as the cleaning starting point and cleaning focus in the re-cleaning area, the cleaning position in the re-cleaning area, the number of cleanings in the re-cleaning area, the cleaning order in the re-cleaning area, etc.; the preset parking position point can be the recharging position point of the self-mobile device, or it can be other waiting position points in the working area. It is further understandable that the selection of the preset parking position point as the recharging position point can be determined according to the power of the self-mobile device, and the selection of the preset parking position point as the waiting position point can be determined according to the current position of the self-mobile device. Please refer to the following content for details;

[0045] In the embodiment of steps S10 to S20, even if the self-mobile device triggers the recharging function, the self-mobile device can control the self-mobile device to perform the re-cleaning function in the determined re-cleaning area after receiving the re-cleaning instruction. In this way, the problem of continuous snowfall and covering the working area in the current working environment can be solved, and the problem of the accumulated snow in the current working environment not being completely cleared can also be solved, thereby improving the cleaning effect of the working area where the self-mobile device is located, and improving the user experience.

[0046] In one embodiment, the cleaning data includes environmental data and cleaning area data; and determining the re-cleaning area in the working area according to the cleaning data corresponding to the working area includes:

[0047] Obtain environmental data for the time period from recharging to receiving the re-cleaning instruction and the cleaning area data corresponding to before recharging;

[0048] Calculate the required cleaning height corresponding to the working area according to the environmental data;

[0049] A re-cleaning area in the working area is determined according to the required cleaning height and the cleaning area data.

[0050] Understandably, the environmental data may be weather data corresponding to the current working area, such as if it continues to snow in the current working area for one hour. Specifically, the environmental data from external sources may be acquired in real time through the API interface of the self-mobile device, and the specific time period corresponding to the environmental data may be determined. The cleaning area data may be area data of the area where the self-mobile device has worked before recharging, and the area may be all or part of the working area. Specifically, the cleaning area data corresponding to the worked area may be determined through the working map corresponding to the working area of ​​the self-mobile device. The required cleaning height may be the height of snow accumulation in the working area. Specifically, the required cleaning height may be calculated through the environmental data and the current height identified in the previous working area. The required cleaning height, wherein the current height can be calculated by an identification sensor installed on the self-moving device, or estimated by the working area not covered with snow and the environmental data for a period of time; the re-cleaning area is the area mentioned above, specifically, the re-cleaning area in the working area is determined by the required cleaning height and the cleaning area data, including: after determining that the working area has been completely cleaned or not completely cleaned by the cleaning area data, when it is determined that the required cleaning height of a part of the working area has reached the preset cleaning height, the re-cleaning area located in the working area is determined according to the cleaning area data corresponding to the part of the area, such as cleaning the whole working area or cleaning the working area that has been worked;

[0051] In this embodiment, the required cleaning height of the working area is calculated to ensure that the cleaning work in the cleaning area is more accurate. The area to be cleaned again is determined by the required cleaning height and the cleaning area data, which can reduce unnecessary repeated cleaning and ineffective work, and can significantly improve the cleaning efficiency. For example, the self-moving equipment can focus on the areas that really need to be cleaned, thereby completing the cleaning task faster.

[0052] In one embodiment, the cleaning data includes key area data and cleaning area data; and determining the re-cleaning area in the working area according to the cleaning data corresponding to the working area includes:

[0053] Get the corresponding cleaning area data before recharging;

[0054] Determine the key area data according to the size of the overall cleaning area corresponding to the working area;

[0055] A re-cleaning area in the working area is determined according to the cleaning area data and the key area data.

[0056] Understandably, the cleaning area data is consistent with the content mentioned above and will not be elaborated here; the key area data can be the area data corresponding to the key area in the working area, such as the area data that needs to be keyed or multiple times cleaned. Some areas with excessive snow depth can be regarded as areas that need key or multiple cleaning. Specifically, the key area data is determined by the overall cleaning area size of the working area and the position of the snow throwing position point. When the overall cleaning area size of the working area is large enough (because the working area is large enough, the self-mobile device cannot accurately throw snow to the snow throwing position point at a long distance when it is in a farther area, and the snow throwing position point is the accumulation point of all snow in the working area), and the snow throwing position point is far away from the current position point of the self-mobile device, it is necessary to perform partitioned snow throwing on the working area, that is, it is necessary to throw the snow in the distant area to the close area. At this time, the close area can be regarded as the area that needs key cleaning. Point area or area cleaned multiple times, it should be noted that the size of the overall cleaning area and the location of the snow throwing position point mentioned above can be confirmed through the work map corresponding to the work area; the re-cleaning area is the area mentioned above, specifically, the re-cleaning area in the work area is determined by the cleaning area data and the key area data, including: after determining through the cleaning area data that the working area has been completely cleaned or not completely cleaned, the key cleaning area corresponding to the key area data is determined as the re-cleaning area located in the work area, wherein the key cleaning area is used as the re-cleaning area because the previous cleaning work of the self-equipped equipment could not completely remove the snow covered in the area, specifically, when the depth of the snow is too thick, one cleaning cannot achieve the effect of complete removal, the snow in some close-range areas includes snow from long-range areas, and the current working environment may be in a state of continuous snowing;

