Cleaning method and device of self-moving device, self-moving device and terminal device

Abstract

The application relates to a cleaning method and device of a self-moving device, the self-moving device and a terminal device. The method comprises the following steps: in the process of cleaning a first area, when the self-moving device detects that there are particles in a second area, the particles are blown from the first area to the second area, at least part of the first area is cleaned first, and then the second area is cleaned; or in the process of cleaning the first area, when the self-moving device detects that there are particles in the second area, the particles are blown from the first area to the second area, the second area is cleaned first, and then the first area is cleaned. By adopting the method, repeated pollution caused by the blown particles can be avoided, and the cleaning effect is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent devices, in particular to a cleaning method and device of a self-moving device, a self-moving device and a terminal device. BACKGROUND

[0002] With the continuous development of technology, in order to reduce the labor intensity in cleaning, cleaning robots are gradually used in various places that need to be cleaned. In the traditional technology, the cleaning robot will plan a path for the cleaning area, and clean in turn according to the planned path. However, there are still a small amount of particulate matters after the cleaning robot cleans, which affects the cleaning effect. SUMMARY

[0003] Therefore, it is necessary to provide a cleaning method and device of a self-moving device, a self-moving device and a terminal device to clean the particulate matters that are blown away, avoid the repeated pollution caused by the particulate matters that are blown away, and improve the cleaning effect.

[0004] In a first aspect, the present application provides a cleaning method of a self-moving device, the method comprising:

[0005] In the process of cleaning a first area, when the self-moving device detects that there are particulate matters in a second area, the particulate matters are blown from the first area to the second area, the first area is still cleaned at least in part first, and then the second area is cleaned; or

[0006] In the process of cleaning a first area, when the self-moving device detects that there are particulate matters in a second area, the particulate matters are blown from the first area to the second area, the second area is cleaned first, and then the first area is cleaned.

[0007] In some embodiments, the second area includes a third area, and the third area is an actual dirty area corresponding to the particulate matters;

[0008] The cleaning of the second area comprises:

[0009] The third area is cleaned.

[0010] In some embodiments, in the process of cleaning the second area, the method further comprises:

[0011] When it is detected that there are particulate matters in a fourth area, the particulate matters are blown from the second area to the fourth area, at least part of the second area is still cleaned first, and then the fourth area is cleaned; or

[0012] In a case where it is detected that there is particulate matter in the fourth area, the particulate matter being blown from the second area into the fourth area, the fourth area is cleaned first, and then the second area is cleaned.

[0013] In some embodiments, before the second area is cleaned, the method further includes:

[0014] The second area is detected again to determine whether it contains particulate matter.

[0015] In some embodiments, the first area and the second area each include an edge area and a non-edge area; during the cleaning of the first area and / or the second area, the method further includes:

[0016] The edge area is cleaned so that the particulate matter is pushed towards the non-edge area;

[0017] After the edge area is cleaned, the non-edge area is cleaned.

[0018] In some embodiments, before it is detected that there is particulate matter in the second area, the method further includes:

[0019] In a case where the acquired particulate matter information of the first area meets a first preset condition, the second area is determined based on the particulate matter information of the first area, wherein the first preset condition includes that an attribute value of at least one particulate matter is greater than a preset attribute threshold.

[0020] In some embodiments, during the cleaning of the first area, the method further includes:

[0021] The associated information of the first area is acquired, the associated information including at least one of a number of particulate matters, a particle size of particulate matter, a hardness of particulate matter, a position of particulate matter, and a brush rotation speed;

[0022] The second area is determined based on at least one of the number of particulate matters, the particle size of particulate matter, the hardness of particulate matter, the position of particulate matter, and the brush rotation speed.

[0023] In some embodiments, the method further includes:

[0024] In a case where it is detected that there is particulate matter in a passing path before a preset required cleaning area is reached, first prompt information is sent to an external device in communication connection with the self-moving device; the first prompt information is used to instruct a user of the external device to perform a confirmation operation of whether to clean the particulate matter in the passing path, wherein the preset required cleaning area includes the first area.

[0025] In some embodiments, the method further includes:

[0026] In a case where it is detected that the particulate matter exists in the passing path before reaching the preset required cleaning area, the particulate matter in the cleaning passing path is returned after the preset required cleaning area is cleaned, wherein the preset required cleaning area includes the first area.

