To-be-cleaned area mapping method and device, cleaning device, and storage medium

Abstract

The application relates to the technical field of smart homes, and discloses a to-be-cleaned area mapping method, a to-be-cleaned area mapping device, a cleaning device and a computer readable storage medium. The method is applied to a cleaning device and comprises the following steps: in response to a mapping instruction, a storage position is acquired, a to-be-cleaned area is scanned and detected to draw a target map corresponding to the to-be-cleaned area, when a to-be-stored object is detected, first target path information for storing the to-be-stored object in the storage position is generated, the to-be-stored object is placed in the storage position according to the first target path information, the path is scanned and detected during travel, a shortest path between the cleaning device and a to-be-detected area in the to-be-cleaned area is planned according to the storage position and the to-be-detected area, and the to-be-detected area is scanned and detected according to the shortest path to complete drawing of the target map. In the above manner, the cleaning efficiency of the cleaning device is improved without significantly affecting the mapping process.

Description

Technical Field

[0001] This application relates to the field of smart home technology, specifically to a method for drawing a map of an area to be cleaned, a device for drawing a map of an area to be cleaned, a cleaning device, and a computer-readable storage medium. Background Technology

[0002] With the rapid development of technology and the continuous reduction in costs, smart home systems are gradually entering thousands of households. Cleaning equipment is the core of modern smart home cleaning, possessing autonomous mobility and the ability to automatically complete tasks such as vacuuming and mopping. Among them, cleaning equipment with robotic arms is one of the innovative directions of smart cleaning equipment in recent years. It combines the autonomous navigation and vacuuming / mopping functions of traditional cleaning equipment with the flexible operation capabilities of robotic arms, enabling it to handle complex cleaning tasks more intelligently, such as picking up and storing toys, clothing, and other miscellaneous items, lifting obstacles to clean their bottoms, and wiping vertical surfaces (such as cabinet doors).

[0003] However, existing cleaning equipment with robotic arms requires a special detection and collection process. This means that an additional step of detecting and collecting objects is added to the normal cleaning process. The cleaning equipment needs to perform cleaning work while simultaneously detecting whether there are objects to be collected. When it encounters objects to be collected (such as toys, clothes, crumpled paper, etc.), it must simultaneously complete the collection of objects and the cleaning of the floor. The collection process takes a certain amount of time, resulting in low cleaning efficiency of the cleaning equipment. Summary of the Invention

[0004] In view of the above problems, this application provides a method for drawing a map of an area to be cleaned, a device for drawing a map of an area to be cleaned, a cleaning device, and a computer-readable storage medium to solve the problem that the cleaning efficiency of the cleaning device is low because it takes a certain amount of time to store objects in the prior art.

[0005] According to one aspect of the embodiments of this application, a method for drawing a map of an area to be cleaned is provided, applied to a cleaning device. The method includes: in response to a mapping instruction, obtaining a storage location; scanning and probing the area to be cleaned to draw a target map corresponding to the area to be cleaned; when an item to be stored is detected, generating first target path information for storing the item to be stored at the storage location; placing the item to be stored at the storage location according to the first target path information, and scanning and probing the path corresponding to the first target path information during movement; planning the shortest path between the cleaning device and the area to be detected based on the storage location and the area to be detected within the area to be cleaned, wherein the area to be detected is an area within the area to be cleaned that has not been scanned and detected; and scanning and probing the area to be detected according to the shortest path to complete the drawing of the target map of the area to be cleaned.

[0006] In one optional approach, the area to be cleaned includes multiple sub-areas, and the storage location includes an actual storage location and a transit storage location. In response to a mapping command, the storage location is obtained, specifically including: in response to the mapping command, obtaining the actual storage location and its corresponding area information, where the area information represents the sub-area where the actual storage location is located; generating first target path information for storing the item to be stored at the storage location, specifically including: determining whether the actual storage location and the cleaning equipment are located in the same sub-area based on the area information; if so, generating path information from the item to be stored to the actual storage location to obtain the first target path information; if not, generating a transit storage location, and determining the first target path information based on the location of the item to be stored, the current location of the cleaning equipment, and the transit storage location.

[0007] In one optional approach, generating a transit storage location specifically includes: recording the location of the item to be stored and continuing to scan and detect the sub-area where the cleaning equipment is located; upon completion of the scanning and detection of the sub-area where the cleaning equipment is located, determining the location where the sub-area where the cleaning equipment is located connects to other sub-areas as the transit storage location.

[0008] In one alternative approach, the method further includes: when scanning and probing the sub-region corresponding to the area information of the actual storage location, generating second target path information based on the actual storage location and the transit storage location; and placing the item to be stored at the transit storage location at the actual storage location based on the second target path information.

[0009] In one optional approach, there are multiple storage locations, and each storage location corresponds to a type of stored item. The process involves generating first target path information for storing the item to be stored in a storage location, specifically including: identifying the item to be stored and determining the object type corresponding to the item; determining the storage location with the same item type as the object type as the target storage location for the item to be stored; and generating first target path information for storing the item to be stored in the target storage location.

[0010] In one optional approach, generating first target path information for storing the item to be stored to the storage location includes: if the storage type corresponding to the storage location is empty, calculating the location of the item to be stored and the distance between each storage location; determining the storage location with the shortest distance as the target storage location corresponding to the item to be stored; and generating first target path information for storing the item to be stored to the target storage location.

[0011] In one optional approach, the method further includes: if the object type of the item to be stored is a storage container, and the storage container is at a storage location, then determining whether the storage type corresponding to the storage location where the storage container is located is a storage container; if the storage type corresponding to the storage location is not a storage container, then determining the target storage location corresponding to the storage container; determining first target path information based on the storage location where the storage container is located and the target storage location, and updating the storage location where the storage container is located based on the target storage location.

[0012] In one alternative approach, the item to be stored is placed at the storage location based on the first target path information. Specifically, upon reaching the storage location, the area corresponding to the storage location is detected to determine whether a storage container exists at the storage location. If a storage container exists, the item to be stored is placed in the storage container; otherwise, the item to be stored is placed on the ground corresponding to the storage location.