[0057] In this embodiment, determining the key area data of the working area can ensure that the cleaning work in the cleaning area is more accurate. The area to be cleaned again determined by the key area data and the cleaning area data can reduce unnecessary repeated cleaning and ineffective work, and can significantly improve the cleaning efficiency. For example, the self-moving equipment can focus on the areas that really need to be cleaned, thereby completing the cleaning task faster.

[0058] In one embodiment, before the self-mobile device is recharged after cleaning the working area, the method further includes:

[0059] Determining whether the work area has been completely cleaned;

[0060] When it is determined that the working area has not been completely cleaned, determining whether the self-mobile device will pass through the uncleaned area when moving to the recharging position point;

[0061] When it is determined that the self-moving device will pass through an uncleaned area when moving to the recharging position, the height of the working device in the self-moving device is controlled to be adjusted to the highest height above the ground;

[0062] When it is determined that the self-moving device will not pass through the uncleaned area when moving to the recharging position, the height above the ground of the working device in the self-moving device is maintained at the current height above the ground.

[0063] Understandably, the working device may be a cleaning device arranged on the self-moving device, which may be a device composed of a snow shoveling structure and a snow throwing structure, wherein a snow rolling blade is arranged in the snow shoveling structure, and a snow throwing blade is arranged in the snow throwing structure, and the snow throwing blade may be used to realize long-distance snow throwing processing, and its height from the ground may be automatically adjusted according to specific snow shoveling requirements; the uncleaned area may be an area in the working area that has not been cleaned by the self-moving device;

[0064] Specifically, it is determined through the work map whether the work area has been completely cleaned, wherein, when the area is cleaned after being moved by the self-mobile device, the work map can form data of the cleaned area, and then it can be determined whether the work area has been completely cleaned; when it is determined that the work area has not been completely cleaned, it is determined through the current position of the self-mobile device whether the self-mobile device will pass through the uncleaned area when it moves to the recharging position; when it is determined that the self-mobile device will pass through the uncleaned area when it moves to the recharging position, the push rod device is used to control the ground clearance of the working device in the self-mobile device to be adjusted to the highest level, wherein the push rod The device is arranged in the self-moving device, which is physically connected to the working device. The push rod value and the height above the ground are in a mapping relationship, so that the height above the ground of the working device can be determined by adjusting the push rod value of the push rod device. In addition, the height above the ground of the working device is adjusted to the highest to prevent the working device from bringing snow to the recharging position point during the process of the self-moving device moving to the recharging position point; when it is determined that the self-moving device will not pass through the uncleaned area when moving to the recharging position point, the height above the ground of the working device in the self-moving device is maintained at the current height above the ground, wherein the snow in the cleaned area will not be brought to the recharging position point by the working device;

[0065] In this embodiment, the height of the working device from the ground is adjusted by the moving path of the self-moving device to prevent the working device in the self-moving device from bringing accumulated snow to the recharging position when the self-moving device moves to the recharging position, thereby affecting the cleaning effect of the recharging position of the self-moving device. It can also prevent excessive snow from accumulating at the recharging position and affecting the recharging effect of the self-moving device.

[0066] In one embodiment, controlling the self-moving device to perform re-cleaning in the re-cleaning area according to a preset cleaning strategy includes:

[0067] Determine the path sequence based on the recharging location points and the re-cleaning area;

[0068] The self-moving device is controlled to move from the recharging position point to the cleaning area according to the path sequence to perform re-cleaning.

[0069] Understandably, the path sequence may be the path sequence of the self-moving device moving from the recharging position point to the re-cleaning area, such as first moving to a first target position point in the re-cleaning area, and then moving to another second target position point in the re-cleaning area. Specifically, the self-moving device is controlled to move sequentially in the re-cleaning area and complete the re-cleaning.