[0027] In some embodiments, before cleaning the second area, the method further comprises:

[0028] obtaining a preset re-cleaning mode, the preset re-cleaning mode including re-cleaning determination information or re-cleaning negative information;

[0029] In a case where the preset re-cleaning mode is re-cleaning negative information, in a case where at least one particulate matter exists in the second area, a re-cleaning prompt is sent to an external device in communication connection with the self-moving device; the re-cleaning prompt is used to indicate whether the user of the external device performs a confirmation operation of re-cleaning;

[0030] In a case where the preset re-cleaning mode is re-cleaning determination information, the second area is cleaned.

[0031] In some embodiments, the self-moving device corresponds to a first particulate cleaning mode and a second particulate cleaning mode, and in the cleaning process, the method further comprises:

[0032] In the first particulate cleaning mode, in a case where a cumulative time length of at least one particulate matter with an attribute value greater than a preset attribute threshold is detected within a preset time period, and the cumulative time length is greater than or equal to a first preset time length threshold, it is determined to switch to the second particulate cleaning mode; or

[0033] In the first particulate cleaning mode, in a case where the number of particulate matters with an attribute value greater than a preset attribute threshold is detected, and the number is greater than a first preset number threshold, it is determined to switch to the second particulate cleaning mode.

[0034] In some embodiments, the self-moving device corresponds to a first particulate cleaning mode and a second particulate cleaning mode, and in the cleaning process, the method further comprises:

[0035] In the second particulate cleaning mode, in a case where a cumulative time length of at least one particulate matter with an attribute value greater than a preset attribute threshold is detected within a preset time period, and the cumulative time length is less than a second preset time length threshold, it is determined to switch to the first particulate cleaning mode; or

[0036] In the second particulate cleaning mode, in a case where the number of particulate matters with an attribute value greater than a preset attribute threshold is detected, and the number is not greater than a second preset number threshold, it is determined to switch to the first particulate cleaning mode.

[0037] In some embodiments, the self-moving device comprises a suction port and an edge brush; in the second particle sweeping mode, the method further comprises:

[0038] increasing the suction force of the suction port and / or reducing the rotation speed of the edge brush.

[0039] In some embodiments, the relationship between the second area and the first area comprises at least one of the following relationships:

[0040] Relationship one, the second area comprises the first area;

[0041] Relationship two, the second area and the first area have an overlapping area;

[0042] Relationship three, the second area and the first area do not have an overlapping area;

[0043] Relationship four, the second area is on the side of the first area;

[0044] Relationship five, the first area comprises the second area.

[0045] In a second aspect, the present application further provides a sweeping device of a self-moving device, the device comprising:

[0046] a sweeping module, configured to, in a process of sweeping a first area by the self-moving device, detect a case that there is a particle in a second area, the particle being kicked from the first area to the second area, sweep at least part of the first area first and then sweep the second area; or

[0047] a sweeping module, configured to, in a process of sweeping a first area by the self-moving device, detect a case that there is a particle in a second area, the particle being kicked from the first area to the second area, sweep the second area first and then return to sweep the first area.

[0048] In a third aspect, the present application further provides a self-moving device, comprising:

[0049] at least one detection sensor, configured to detect an attribute value of a particle;

[0050] a processor, configured to execute the steps of the above method.

[0051] In some embodiments, the self-moving device comprises:

[0052] a first detection sensor, configured to detect the hardness of the particle;

[0053] a second detection sensor, configured to detect the particle size of the particle.

[0054] In some embodiments, the first detection sensor is a pressure sensor; and the second detection sensor is a sound wave sensor.

[0055] In some embodiments, the first detection sensor is arranged on at least one of a rolling brush cavity wall, a dust box and a suction duct of the self-moving device.

[0056] The second detection sensor is arranged on at least one of the rolling brush cavity wall, the dust box and the suction duct.

[0057] In a fourth aspect, the present application further provides a terminal device, which is in communication connection with the self-moving device, and the terminal device comprises a display module.

[0058] The display module is configured to receive and visually display a mark frame corresponding to a pollution area identified by the self-moving device during cleaning, and in the case that there are at least two pollution areas, display each mark frame corresponding to each pollution area to display the positional relationship between each mark frame, wherein the pollution area includes the first area and / or the second area.

[0059] The display module is further configured to:

[0060] display the position of the self-moving device to display the positional relationship between the self-moving device and the mark frame.