[0013] According to another aspect of the embodiments of this application, a device for drawing a map of an area to be cleaned is provided. The device includes: a response module for obtaining a storage location in response to a mapping command; a first area detection module for scanning and detecting the area to be cleaned to draw a target map corresponding to the area to be cleaned; an object storage module for generating first target path information for storing the object to be stored in a storage location when an object to be stored is detected, placing the object to be stored in the storage location according to the first target path information, and scanning and detecting the path corresponding to the first target path information during movement; a path planning module for planning the shortest path between a cleaning device and a detection area within the area to be cleaned based on the storage location and the detection area within the area to be cleaned, wherein the detection area is an area within the area to be cleaned that has not been scanned and detected; and a second area detection module for scanning and detecting the detection area according to the shortest path to complete the drawing of the target map of the area to be cleaned.

[0014] According to another aspect of the embodiments of this application, a cleaning device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the map drawing method for the area to be cleaned as described in any of the preceding claims.

[0015] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the method for drawing a map of an area to be cleaned as described in any of the preceding claims.

[0016] In this embodiment, while scanning and detecting the area to be cleaned and drawing a target map corresponding to the area to be cleaned, the cleaning device can also detect items to be stored in the area to be cleaned and place them in a storage location. Without significantly affecting the map drawing process, the device can organize and store the items to be stored, so that the cleaning device does not need to organize and store the items to be stored when cleaning the area to be cleaned, thus improving the cleaning efficiency of the cleaning device.

[0017] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0018] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0019] Figure 1 A flowchart illustrating the method for drawing a map of an area to be cleaned, as provided in an embodiment of this application, is shown.

[0020] Figure 2 This invention provides a first structural schematic diagram of the area to be cleaned according to a first embodiment of the present application.

[0021] Figure 3 This invention illustrates a second structural diagram of the area to be cleaned provided in the first embodiment of this application;

[0022] Figure 4 This invention illustrates a third structural diagram of the area to be cleaned provided in the first embodiment of this application;

[0023] Figure 5 This invention provides a first structural schematic diagram of the area to be cleaned according to a second embodiment of the present application.

[0024] Figure 6 This invention provides a second structural schematic diagram of the area to be cleaned according to a second embodiment of the present application.

[0025] Figure 7 This invention provides a third structural schematic diagram of the area to be cleaned according to a second embodiment of the present application.

[0026] Figure 8 A flowchart illustrating the method for drawing a map of an area to be cleaned, according to the third embodiment of this application, is shown.

[0027] Figure 9A schematic diagram of the structure of the area to be cleaned provided in the third embodiment of this application is shown;

[0028] Figure 10 This invention provides a schematic diagram of the structure of a device for mapping an area to be cleaned, as illustrated in an embodiment of this application.

[0029] Figure 11 A schematic diagram of the structure of the cleaning equipment provided in an embodiment of this application is shown. Detailed Implementation

[0030] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0031] Cleaning equipment such as robotic vacuum cleaners can achieve autonomous cleaning, intelligent planning, and remote control through technologies such as sensors, artificial intelligence, and the Internet of Things. These cleaning devices can automatically sense the environment, plan paths, and avoid obstacles while cleaning, effectively improving cleaning efficiency. Among them, cleaning equipment with robotic arms can not only perform traditional cleaning functions, but also collect and organize objects such as toys, clothing, and crumpled paper.

[0032] Existing cleaning equipment needs to clean the area to be cleaned while simultaneously detecting whether there are any items to be stored within that area. When it encounters toys, clothing, crumpled paper, or other items to be stored, it must simultaneously store the items and clean the floor. For example, the cleaning equipment could first use a robotic arm to pick up the items to be stored and move them to a designated storage area, then return to the location where it first encountered the items to continue cleaning the floor; or, the cleaning equipment could first use a robotic arm to place the items to be stored on the already cleaned floor, and after cleaning the floor, return to store the items to be stored in the designated storage area; or, the cleaning equipment could first clean the area excluding the location of the items to be stored, then store the items to be stored in the designated storage area, and finally clean the area originally occupied by the items.

[0033] Regardless of the approach chosen, cleaning equipment requires additional steps for detecting and organizing objects during the cleaning process. This involves simultaneously detecting and organizing objects while cleaning the floor, and the time-consuming process impacts cleaning efficiency. This is especially true for cleaning equipment that requires rapid mapping before cleaning. The equipment first scans and probes the area to be cleaned to create a map during the mapping phase, and then repeats this scanning process during cleaning, resulting in repeated scans of the area.

[0034] Based on this, in order to improve the cleaning efficiency of cleaning equipment, this application provides a method for mapping a cleaning area. This method integrates the step of tidying up objects into rapid mapping. Utilizing the scanning and detection function of the cleaning area required in the rapid mapping process, it simultaneously detects whether there are objects to be tidied up within the cleaning area. When an object to be tidied up is detected, it is tidied up, eliminating the need for the cleaning equipment to tidy up objects during the cleaning process and avoiding any impact on cleaning efficiency. Furthermore, rapid mapping does not require the cleaning equipment to strictly follow a specific route. After tidying up the objects, the cleaning equipment can directly replan its path to reach an un-scanned area and continue scanning and detection of the cleaning area without having to return to the location where the objects were found. This allows the cleaning equipment to complete the object tidying up step simultaneously without significantly affecting the original rapid mapping process.

[0035] The map-drawing method for areas to be cleaned disclosed in this application can not only be a rapid mapping method on cleaning equipment, but also a mapping function such as automatic multi-map recognition and patrol mapping mode on cleaning equipment. The cleaning equipment is a smart home device, such as a robotic vacuum cleaner, that achieves autonomous cleaning and intelligent planning through technologies such as the Internet of Things, artificial intelligence, and automated control.