[0070] In addition, the preset cleaning strategy in this embodiment may also include the number of cleaning times, such as the cleaning intensity of the key area is greater than the cleaning intensity of the ordinary area, and the key area is cleaned multiple times to clean up the excessive snow accumulated in the key area; the preset cleaning strategy in this embodiment may also include the cleaning intensity (such as by changing the power of the working motor corresponding to the working device), such as the cleaning intensity of the key area is greater than the cleaning intensity of the ordinary area, and the key area is cleaned with high intensity to clean up the excessive snow accumulated in the key area;

[0071] In this embodiment, the path sequence is determined according to the recharging position points and the re-cleaning area, and the self-mobile device is controlled to perform the re-cleaning function according to the path sequence, which can significantly improve the cleaning efficiency, optimize energy and time utilization, and enhance the user experience.

[0072] In one embodiment, the preset parking position includes a recharging position and a standby position; and controlling the self-moving device to move to the preset parking position includes:

[0073] Determine whether the current power value of the mobile device is lower than a preset power threshold;

[0074] When it is determined that the current power value of the mobile device is lower than the preset power threshold, the mobile device is controlled to move directly to the recharging location point and perform charging processing;

[0075] When it is determined that the current power value of the mobile device is not less than the preset power threshold, determining whether the mobile device needs to continue to perform another cleaning in the working area;

[0076] When it is determined that the self-moving device needs to continue to clean the working area again, the preset position point in the working area closest to the area corresponding to the re-cleaning is determined as the waiting position point, and the self-moving device is controlled to move to the preset parking position point and perform waiting processing.

[0077] Understandably, the preset power threshold can be an arbitrarily set threshold, and after the current power value is lower than the threshold, the self-moving device can be controlled to return to the recharging position point for recharging; the preset position point is a standby position point successfully pre-set in the working area, and the self-moving device can perform standby work at the standby position point. The purpose of selecting the nearest preset position point as the standby position point here is: first, the self-moving device does not need to move too far to waste power; second, the self-moving device does not need to move too far to drive the movement of snow, such as the movement of snow driven by the working device or the movement of snow driven by the walking part of the self-moving device; the method of determining whether the self-moving device needs to continue to perform re-cleaning in the working area includes: confirming by receiving the user's re-cleaning instruction, and confirming by recognizing that the height of snow in the working area reaches a predetermined height threshold;

[0078] In this embodiment, the current power value of the self-moving device is detected in real time and compared with the preset power threshold, so as to ensure that the self-moving device returns to charge in time when the power is low, avoid interruption of the cleaning task due to power exhaustion, and improve the reliability and stability of the self-moving device; when the self-moving device has sufficient power and needs to continue cleaning, by determining the standby position point closest to the current position and performing standby processing at the standby position point, it can ensure that the device can respond quickly when preparing to clean again, reduce waiting time, and improve cleaning efficiency; by determining the preset position point closest to the area to be cleaned again as the standby position point, the self-moving device can quickly return to the cleaning task, ensuring that the device can respond quickly when needed, thereby improving the overall work efficiency of the self-moving device.

[0079] The present invention provides a cleaning method after recharging of a self-mobile device, which belongs to the technical field of self-mobile device area cleaning. When the self-mobile device is recharged after completing cleaning of the working area, after receiving a re-cleaning instruction, the re-cleaning area located in the working area is determined according to the cleaning data corresponding to the working area; the self-mobile device is controlled to perform re-cleaning in the re-cleaning area according to a preset cleaning strategy, and after determining that the re-cleaning is completed, the self-mobile device is controlled to move to a preset parking position. In this way, by determining the re-cleaning area and controlling the self-mobile device to clean the re-cleaning area, the problem of continuous snow in the current working environment covering the working area can be solved, and the problem of snow in the current working environment not being completely cleaned can also be solved, thereby improving the cleaning effect of the working area where the self-mobile device is located, and improving the user experience effect.

[0080] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean 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 embodiment of the present invention.

[0081] like Figure 2 As shown, a self-moving device is also provided, including a controller and a memory, wherein the memory stores a cleaning program after the self-moving device is recharged, and the controller controls the cleaning program after the self-moving device is recharged to implement the steps of the cleaning method after the self-moving device is recharged. Among them, the front and body of the self-moving device are detachable and installable structures, and the front and body of the self-moving device can be provided with a variety of required sensors and / or devices, such as the front of the self-moving device can be provided with an identification sensor for identifying the depth of snow.

[0082] The execution function of the controller corresponds one-to-one to the cleaning method after recharging the self-mobile device in the above embodiment. For the specific definition of the controller, please refer to the definition of the cleaning method after recharging the self-mobile device above, which will not be repeated here. The execution process of each sub-module in the above controller can be referred to the definition of the cleaning method after recharging the self-mobile device above, which will not be repeated here. It can be implemented in whole or in part by software, hardware and a combination thereof. Each sub-module can be embedded in or independent of the controller in hardware form, or it can be stored in the memory of the controller in software form, so that the controller can call and execute the operations corresponding to each of the above sub-modules.