[0061] In response to a first operation of a first interaction entry by a user on an interface in the terminal device, display second prompt information, the second prompt information being used to prompt the user that the pollution area is a particulate matter rescan area, a planned cleaning area or a preset required cleaning area.

[0062] In response to a second operation of a second interaction entry by a user on an interface in the terminal device, display third prompt information, the third prompt information being used to prompt the user to switch the cleaning mode.

[0063] In a fifth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the above method.

[0064] In a sixth aspect, the present application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the above method.

[0065] In summary, the application provides a cleaning method and device of a self-moving device, the self-moving device and a terminal device. In the process of cleaning a first area, the self-moving device detects the presence of particulate matter in a second area (the particulate matter is blown from the first area to the second area), and cleans the particulate matter blown in the second area by a corresponding cleaning method (the first method is to clean at least part of the first area first and then clean the second area; the second method is to clean the second area first and then return to clean the first area), avoiding repeated pollution caused by the blown particulate matter, and improving the cleaning effect. BRIEF DESCRIPTION OF DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other related drawings can be obtained by those skilled in the art without creative labor.

[0067] Figure 1 Structure diagram of a self-moving device in one embodiment;

[0068] Figure 2 Flowchart of a cleaning method in one embodiment;

[0069] Figure 3 Flowchart of a cleaning method in one embodiment;

[0070] Figure 4 Schematic diagram of the relationship between the first area and the second area in one embodiment;

[0071] Figure 5 Schematic diagram of the relationship between the first area and the second area in one embodiment;

[0072] Figure 6 Schematic diagram of the relationship between the first area and the second area in one embodiment;

[0073] Figure 7 Schematic diagram of the relationship between the first area and the second area in one embodiment;

[0074] Figure 8 Schematic diagram of the relationship between the first area and the second area in one embodiment;

[0075] Figure 9 Schematic diagram of the relationship between the first area and the second area in one embodiment;

[0076] Figure 10 Schematic diagram of the relationship between the second area and the third area in one embodiment;

[0077] Figure 11 Fig. 3 is a flowchart of a cleaning method according to an embodiment of the present application;

[0078] Figure 12 Fig. 4 is a flowchart of a cleaning method according to an embodiment of the present application;

[0079] Figure 13 Fig. 5 is a flowchart of a cleaning method according to an embodiment of the present application;

[0080] Figure 14 Fig. 6 is a flowchart of a cleaning method according to an embodiment of the present application;

[0081] Figure 15 Fig. 7 is a schematic diagram of a passing path of a self-moving device according to an embodiment of the present application;

[0082] Figure 16 Fig. 8 is a schematic diagram of communication between a self-moving device and an external device according to an embodiment of the present application;

[0083] Figure 17 Fig. 9 is a schematic diagram of a cleaning device according to an embodiment of the present application;

[0084] Figure 18 Fig. 10 is a schematic diagram of a cleaning device according to an embodiment of the present application;

[0085] Figure 19 Fig. 11 is a schematic diagram of a self-moving device according to an embodiment of the present application;

[0086] Figure 20 Fig. 12 is a schematic diagram of an internal structure of a self-moving device according to an embodiment of the present application;

[0087] Figure 21 Fig. 13 is a schematic diagram of an internal structure of a self-moving device according to an embodiment of the present application;

[0088] Figure 22 Fig. 14 is a schematic diagram of an interface of a terminal device according to an embodiment of the present application;

[0089] Figure 23 Fig. 15 is a schematic diagram of an interface of a terminal device according to an embodiment of the present application;

[0090] Figure 24 Fig. 16 is a schematic diagram of an interface of a terminal device according to an embodiment of the present application. DETAILED DESCRIPTION

[0091] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0092] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0093] Existing cleaning robots still suffer from particulate matter residue after cleaning. To investigate the causes of this residue, observations during the cleaning process revealed that the residual particles are caused by several factors, including: particles being dispersed to other areas during cleaning, leading to repeated contamination and reduced cleaning effectiveness. These particles are tiny, dispersed material particles that need to be cleaned, and can be solid or liquid. Examples include dust, garbage, hair, and other contaminants.

[0094] Therefore, in order to solve the problem of repeated pollution caused by the above-mentioned particulate matter being blown away, this application proposes a cleaning method, apparatus, self-moving device, and terminal device for a self-moving device.