[0036] Specifically, cleaning equipment is typically equipped with sensors, navigation systems, cleaning modules, and intelligent algorithms, enabling it to automatically perform tasks such as vacuuming and mopping. During the cleaning process, it plans its path, avoids obstacles, and automatically returns to its charging dock. Users can trigger the cleaning function of the equipment via a mobile app, voice control, or a timer to clean the area to be cleaned (e.g., kitchen, bedroom, living room, balcony).

[0037] The area to be cleaned can be an area consisting of only one space, such as a kitchen, bedroom, living room, or balcony. In this case, the cleaning equipment only needs to clean one of these spaces. Alternatively, it can be an area consisting of multiple spaces, such as a bedroom, living room, or balcony. In this case, the cleaning equipment needs to clean the area formed by these multiple spaces, with any single space being a sub-area of ​​the area to be cleaned.

[0038] According to a first aspect of the embodiments of this application, a method for drawing a map of an area to be cleaned is provided, such as... Figure 1 As shown, Figure 1A flowchart illustrating a method for drawing a map of an area to be cleaned, as provided in an embodiment of this application, is shown. This method is executed by a cleaning device, specifically by the controller of the cleaning device (e.g., a processor on the cleaning device). Figure 1 As shown, the method includes the following steps:

[0039] Step S100: In response to the mapping instruction, obtain the storage location.

[0040] Among them, the mapping command is used to trigger the cleaning equipment to draw a map corresponding to the area to be cleaned. The mapping command can be a command input by the user, such as a command input by the user through a mobile APP or voice control after the cleaning equipment is turned on for the first time or after restoring factory settings. It can also be a command triggered by a timer, such as the cleaning equipment using a timer to update the map corresponding to the area to be cleaned in order to update the position of objects such as furniture and temporary obstacles (such as suitcases) on the map.

[0041] Furthermore, this mapping command can also be associated with cleaning commands (i.e., commands that trigger the cleaning device to clean the area to be cleaned). This allows the cleaning device to automatically trigger the mapping command in response to the cleaning command. In other words, the user only needs to input the cleaning command into the cleaning device, and the device can scan and probe the area to be cleaned according to the command to create a map of the area. During the scanning and probing process, it can also organize and tidy up any objects that need to be stored within the area. For example, in the case of multi-layered maps or multiple usage pattern maps, when the user inputs a cleaning command into the cleaning device, the device needs to scan and probe the environment in which it is located before starting the cleaning work to automatically identify the map corresponding to the area to be cleaned, and then clean the environment in which the device is located based on the map.

[0042] The storage location refers to the designated area within the cleaning zone for storing toys, clothes, crumpled paper, and other items. This can be a storage container such as a storage box, storage basket, or trash can, or a specific area within the cleaning zone, such as a toy area, entryway area, or clothes storage area. The user can manually select this storage location. For example, users can view a map of the cleaning area via a mobile app and select the location of a storage container or storage area on the map, or select a storage location based on the spatial relationship (such as orientation and distance) between the storage container / area and the cleaning equipment.

[0043] A single storage location can be set up within the area to be cleaned, allowing all items requiring storage to be placed in the same spot. Alternatively, multiple storage locations can be set up within the area to be cleaned, allowing for the organization of items by area or category. For example, if the area to be cleaned has multiple sub-areas, users can set up separate storage locations within each sub-area to organize items individually. Or, users can assign corresponding storage types to each storage location to categorize and organize items, such as storing toys in the toy area, shoes in the entryway area, crumpled paper in the trash can, and clothes in the laundry basket or clothing storage area.

[0044] The storage location can be specified by the user on the map each time the cleaning device triggers a mapping command; or it can be specified by the user when the cleaning device is first turned on, meaning the user only specifies the storage location when the cleaning device is first turned on, and the cleaning device can directly obtain the storage location previously specified by the user in subsequent mapping processes; or it can be the storage location recorded by the cleaning device in the historical cleaning process, meaning that in the historical cleaning process, the cleaning device records the location of the detected storage boxes, trash cans, and other storage containers, so that the cleaning device can directly obtain the storage location from the previously recorded information in the subsequent mapping process.

[0045] Step S200: Scan and probe the area to be cleaned to create a target map corresponding to the area to be cleaned.

[0046] The cleaning equipment can travel along a specific path within the area to be cleaned. During its journey, it uses sensors (such as lidar) and vision systems (such as cameras) to scan and detect the area, determining information such as the room layout, the location of obstacles (such as walls, wardrobes, sofas, etc.), and ground height differences. Based on this information, it creates a target map of the area to be cleaned, allowing the cleaning equipment to optimize its cleaning path and achieve a precise and efficient cleaning strategy.

[0047] Step S300: When an item to be stored is detected, generate first target path information for storing the item to be stored in the storage location, place the item to be stored in the storage location according to the first target path information, and scan and detect the path corresponding to the first target path information during the process.

[0048] When the cleaning equipment is drawing a target map of the area to be cleaned, it can first detect obstacles in the environment using LiDAR and a vision system. When an obstacle is detected, it can collect an image of the obstacle and then use algorithms such as support vector machine, random forest, object detection model, and image classification model to identify the image in order to determine the type of obstacle and whether the obstacle is an object to be collected (i.e., an item to be collected).

[0049] The items to be stored can be manually selected by the user (such as toys, clothing, books, etc.). This selection can be made when triggering a mapping command or when the cleaning device is first turned on, and will be used to detect the selected object type during subsequent uses. When there are multiple storage locations, the user can select the item to be stored and choose the corresponding storage location for different types of items. If the user does not select an item, the cleaning device will identify the item to be stored based on its own default object type, which can be the default object type set at the factory, such as toys, clothing, and shoes, which are usually considered to require storage.

[0050] When the cleaning equipment detects an item to be stored, it uses algorithms such as deep learning, path planning, and quantum annealing optimization to generate a path (i.e., the first target path information) to store the item in the storage location, based on the location of the cleaning equipment, the location of the item to be stored, and the storage location.