[0083] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method for cleaning after recharging the mobile device described in the above embodiment are implemented.

[0084] In one embodiment, the present invention also provides one or more readable storage media storing computer-readable instructions, and the readable storage medium provided in this embodiment includes a non-volatile readable storage medium and a volatile readable storage medium; the readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by one or more processors, the one or more processors implement the steps of the cleaning method after recharging the mobile device described in the above embodiment.

[0085] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they may include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may 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 many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0086] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the self-mobile device is divided into different functional units or modules to complete all or part of the functions described above.

[0087] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A cleaning method after recharging a mobile device, characterized in that: The method comprises: When the self-mobile device is recharged after completing cleaning of the working area, after receiving a re-cleaning instruction, a re-cleaning area located in the working area is determined according to the cleaning data corresponding to the working area; Control the self-moving device to perform re-cleaning in the re-cleaning area according to a preset cleaning strategy, and after determining that the re-cleaning is completed, control the self-moving device to move to a preset parking position; Before the self-mobile device is recharged after completing cleaning the working area, it also includes: Determining whether the work area has been completely cleaned; When it is determined that the working area has not been completely cleaned, determining whether the self-mobile device will pass through the uncleaned area when moving to the recharging position point; When it is determined that the self-moving device will pass through an uncleaned area when moving to the recharging position, the height of the working device in the self-moving device is controlled to be adjusted to the highest height above the ground; When it is determined that the self-moving device will not pass through the uncleaned area when moving to the recharging position, the height above the ground of the working device in the self-moving device is maintained at the current height above the ground; After determining whether the self-mobile device will pass through an uncleaned area when moving to the recharging position point, the method further includes: When it is determined that the self-mobile device will pass through an uncleaned area when moving to the recharging position point, determining whether the recharging position point is close to a target boundary in the working area; When it is determined that the recharging position is close to the target boundary in the working area, the height of the working device in the self-moving device is controlled to be adjusted to the lowest level above the ground, and the snow in the working area is pushed to the target boundary in the working area by the working device.

2. The cleaning method after recharging of a mobile device according to claim 1, characterized in that: The cleaning data includes environmental data and cleaning area data; and determining the re-cleaning area in the working area according to the cleaning data corresponding to the working area includes: Obtain environmental data for the time period from recharging to receiving the re-cleaning instruction and the cleaning area data corresponding to before recharging; Calculate the required cleaning height corresponding to the working area according to the environmental data; A re-cleaning area in the working area is determined according to the required cleaning height and the cleaning area data.

3. The cleaning method after recharging of a mobile device according to claim 1, characterized in that: The cleaning data includes key area data and cleaning area data; and determining the re-cleaning area in the working area according to the cleaning data corresponding to the working area includes: Get the corresponding cleaning area data before recharging; Determine the key area data according to the size of the overall cleaning area corresponding to the working area; A re-cleaning area in the working area is determined according to the cleaning area data and the key area data.

4. The cleaning method after recharging of a mobile device according to claim 1, characterized in that: The controlling the self-moving device to perform re-cleaning in the re-cleaning area according to the preset cleaning strategy includes: Determine the path sequence based on the recharging location points and the re-cleaning area; The self-moving device is controlled to move from the recharging position point to the cleaning area according to the path sequence to perform re-cleaning.

5. The cleaning method after recharging of a mobile device according to claim 1, characterized in that: The preset parking position point includes a recharging position point and a waiting position point; and the controlling the self-moving device to move to the preset parking position point includes: Determine whether the current power value of the mobile device is lower than a preset power threshold; When it is determined that the current power value of the mobile device is lower than the preset power threshold, the mobile device is controlled to move directly to the recharging location point and perform charging processing; When it is determined that the current power value of the mobile device is not less than the preset power threshold, determining whether the mobile device needs to continue to perform another cleaning in the working area; When it is determined that the self-moving device needs to continue to clean the working area again, the preset position point in the working area closest to the area corresponding to the re-cleaning is determined as the waiting position point, and the self-moving device is controlled to move to the preset parking position point and perform waiting processing.

6. A self-propelled device, characterized in that: It includes a controller and a memory, the memory stores a cleaning program after the mobile device is recharged, and the controller controls the cleaning program after the mobile device is recharged to implement the steps of the cleaning method after the mobile device is recharged as described in any one of claims 1 to 5.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for cleaning a mobile device after recharging are implemented as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for cleaning a mobile device after recharging are implemented as described in any one of claims 1 to 5.

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