[0095] To better illustrate this, we will first introduce some self-moving devices provided in embodiments of this application. These self-moving devices can be mobile devices with cleaning functions, such as robotic vacuum cleaners, window cleaning robots, etc. Figure 1 As shown, the self-moving device 100 may include a walking system 110, a sensing system 120, a control system 130, and a cleaning system 140, etc. Wherein:

[0096] The walking system 110 is used to drive the self-moving device 100 to move freely in the work area and / or non-work area, including at least one of the following movement modes: forward, backward, turning, jumping, flying, etc.

[0097] The cleaning system 140 may include side brushes, roller brushes, dust boxes, suction pipes, fans, etc.

[0098] The perception system 120 can include one or more of a camera (e.g., an AI camera, a binocular camera, a multiocular camera, etc.), a sound wave sensor (e.g., an ultrasonic sensor, etc.), a pressure sensor, an optical sensor (e.g., a laser sensor, etc.). Among them, the camera and the laser sensor can be used to obtain parameters of the environment where the mobile device 100 is located (e.g., parameters such as the position, shape, etc. of objects such as particulate matter and obstacles in the environment); the sound wave sensor is used to distinguish different substrates such as the ground and the carpet, and can also judge the size of objects such as particulate matter; the pressure sensor is used to detect the hardness of objects such as particulate matter. Among them, the particulate matter can be an object in a particulate state on the working surface, which can be understood as garbage in a particulate state.

[0099] The control system 130 is used to control the running state of the systems including the above-mentioned walking system 110, cleaning system 140, and perception system 120, and also adjusts the running state of at least one of the above-mentioned walking system 110, cleaning system 140, and perception system 120 based on at least one system parameter (e.g., at least one of image information, depth information, the moving speed and direction of the mobile device 100, the speed of the side brush, the speed of the roller brush, the dust box state, etc.) obtained from at least one of the above-mentioned walking system 110, cleaning system 140, and perception system 120, to realize the control of the mobile device 100 to complete various actions such as cleaning and walking.

[0100] In some embodiments, as shown in Figures 2-3 , a cleaning method of a mobile device is provided, which can be applied to an application environment as shown in Figure 1 , and of course can also be applied to other devices, which is not limited here. The cleaning method of the mobile device includes at least one of the following two cleaning steps, each step corresponding to a cleaning mode.

[0101] In step S101, when the mobile device detects the presence of particulate matter in the second area during the cleaning of the first area, the particulate matter is blown from the first area to the second area, and at least part of the first area is cleaned first, and then the second area is cleaned.

[0102] In step S102, when the mobile device detects the presence of particulate matter in the second area during the cleaning of the first area, the particulate matter is blown from the first area to the second area, and the second area is cleaned first, and then the first area is cleaned. All areas required to be cleaned by the user are collectively referred to as preset required cleaning areas.

[0103] Among them, the first area can be a preset required cleaning area, or a part of the preset required cleaning area, which is not limited here.

[0104] Exemplarily, the first area can include at least one of a bedroom floor (e.g., one or more bedroom floors), a living room floor, a bathroom floor, a partial floor area in a bedroom (e.g., a pet area, etc.), an area covered by the self-moving device when cleaning, etc. Wherein, the area covered by the self-moving device when cleaning can be understood as an area that can be cleaned by the self-moving device at a certain point position, for example, the area of the orthographic projection of the self-moving device on the floor. Exemplarily, the first area can include a window surface, a wall surface, etc.

[0105] Wherein, the second area can be understood as an area where the particles are landed after being kicked up in the first area. Exemplarily, the second area can include the same floor as the first area, for example, a bedroom floor, a living room floor, a bathroom floor, a window surface, a wall surface, etc.

[0106] It should be noted that since the second area is an area where the particles are landed after being kicked up, the working surface of the second area can be the same working surface as the working surface of the first area, of course, it can also be a different working surface. For example, if the working surface of the first area is a wall surface, the particles can be kicked to the floor, so the working surface of the second area is the floor at this time.

[0107] Exemplarily, the shapes of the first area and the second area can be regular geometric shapes, such as ellipses, sectors, rectangles, circles, etc., and can also be irregular geometric shapes.

[0108] Since there are many possibilities for the particles to be kicked up, the relationship between the second area and the first area can include at least one of the following relationships:

[0109] Relationship one, as shown in Figures 4-5 , the second area 20 includes the first area 10.