[0051] Specifically, if the cleaning equipment is located at the location of the item to be stored, the cleaning equipment can directly generate the optimal path from the item to the storage location based on the item's location and the storage location, thus obtaining the first target path information. If the cleaning equipment and the item to be stored are in different locations, the cleaning equipment needs to first generate the optimal path to the item's location based on its own location and the item's location, and then generate the optimal path from the item to the storage location based on the item's own location and the storage location, in order to obtain the first target path information. It should be noted that the optimal path mentioned above can be determined using different evaluation methods, such as the shortest path, the path with the least time, or the path with the fewest obstacles.

[0052] Furthermore, when there are multiple storage locations within the area to be cleaned, and each storage location corresponds to a specific type of item to be stored, the cleaning equipment can first identify the type of item to be stored, then determine the corresponding storage location based on the type of item, and finally generate the target storage location based on the determined storage location. Specifically, the cleaning equipment can determine the first target path information through the following steps (steps S311a to S313a):

[0053] Step S311a: Identify the item to be stored and determine the type of object corresponding to the item to be stored.

[0054] Step S312a: Determine the storage location where the type of the item being stored is the same as the type of the object being stored as the target storage location for the item to be stored.

[0055] Step S313a: Generate the first target path information for storing the items to be stored in the storage location.

[0056] When users select a storage location on the map, they can set one or more storage item types for each location. For example, if the storage location corresponds to the toy area, the corresponding storage item type could be toys, dolls, etc.; if the storage location corresponds to the clothes storage area, the corresponding storage item type could be shirts, pants, socks, hats, etc.; and if the storage location corresponds to the entryway area, the corresponding storage item type could be shoes.

[0057] In addition, the type of items stored in each storage location can be automatically identified and determined by the cleaning equipment. For example, the type of items can be divided into garbage and non-garbage. After the user selects a storage location, the cleaning equipment can identify the storage container in the storage location when it detects the location. If the storage container is a garbage can, the type of items stored in the storage location will be determined as garbage; otherwise, the type of items stored in the storage location will be determined as non-garbage.

[0058] The object type of the item to be stored indicates what kind of object it is. This object type can be a broad category set by the cleaning equipment itself, such as garbage or non-garbage, or it can be a subcategory set by the user, such as toys, clothes, or crumpled paper. The cleaning equipment can use algorithms such as support vector machines, random forests, knowledge distillation, and deep learning to determine the object type of the item to be stored. Then, based on the object type, it determines the target storage location corresponding to the item from multiple storage locations, and finally generates the first target path information for storing the item to the target storage location.

[0059] Through steps S311a to S313a, the cleaning equipment can classify and store the items to be cleaned in the area according to the type of items corresponding to each storage location. On the one hand, this avoids repeated sorting caused by messy accumulation of items to be stored. On the other hand, the cleaning equipment can store the items to be stored in fixed locations, ensuring that users can still quickly locate and find the required items after the cleaning equipment has finished storing them, reducing search time.

[0060] Furthermore, if the user does not set the type of items to be stored after selecting a storage location, it means that the cleaning equipment cannot classify and store the items according to their corresponding object types. To ensure that each item in the area to be cleaned can be stored properly, the cleaning equipment can determine the first target path information through the following steps (steps S311b to S313b):

[0061] Step S311b: If the type of the storage item corresponding to the storage location is empty, calculate the location of the item to be stored and the distance between each storage location.

[0062] Step S312b: Determine the storage location with the shortest distance as the target storage location for the item to be stored.

[0063] Step S313b: Generate the first target path information for storing the items to be stored in the target storage location.

[0064] The cleaning equipment can calculate the distance between the items to be stored and each storage location using algorithms such as Euclidean distance, Manhattan distance, Chebyshev distance, and Mahalanobis distance. The closer the distance between the items to be stored and each storage location, the less time it usually takes for the cleaning equipment to travel from the location of the items to the storage locations. Therefore, determining the storage location with the shortest distance as the target storage location for the items to be stored can usually enable the cleaning equipment to store the items to be stored in the target storage location more quickly, thus improving the efficiency of item storage.

[0065] Through steps S311b to S313b, the cleaning equipment can, by default, store the item to be stored in the storage location closest to the item when no corresponding storage type is set in the storage location. This allows for quick storage and organization of the item, reducing the impact of the storage and organization on the cleaning equipment's mapping process.

[0066] After determining the initial target path information, the cleaning equipment needs to pick up the items to be stored and proceed to the storage location according to the target path information to place the items there, thus completing the storage and organization of the items. Furthermore, the cleaning equipment can scan and detect the locations it passes through during its journey, specifically the path corresponding to the initial target path information. This allows the cleaning equipment to simultaneously organize the items and scan undetected areas along the way, minimizing the impact of item storage on the existing mapping.

[0067] As an example, such as Figure 2 and Figure 3 As shown, Figure 2 and Figure 3Two structural diagrams of the area to be cleaned are shown respectively. The large square area in the diagram represents the area to be cleaned 1. The shaded part in the area to be cleaned 1 represents the area that has been scanned and detected. The blank part in the area to be cleaned 1 represents the area that has not been scanned and detected. The circular structure in the area to be cleaned 1 represents the cleaning device 2, the diamond structure represents the item to be stored 3, and the rectangular structure represents the storage location 4.

[0068] like Figure 2 As shown, the cleaning device 2 starts scanning and probing the area 1 to be cleaned from the lower right corner, and moves within the area 1 in a "bow" shape from right to left. When the cleaning device 2 detects the item to be collected 3, it picks up the item and moves it according to the first target path information from... Figure 2 Head to the location shown Figure 3 The position shown indicates that the item to be stored 3 is placed in the storage location 4. The cleaning device 2 can scan and detect the area it passes through while moving, meaning that the area within the area to be cleaned 1 that has already been scanned and detected will be... Figure 2 The shaded area shown has increased to Figure 3 The shaded area shown allows for the scanning and detection of undetected areas within the cleaning area 1 while simultaneously organizing and tidying up objects.