[0110] Relationship two, as shown in Figures 4-7 , the second area 20 and the first area 10 have an overlapping area. Wherein, Figure 7 in the above embodiment, the second area 20 is annular, and therefore, the overlapping part 21 is also annular.

[0111] Relationship three, as shown in Figure 8 , the second area 20 and the first area 10 do not have an overlapping area.

[0112] Relationship four, as shown in Figure 9 , the second area 20 is on the side of the first area 10.

[0113] Relationship five, as shown in Figure 5 , the first area 10 includes the second area 20.

[0114] Optionally, the self-moving device can comprise a camera or a laser sensor or the like to detect whether particles are kicked from the first area 10 to the second area 20. Optionally, the self-moving device can obtain information that other devices detect that particles are kicked from the first area 10 to the second area 20. Optionally, the self-moving device considers that particles are kicked from the first area 10 to the second area 20 if it obtains information that particles are present in the second area 20, i.e. without detecting.

[0115] It should be noted that the relationship between the first area and the second area is different, the cleaning mode can be different, because the shape of different areas is different. For example, if the first area is rectangular, it is easy to realize arc cleaning, if the second area is just a corner, it is suitable for edge cleaning.

[0116] It should be noted that the above two cleaning modes can be applied to different self-moving devices respectively. For example, the self-moving device a can perform step S101, and the self-moving device b can perform step S102. Of course, the above two cleaning modes can be performed by the same self-moving device at the same time, for example, the self-moving device c can perform step S101 and step S102 respectively under different circumstances.

[0117] Demonstratively, if the first area is the floor of a room, the self-moving device c needs to clean according to the position of each point in the planned path in turn in the process of cleaning the floor of the room, each point position corresponds to a required cleaning area, and the required cleaning area is taken as a planned cleaning area, i.e. the planned cleaning area is the area that the self-moving device can clean at each point position. When cleaning at a certain point position, if it is detected that particles are present in the second area, the self-moving device c first cleans the planned cleaning area corresponding to the current point position, and then cleans the second area.

[0118] It is considered that the situation of particles being kicked may occur at multiple time points in the process of cleaning the planned cleaning area corresponding to the current point position. If particles are detected in the second area at multiple time points, multiple back-and-forth cleaning will occur, for example, the first time point goes to the second area to clean once, and after cleaning, it returns to the current point position to continue cleaning the planned cleaning area. When the second time point in the process of cleaning the planned cleaning area corresponding to the current point position, it is found again that particles are present in the second area, and it goes to the second area to clean again, and after cleaning, it returns to the current point position to continue cleaning. In this way, multiple back-and-forth cleaning will reduce the overall cleaning efficiency.

[0119] Therefore, optionally, when the number of particles in the planned cleaning area corresponding to the current point position is detected to be greater than the third preset number threshold, step S101 is executed, that is, after cleaning the planned cleaning area corresponding to the current point position, the second area is cleaned. This can greatly reduce the number of back-and-forth cleanings and improve cleaning efficiency. Of course, optionally, the planned cleaning area corresponding to the current point position can be divided into multiple sub-areas. After cleaning one sub-area, the second area is cleaned, and after cleaning the second area, the current point position is returned to continue cleaning the next sub-area. When the number of particles in the planned cleaning area corresponding to the current point position is detected to be less than the third preset number threshold, for example, when the number of particles is one, step S102 is executed, that is, when the self-moving device c is cleaning the planned cleaning area corresponding to the current point position, if particles are detected in the second area, the second area is cleaned first, and after cleaning the second area, the device moves to the next point position. Since the planned cleaning area is now free of particles, there's no need to continue cleaning the remaining planned cleaning area corresponding to the current location. Instead, you can move directly to the next location to continue cleaning, which improves overall cleaning efficiency and reduces cleaning time. Of course, you can also return to the current location after cleaning the second area to continue cleaning, which can also improve the cleaning effect; there are no restrictions on this.

[0120] Of course, when the same self-moving device can execute both steps S101 and S102 at the same time, the user can also set the mode himself, such as executing only step S101 mode, executing only step S102 mode, executing both steps S101 and S102 mode (in this mode, the self-moving device will automatically select to use step S101 or step S102 according to the current situation).