[0069] Furthermore, when the storage location is a storage container such as a storage box, storage frame, or trash can, the cleaning equipment, upon reaching the storage location based on the first target path information, can detect the area corresponding to the storage location and, upon detecting a storage container, place the item to be stored into the container. Specifically, the cleaning equipment can organize and store the item to be stored through the following steps:

[0070] Step S321: Upon reaching the storage location, detect the area corresponding to the storage location to determine whether a storage container exists at the storage location.

[0071] Step S322: If a storage container exists, place the item to be stored in the storage container.

[0072] Step S323: Otherwise, place the item to be stored on the ground corresponding to the storage location.

[0073] In addition to common containers such as storage boxes, storage frames, and trash cans, storage containers can also be desktops, shelves, and other spaces used for storing objects. Cleaning equipment can use a vision system to capture images of the area corresponding to the storage location and process these images using algorithms such as object detection and recognition to determine if a storage container exists at that location. If it does, the item to be stored is placed in the container; otherwise, it is simply piled on the floor corresponding to the storage location.

[0074] Through steps S321 to S323, when there is a storage container in the storage location of the cleaning equipment, the items to be stored can be placed directly into the storage container, avoiding the need for manual repetitive storage and organization of the items to be stored.

[0075] After step S300, step S400 is executed: determine whether there is a region to be detected within the area to be cleaned.

[0076] If so, it means that the cleaning equipment has not yet completed the scanning and detection of the area to be cleaned. After placing the item to be stored in the storage position, it is still necessary to continue scanning and detecting the area to be detected in the area to be cleaned, and execute step S500.

[0077] If not, it means that the cleaning equipment has completed the scanning and detection of the area to be cleaned, that is, the cleaning equipment has completed the drawing of the target map. The cleaning equipment can end the scanning and detection of the area to be cleaned and start to perform subsequent operations, such as cleaning the area to be cleaned according to the target map.

[0078] Step S500: Based on the storage location and the area to be detected within the area to be cleaned, plan the shortest path between the cleaning equipment and the area to be detected, where the area to be detected is the area within the area to be cleaned that has not been scanned or detected.

[0079] Step S600: Scan the area to be detected based on the shortest path to complete the drawing of the target map of the area to be cleaned.

[0080] During the scanning and detection of the area to be detected, the cleaning equipment also needs to continue to detect whether there are any items to be collected in the area to be detected, and when items to be collected are detected, it continues to collect and organize the detected items to be collected. That is, after step S600, step S300 is executed.

[0081] After the cleaning equipment has finished organizing the items to be stored, it can directly move from the storage location to the nearest area to be scanned and scan it to create a target map of the area to be cleaned. Specifically, after placing the items, the cleaning equipment can use algorithms such as Dijkstra, A-Star, and Bellman-Ford to plan the shortest path from the storage location to the area to be scanned, enabling the cleaning equipment to quickly reach the area to be scanned and continue scanning.

[0082] by Figure 3Taking the structure shown as an example, if the cleaning device 2 detects that the storage position 4 is located in the detection area when the item to be stored 3 is placed, then after placing the item 3, the cleaning device 2 can move upwards to the detection area above the cleaning device (i.e., the blank area), or move downwards along the shortest path to the detection area in the lower right corner of the cleaning device, and continue scanning the detection area without having to return to the original position of the item 3. Figure 3 In the structure shown, while the cleaning device 2 is organizing and tidying up the items 3, it can also scan and detect the area to be cleaned normally. That is, the organization and tidying up of the items will not affect the mapping of the area to be cleaned.

[0083] by Figure 4 Taking the structure shown as an example, if the cleaning device 2 finds that the storage location of the item to be stored 3 is in an area that has already been scanned and detected, then after placing the item to be stored 3, the cleaning device 2 will directly go to the area to be detected (i.e., the blank area) in the direction shown by the dotted arrow in the figure. Compared with the process of first returning to the original position of the item to be stored 3 and then continuing to scan and detect the area to be detected, the cleaning device 2 can reach the area to be detected more quickly, effectively reducing the impact of the storage and organization of objects on map drawing.

[0084] In the above embodiments, while scanning and detecting the area to be cleaned and drawing a target map corresponding to the area to be cleaned, the cleaning device can also detect the items to be stored in the area to be cleaned and place the items to be stored in the storage location. Without significantly affecting the map drawing process, the cleaning device can collect and organize the items to be stored, so that the cleaning device does not need to collect and organize the items to be stored when cleaning the area to be cleaned, thus improving the cleaning efficiency of the cleaning device.

[0085] Furthermore, to avoid collisions between the cleaning equipment and obstacles, the cleaning equipment scans and detects the area to be cleaned before cleaning to update the positions of obstacles within the area. Specifically, after step S600, the method further includes:

[0086] Step S700: Clean the area to be cleaned according to the target map.

[0087] The cleaning equipment can first plan a cleaning route based on the target map, and then move within the area to be cleaned according to the cleaning route. At the same time, it uses the roller brush, side brush, vacuum fan, mop and other structures on the cleaning equipment to clean the area to be cleaned.

[0088] In the above embodiments, before cleaning the area to be cleaned, the cleaning device first scans and probes the area to be cleaned to draw a target map corresponding to the area to be cleaned. On the one hand, the map drawing process can be used to organize and store items to be stored in the area to be cleaned, ensuring the smoothness of the cleaning process. On the other hand, the position of obstacles in the area to be cleaned can be updated by scanning and probing, avoiding collisions between the cleaning device and obstacles due to their movement.

[0089] Furthermore, such as Figure 5 , Figure 6 and Figure 7 As shown, Figure 5 , Figure 6 and Figure 7 The diagrams show three different structures of the area to be cleaned in the second embodiment. As shown in the figure, the area to be cleaned includes multiple sub-areas. In this case, the user can set only one storage location to collect and organize all the items to be stored in the area to be cleaned in one place. Alternatively, storage locations can be set in each sub-area to organize the items to be stored in different areas, thereby avoiding the need for repeated organization due to clutter.

[0090] Furthermore, due to the existence of multiple sub-areas, the items to be stored and the user-selected storage location (i.e., the actual storage location) may be located in the same sub-area or in different sub-areas. When the items to be stored and the actual storage location are in different sub-areas, the items to be stored can be first gathered and organized into a temporary storage location (i.e., a transit storage location), and then transferred from the transit storage location to the actual storage location after the scanning and detection of the area to be cleaned is completed.

[0091] Therefore, in order to accurately organize and store the items to be stored, step S100 may include the following steps:

[0092] Step S110: In response to the mapping instruction, obtain the actual storage location and its corresponding area information. The area information is used to represent the sub-area where the actual storage location is located.

[0093] The actual storage location is the storage location actually selected by the user, that is, the actual storage location in the area to be cleaned for storing the items to be stored. Only when the items to be stored are placed in the actual storage location can the storage and organization of the items be considered complete.

[0094] When selecting a storage location, users can simultaneously select the corresponding area information. If the cleaning device already stores a map of the device to be cleaned, users can select the sub-area where the actual storage location is located on the map to generate the area information corresponding to the actual storage location. If the cleaning device does not store a map of the device to be cleaned, users can manually set the area information corresponding to the actual storage location. For example, users can manually set whether the actual storage location is in the same sub-area as the cleaning device, and whether the sub-area where the actual storage location is located is directly connected to the sub-area where the cleaning device is located through a door or passage.

[0095] When cleaning equipment detects items to be stored, it can determine, based on area information, whether to place the items directly into the actual storage location or temporarily place them in a transit storage location. Specifically, the cleaning equipment can generate initial target path information through the following steps:

[0096] Step S321: Determine whether the actual storage location and cleaning equipment are located in the same sub-area based on the area information.

[0097] If so, it means that the item to be stored detected by the cleaning device is located in the same sub-area as the actual storage location. The cleaning device can directly place the item to be stored in the actual storage location and execute step S322, so that the cleaning device can directly place the item to be stored in the actual storage location.

[0098] If not, it means that the items to be collected detected by the cleaning equipment are not in the same sub-area as the actual collection location. The cleaning equipment can first place the items to be collected in the intermediate collection location, and after completing the scanning and detection of the area to be cleaned, place the items to be collected in the intermediate collection location into the actual collection location, and execute step S323.

[0099] Step S322: Generate path information from the item to be stored to the actual storage location to obtain the first target path information.

[0100] The cleaning equipment can directly generate path information from the location of the item to be stored to the actual storage location based on the location of the item and the actual storage location, enabling the cleaning equipment to move the item to be stored and place it in the actual storage location based on the first target path information.

[0101] Step S323: Generate transit storage location. Determine the first target path information based on the location of the item to be stored, the current location of the cleaning equipment, and the transit storage location.

[0102] When the cleaning equipment and the actual storage location are located in different sub-areas, the transit storage location is used to temporarily gather the items to be stored together, so that all the items to be stored can be stored in the actual storage location later. The transit storage location can be any location within the sub-area where the cleaning equipment is located, such as the center of the sub-area, or the location where the sub-area where the cleaning equipment is located connects to other sub-areas.

[0103] Specifically, when the cleaning equipment detects items to be stored, it can directly generate a transfer storage location. For example, the cleaning equipment can use the map corresponding to the area to be cleaned that is stored in the cleaning equipment in the past or the floor plan that is stored in the cleaning equipment in advance selected by the user to generate a transfer storage location in the area where the cleaning equipment is located according to preset rules (such as the center location of the sub-area, the location of the interconnection between sub-areas, etc.).

[0104] When the cleaning equipment does not store a virtual map corresponding to the area to be cleaned, the cleaning equipment can generate a transfer and storage location after scanning and detecting the sub-area where the cleaning equipment is located.

[0105] Specifically, cleaning equipment can generate transit storage locations through the following steps:

[0106] Step S323a: Record the location of the item to be collected and continue scanning and probing the sub-area where the cleaning equipment is located.

[0107] Step S323b: When the scanning and detection of the sub-area where the cleaning equipment is located is completed, the location where the sub-area where the cleaning equipment is located is connected to other sub-areas is determined as the transfer and storage location.

[0108] Specifically, when the cleaning equipment detects an item to be collected, it first records the location of the item and continues to scan and probe the sub-area where the cleaning equipment is located to determine where the sub-area where the cleaning equipment is located is connected to other sub-areas. After scanning and probing the sub-area where the cleaning equipment is located, the location where the sub-area where the cleaning equipment is located is determined as the transit storage location. Then, based on the previously recorded location of the item to be collected and the transit storage location, the first target path information is generated, so that the cleaning equipment can go from its current location to the location of the item to be collected to pick up the item, and then go from the location of the item to the transit storage location to place the item.

[0109] As an example, such as Figure 5 , Figure 6 and Figure 7As shown, the cleaning device 2 is located in sub-area A, while the actual storage location 5 is located in sub-area B. After completing the scanning and detection of sub-area A, the cleaning device 2 determines the connecting position between sub-area A and sub-area B as the transfer storage location, and then picks up the items C and D to be stored in sub-area A one by one and places them in the transfer storage location.

[0110] When cleaning device 2 is storing item C, it can scan and detect a portion of sub-area B through the connection point between sub-area A and sub-area B. That is, the area within the area to be cleaned that has already been scanned and detected is... Figure 5 The area shown increases to Figure 6 The area shown; however, when cleaning device 2 is collecting the item D, because the direction of travel of cleaning device 2 from the location of the item D to the transfer storage location is different from the direction of travel of cleaning device 2 from the location of the item C to the transfer storage location, the area that cleaning device 2 can detect when it reaches the transfer storage location is also different. That is, the area that has been scanned and detected within the area to be cleaned is different from the area that has been scanned and detected within the area to be cleaned. Figure 6 The area shown increases to Figure 7 The area shown. During this process, while collecting the items to be collected, the cleaning device 2 can also scan and detect a portion of the area within sub-area B, thereby reducing the impact of object collection on map drawing.