[0121] Therefore, when particles are dispersed from the first area to the second area, and particles are detected in the second area, additional cleaning of the dispersed particles is performed to avoid re-contamination by the same particles and improve cleaning efficiency. Simultaneously, automatic identification of re-contamination by particles reduces user intervention, minimizes manual rework, and increases user satisfaction. Furthermore, when particles are detected in the second area, this application proposes two cleaning sequences: first, cleaning at least part of the first area before cleaning the second area; second, cleaning the second area first and then returning to clean the first area. This allows for the selection of an appropriate cleaning sequence strategy under different circumstances to meet the needs of the user and the specific situation.

[0122] In some embodiments, such as Figure 10 As shown, the second region 20 includes the third region 30, which is the actual dirty area formed by particulate matter.

[0123] Understandably, the second area 20 includes a plurality of particles 11, and the actual dirty area includes a plurality of particles 11, which is the sum of the orthographic projection areas of the plurality of particles 11 on the work surface. That is, the third area 30 can be greater than or equal to the sum of the orthographic projection areas of the plurality of particles on the work surface.

[0124] The second area 20 is cleaned, including cleaning the third area 30.

[0125] Understandably, in some cases, the second area 20 is not entirely covered by particles, that is, only part of the second area 20 is covered by particles, which is the actual dirty area. At this time, only the actual dirty area can be cleaned, so that the area without particle coverage in the second area 20 does not need to be cleaned, saving cleaning time and improving cleaning efficiency. Of course, at least the actual dirty area can also be cleaned, which can also reduce the cleaning area, save cleaning time, and improve cleaning efficiency.

[0126] In some embodiments, during the cleaning of the second area, the method further includes steps S103 and / or step S104.

[0127] Step S103, when detecting that there are particles in the fourth area, the particles are blown from the second area into the fourth area, and at least part of the second area is cleaned first, and then the fourth area is cleaned.

[0128] Step S104, when detecting that there are particles in the fourth area, the particles are blown from the second area into the fourth area, the fourth area is cleaned first, and then the second area is cleaned.

[0129] Understandably, during the cleaning of the second area, there may still be a situation where particles are blown again, that is, particles are blown again into the fourth area, so that further cleaning can be performed to solve the problem of repeated pollution and improve cleaning effect.

[0130] It should be noted that during the cleaning of the second area, if it is detected that there are particles in the fourth area, it can be selected to still clean at least part of the second area first, and then clean the fourth area (corresponding to step S103), or clean the fourth area first, and then return to clean the second area (corresponding to step S104). If steps S101, S102, S103, and S104 are combined, four schemes can be obtained: steps S101+S103, S101+S104, S102+S103, and S102+S104.

[0131] Taking steps S101+S103 as an example, as follows Figure 11As shown, i.e. when the mobile device is cleaning the first area, if it is detected that there is particulate matter in the second area, the first area is still cleaned first, and then the second area is cleaned; when the second area is being cleaned, if it is detected that there is particulate matter in the fourth area, the particulate matter is blown from the second area to the fourth area, and the second area is still cleaned first, and then the fourth area is cleaned. The remaining three combination schemes can refer to this example, which will not be described here.

[0132] If step S101 + step S104 is taken as an example, as shown in Figure 12 , the specific content can refer to the above, which will not be described here.

[0133] Optionally, when the particulate matter may be blown again during the cleaning of the fourth area, the cleaning can be selected again. The total number of times of repeated cleaning of blowing can be 1, 2, 3, 4, 5, etc., which is not limited here. When the total number of times of repeated cleaning of blowing is 1, it corresponds to step S101 or step S102; when the total number of times of repeated cleaning of blowing is 2, it includes step S103 or step S104; when the total number of times of repeated cleaning of blowing is 3 or more, the corresponding number of times of cleaning work is performed on the basis of step S103 or step S104 by referring to step S103 or step S104, which will not be described here.

[0134] In some embodiments, before cleaning the second area, the method further comprises: detecting again whether the second area contains particulate matter.

[0135] Understandably, before cleaning the second area, there may be a case where the second area contains no particulate matter, and the reasons include that the previous detection is wrong, or the particulate matter is moved to other areas by cats, humans, dogs, etc. Therefore, it is necessary to detect again to ensure that the second area contains particulate matter, so as to avoid the case that the cleaning efficiency is reduced because there is no particulate matter in the second area after the mobile device moves to the second area.