[0111] Furthermore, regardless of whether items need to be collected, after scanning and detecting sub-area A, cleaning device 2 needs to travel to sub-area B via the connecting point between sub-area A and sub-area B to scan and detect sub-area B. By storing the items in the connecting point between sub-area A and sub-area B, cleaning device 2 saves one dedicated travel distance compared to returning to sub-area A to store the items, thus avoiding increased travel distance and improving cleaning speed.

[0112] Furthermore, in order to collect items to be stored in the transit storage location and move them to the actual storage location, such as... Figure 8 As shown, Figure 8 A flowchart illustrating the map drawing method provided in the third embodiment of this application is shown. The method further includes the following steps:

[0113] Step S331: When scanning and probing the sub-regions corresponding to the actual storage location, generate second target path information based on the actual storage location and the transit storage location.

[0114] Step S332: Based on the second target path information, place the item to be stored at the transit storage location into the actual storage location.

[0115] The cleaning equipment records items to be collected at the intermediate storage location, so that after scanning and detecting the area to be cleaned, it can collect the items into the actual storage location. As an example, such as... Figure 9 As shown, Figure 9 A schematic diagram of the area to be cleaned in the third embodiment is shown. After the cleaning device 2 completes the scanning and detection of the sub-area (i.e., sub-area B) where the actual storage location 5 is located, the cleaning device 2 searches the storage data table according to the actual storage location 5, obtains the item to be stored (i.e., the item to be stored D) and the transit storage location corresponding to the item to be stored D from the storage data table, and then generates second target path information according to the current position of the cleaning device 2, the transit storage location corresponding to the item to be stored D and the actual storage location 5, so that the cleaning device 2 goes from its current position to the transit storage location corresponding to the item to be stored D to pick up the item to be stored D, and then goes from the transit storage location corresponding to the item to be stored D to the actual storage location 5 to place the item to be stored D.

[0116] In the above embodiment, the items to be stored in the transit storage location are recorded through the storage data table, and after the scanning and detection of the area to be cleaned is completed, the items to be stored in the transit storage location are collected into the actual storage location to ensure that all items to be stored in the area to be cleaned can be stored into the actual storage location.

[0117] Furthermore, the items to be stored can be not only toys and clothing, but also storage containers such as storage boxes, storage baskets, and trash cans. When the positions of these storage containers change, the cleaning equipment needs to update the corresponding storage positions in a timely manner to ensure that the cleaning equipment can properly place the items to be stored into the storage containers. Specifically, the method also includes the following steps:

[0118] Step S314: If the object type of the item to be stored is a storage container, and the storage container is in the storage location, then determine whether the storage type corresponding to the storage location where the storage container is located is a storage container.

[0119] If so, when the location indicating that the storage container is already in the area to be cleaned for collection, the cleaning equipment no longer needs to store the storage container and can continue to scan and detect the area to be detected, and execute step S400.

[0120] If not, it means that the storage container is not located in the designated collection area within the cleaning zone. The cleaning equipment needs to pick up the storage container and collect it in the designated collection area within the cleaning zone. At this time, since the location of the storage container has changed, the storage location of the storage container needs to be updated synchronously to ensure that the cleaning equipment accurately collects subsequently detected items into the storage container, and proceeds to step S315.

[0121] Step S315: If the storage type corresponding to the storage location where the storage container is located is not a storage container, then determine the target storage location corresponding to the storage container.

[0122] Step S316: Determine the first target path information based on the storage location of the storage container and the target storage location, and update the storage location of the storage container based on the target storage location.

[0123] When the cleaning equipment detects an item to be stored, it can identify the item using algorithms such as target recognition and target inspection. When it identifies the item as a storage container such as a storage box, storage frame, or trash can, it can obtain the location of the storage container and compare the location of the storage container with multiple storage locations to determine whether the storage container is in the storage location.

[0124] Specifically, the cleaning equipment can define a range corresponding to the storage location centered on the storage location, according to a preset distance. If the storage container is outside this range, it means that the storage container is not in the storage location. If the storage container is within this range, it means that the storage container is in the storage location, that is, the storage container selected by the user. When the location of the storage container changes, the corresponding storage location needs to be updated in a timely manner, that is, the storage location of the storage container needs to be updated according to the target storage location to ensure that the cleaning equipment can accurately find the storage container selected by the user.

[0125] According to a second aspect of the embodiments of this application, a device for mapping an area to be cleaned is also provided. Figure 10 A schematic diagram of the structure of the area-to-be-cleaned map drawing device provided in an embodiment of this application is shown. Figure 10 As shown, the cleaning area map drawing device 7 includes: a response module 71, a first area detection module 72, an object storage module 73, a path planning module 74, and a second area detection module 75.

[0126] The response module 71 is used to respond to mapping instructions and obtain the storage location. The first area detection module 72 is used to scan and detect the area to be cleaned in order to draw a target map corresponding to the area to be cleaned. The object storage module 73 is used to generate first target path information for storing the object to be stored in the storage location when the object to be stored is detected, place the object to be stored in the storage location according to the first target path information, and scan and detect the path corresponding to the first target path information during the movement. The path planning module 74 is used to plan the shortest path between the cleaning equipment and the area to be detected in the area to be cleaned, where the area to be detected is the area in the area to be cleaned that has not been scanned and detected. The second area detection module 75 is used to scan and detect the area to be detected according to the shortest path to complete the drawing of the target map of the area to be cleaned.

[0127] In the above embodiments, while scanning and detecting the area to be cleaned and drawing a target map corresponding to the area to be cleaned, the cleaning device can also detect the items to be stored in the area to be cleaned and place the items to be stored in the storage location. Without significantly affecting the map drawing process, the cleaning device can collect and organize the items to be stored, so that the cleaning device does not need to collect and organize the items to be stored when cleaning the area to be cleaned, thus improving the cleaning efficiency of the cleaning device.