[0136] In some embodiments, as shown in Figure 13 , the first area and the second area each include an edge area and a non-edge area; during the cleaning of the first area and / or the second area, the method further comprises steps S1011-S1012.

[0137] Step S1011, cleaning along the edge area to push the particulate matter towards the non-edge area.

[0138] Step S1012, after cleaning the edge area, cleaning the non-edge area.

[0139] It can be understood that when cleaning each area such as the first area, the second area, the third area, the fourth area, etc., the edge area can be cleaned first, and then the non-edge area can be cleaned. Since the particles are pushed towards the non-edge area during the cleaning of the edge area, the particles are concentrated in a smaller area from a dispersed state, which not only facilitates the cleaning of the particles, but also effectively reduces the probability of the particles being blown away and improves the cleaning effect.

[0140] Optionally, when the area such as the first area is large, the large area can be divided into a plurality of smaller sub-areas, and each sub-area is cleaned by first cleaning the edge area of the sub-area to push the particles towards the non-edge area, and then cleaning the non-edge area after the edge area is cleaned. In this way, in the face of an irregular large area, flexibility can be improved, and the cleaning mode of the arch character can be better implemented, and the cleaning effect and cleaning efficiency can be improved.

[0141] In some embodiments, before detecting the presence of the particles in the second area, the method further comprises:

[0142] In a case where the acquired particle information of the first area satisfies a first preset condition, determining the second area based on the particle information of the first area, wherein the first preset condition includes that an attribute value of at least one particle is greater than a preset attribute threshold.

[0143] It can be understood that the position, range, shape, etc. of the second area can be predicted according to the particle information in the first area. Different particles have different probabilities of being blown away, for example, particles with high hardness are more likely to be blown away, and the more the number of particles, the higher the probability of being blown away and the more the number of particles. For another example, particles in the edge area of the self-moving device are more likely to be blown away than in the central area of the self-moving device. Therefore, it is necessary to predict whether there is a second area according to the specific particle information, and when there is a second area, to predict the position, range, shape, etc. of the second area, so as to more accurately know the area where the particles are blown away and improve the cleaning efficiency. The particle information includes at least one of the number of particles, the position of the particles, and the attribute value of the particles. The attribute value of the particles includes at least one of the hardness of the particles, the particle size of the particles, the density of the particles, and the viscosity of the particles.

[0144] In some embodiments, as shown in Figure 14 During the cleaning of the first area, the method further comprises steps S1021-S1022.

[0145] In step S1021, the associated information of the first area is acquired, and the associated information includes at least one of the number of particles, the particle size of the particles, the hardness of the particles, the position of the particles, and the brush rotation speed.

[0146] At step S1022, the second area is determined based on at least one of the number of particles, the particle size, the particle hardness, the particle position, and the brush rotation speed.

[0147] It can be understood that the number of particles, the particle size, and the particle hardness all affect the probability, the number, and the distance of the particles being kicked up. Meanwhile, the brush rotation speed also affects the direction and the distance of the particles being kicked up. The correlation information includes at least one of the particle information and a cleaning parameter of the self-moving device. The cleaning parameter includes the brush rotation speed. Through multiple parameters, the accuracy of the range, the size, and the position of the predicted second area can be improved.

[0148] In some embodiments, the method further includes:

[0149] In a case where the particles are detected in the passing path before reaching the preset required cleaning area, the first prompt information is sent to the external device in communication connection with the self-moving device, the first prompt information being used to instruct a user of the external device to perform a confirmation operation of whether to clean the particles in the passing path, and the preset required cleaning area includes the first area.