[0128] According to the third method of the embodiments of this application, a cleaning device is also provided. Figure 11 The diagram shows a structural schematic of the cleaning equipment provided in an embodiment of this application. The specific embodiments of this application do not limit the specific implementation of the cleaning equipment.

[0129] like Figure 11 As shown, the cleaning device 2 may include a processor 21 and a memory 22.

[0130] The memory 22 is used to store the computer program 23. The memory 22 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device. The computer program 23 may include computer-executable instructions.

[0131] The processor 21 is used to execute the computer program 23 to implement the above-described method for drawing a map of the area to be cleaned.

[0132] The processor 21 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The cleaning device 2 may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0133] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for drawing a map of an area to be cleaned.

[0134] This application provides a computer program that can be executed by a processor to implement the above-described method for drawing a map of an area to be cleaned.

[0135] This application provides a computer program product, which includes a computer program that, when executed by a processor, implements the above-described method for drawing a map of an area to be cleaned.

[0136] In the several embodiments provided in this application, any function, if implemented as a software functional module / unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, part or all of the technical solutions of this application can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or other electronic device) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0137] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0138] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In claims enumerating several means, several units or modules of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

[0139] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for drawing a map of an area to be cleaned, characterized in that, Applied to cleaning equipment, the method includes: Responding to mapping commands, obtain the storage location; The area to be cleaned is scanned and probed to create a target map corresponding to the area to be cleaned; When an item to be stored is detected, a first target path information is generated to store the item to the storage location. The item to be stored is placed at the storage location according to the first target path information, and the path corresponding to the first target path information is scanned and detected during the journey. Based on the storage location and the area to be detected within the area to be cleaned, the shortest path between the cleaning device and the area to be detected is planned, wherein the area to be detected is the area within the area to be cleaned that has not been scanned and detected. Based on the shortest path, the area to be detected is scanned and detected to complete the drawing of the target map of the area to be cleaned.

2. The method for drawing a map of an area to be cleaned according to claim 1, characterized in that, The area to be cleaned includes multiple sub-areas, and the storage location includes the actual storage location and the transit storage location. The process of responding to the mapping command and obtaining the storage location specifically includes: In response to the mapping command, the actual storage location and its corresponding area information are obtained, wherein the area information is used to characterize the sub-region where the actual storage location is located; The generation of the first target path information for storing the item to be stored in the storage location specifically includes: Based on the area information, determine whether the actual storage location and the cleaning equipment are located in the same sub-area; If so, then generate path information from the item to be stored to the actual storage location to obtain the first target path information; If not, a transit storage location is generated, and the first target path information is determined based on the location of the item to be stored, the current location of the cleaning equipment, and the transit storage location.

3. The method for drawing a map of an area to be cleaned according to claim 2, characterized in that, The generation of transit storage locations specifically includes: Record the location of the item to be collected, and continue to scan and detect the sub-area where the cleaning equipment is located; When scanning and detecting the sub-area where the cleaning equipment is located, the location where the sub-area where the cleaning equipment is located is connected to other sub-areas is determined as the transfer and storage location.

4. The method for drawing a map of an area to be cleaned according to claim 2 or 3, characterized in that, The method further includes: When completing the scanning and detection of the sub-regions corresponding to the area information of the actual storage location, a second target path information is generated based on the actual storage location and the transit storage location. Based on the second target path information, the item to be stored at the transit storage location is placed at the actual storage location.

5. The method for drawing a map of an area to be cleaned according to claim 1, characterized in that, There are multiple storage locations, and each storage location is respectively provided with a type of stored item; The generation of the first target path information for storing the item to be stored in the storage location specifically includes: The items to be stored are identified to determine the object type corresponding to the items to be stored. The storage location where the type of the stored item is the same as the type of the object is determined as the target storage location corresponding to the item to be stored. Generate first target path information for storing the item to be stored in the target storage location.

6. The method for drawing a map of an area to be cleaned according to claim 5, characterized in that, The generation of the first target path information for storing the item to be stored in the storage location specifically includes: If the type of the item to be stored corresponding to the storage location is empty, then calculate the location of the item to be stored and the distance between each storage location; The storage location with the shortest distance is determined as the target storage location for the item to be stored; Generate first target path information for storing the item to be stored in the target storage location.

7. The method for drawing a map of an area to be cleaned according to claim 5 or 6, characterized in that, The method further includes: If the object type of the item to be stored is a storage container, and the storage container is in the storage location, then determine whether the storage type corresponding to the storage location where the storage container is located is a storage container. If the storage type corresponding to the storage location where the storage container is located is not a storage container, then the target storage location corresponding to the storage container is determined; The first target path information is determined based on the storage location of the storage container and the target storage location, and the storage location of the storage container is updated based on the target storage location.

8. The method for drawing a map of an area to be cleaned according to claim 1, characterized in that, The step of placing the item to be stored in the storage location according to the first target path information specifically includes: Upon reaching the storage location, the area corresponding to the storage location is detected to determine whether a storage container exists at the storage location; If the storage container exists, the item to be stored is placed in the storage container; Otherwise, place the item to be stored on the ground corresponding to the storage location.

9. A device for mapping an area to be cleaned, characterized in that, The device includes: The response module is used to respond to mapping commands and obtain the storage location; The first area detection module is used to scan and detect the area to be cleaned in order to draw a target map corresponding to the area to be cleaned. The object storage module is used to generate first target path information for storing the object to be stored in the storage location when an object to be stored is detected, place the object to be stored in the storage location according to the first target path information, and scan and detect the path corresponding to the first target path information during the movement. The path planning module is used to plan the shortest path between the cleaning device and the area to be detected within the area to be cleaned, based on the storage location and the area to be detected within the area to be cleaned, wherein the area to be detected is the area within the area to be cleaned that has not been scanned and detected. The second area detection module is used to scan and detect the area to be detected based on the shortest path, so as to complete the drawing of the target map of the area to be cleaned.

10. A cleaning device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the method for drawing a map of the area to be cleaned as described in any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the method for drawing a map of the area to be cleaned as described in any one of claims 1 to 8.

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