[0150] It can be understood that, in some cases, the path passed through by the self-moving device in the process of reaching the preset required cleaning area can be a path in the process of passing from a partial area in one preset required cleaning area to a partial area in another preset required cleaning area, for example, if the preset required cleaning area includes multiple discontinuous room floors, any one of the room floors is a partial area in the preset required cleaning area, and the path passed through from one room to another room is the passing path. As shown in FIG. 2, the path 22 from the base station to the preset required cleaning area can also be the passing path. When the particles are found in the passing path, as shown in FIG. 3, the self-moving device can be controlled to perform the cleaning operation on the particles in the passing path. Figure 15 Figure 16 ​As shown, the first prompt information can be sent to the external device 300. Taking the external device 300 as a mobile phone as an example, if the user receives the first prompt information on the mobile phone, the user performs an operation according to the user's own needs. If the user needs to clean the particulate matter in the passing path, the user will perform a cleaning confirmation operation. The external device 300 responds to the operation and generates response information including the cleaning confirmation, and transmits the response information to the self-moving device 100, so that the self-moving device 100 detects the particulate matter in the passing path during cleaning. If the user does not need to clean the particulate matter in the passing path, the user will perform a confirmation operation of no need to clean. The external device 300 responds to the operation and generates response information including the confirmation of no need to clean, and transmits the response information to the self-moving device 100, so that the self-moving device 100 does not need to clean the particulate matter detected in the passing path. The self-moving device communicates with the external device through a network. The external device can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, unmanned aerial vehicles, low-altitude aircraft, Internet of Things devices, and portable wearable devices. The Internet of Things device can be a smart speaker, a smart television, a smart air conditioner, a smart vehicle device, a projection device, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc.

[0151] When the self-moving device needs to clean the particulate matter in the passing path, optionally, in the case that the self-moving device is in the passing path and detects the particulate matter, the self-moving device continues to move to the preset required cleaning area after cleaning the particulate matter. Optionally, in the case that the particulate matter is detected in the passing path before reaching the preset required cleaning area, the self-moving device returns to clean the particulate matter in the passing path after cleaning the preset required cleaning area.

[0152] In summary, the user can not only remotely control the self-moving device, but also meet different needs of the user, making it more convenient and improving the user's satisfaction.

[0153] In some embodiments, before cleaning the second area, the method further comprises:

[0154] Obtaining a preset re-cleaning mode, the preset re-cleaning mode including re-cleaning determination information or re-cleaning negative information.

[0155] In the case that the preset re-cleaning mode is re-cleaning negative information, in the case that there is at least one particulate matter in the second area, a re-cleaning prompt is sent to an external device in communication connection with the self-moving device. The re-cleaning prompt is used to indicate whether the user of the external device performs a re-cleaning confirmation operation.

[0156] In the case that the preset re-cleaning mode is re-cleaning determination information, the second area is cleaned.

[0157] Understandably, the user can set the preset cleanup mode of the self-moving device in advance, and the user can set the preset cleanup mode as the cleanup determination mode or the cleanup negative mode. When the user sets the cleanup determination mode, the self-moving device obtains the cleanup determination information; when the user sets the cleanup negative mode, the self-moving device obtains the cleanup negative information. For example, the preset cleanup mode is a variable SpotCleanup, and the user changes the value of SpotCleanup by setting different modes. When the user sets the cleanup determination mode, SpotCleanup = 1, and the self-moving device obtains 1 (as the cleanup determination information); when the user sets the cleanup negative mode, SpotCleanup = 0, and the self-moving device obtains 0 (as the cleanup negative information).

[0158] Optionally, if the user receives the cleanup prompt and performs the cleanup confirmation operation, the external device generates corresponding cleanup confirmation information in response to the cleanup confirmation operation of the user, and transmits the cleanup confirmation information to the self-moving device. The self-moving device changes the current cleanup negative mode to the cleanup determination mode according to the received cleanup confirmation information, which is equivalent to automatically setting the cleanup determination information. When the self-moving device sends the cleanup prompt to the user, the user may not respond immediately, and therefore, the self-moving device continues the current cleaning work without stopping to wait for the response of the user. When the self-moving device receives the cleanup confirmation information sent by the user, the self-moving device directly starts to clean the second area if the self-moving device finds the particulate matter in the second area again at the current position or the next position. Optionally, the self-moving device can also return to the particulate matter in the second area before cleaning the preset required cleaning area.

[0159] Optionally, the cleanup prompt can be displayed in any one of a pop-up box, a short message, a message prompt, and the like.

[0160] In this way, the user can be prompted about the current mode, and the change of the mode can be remotely controlled by the external device, thereby improving the convenience of user control and the satisfaction of the user.

[0161] In some embodiments, the self-moving device corresponds to a first particulate cleaning mode and a second particulate cleaning mode, and the method further includes any one of the following two first switching conditions in the cleaning process.

[0162] The first switching condition a is that, in the first particulate cleaning mode, if at least one cumulative time length of the particulate matter with an attribute value greater than a preset attribute threshold value is detected within a preset time period, and the cumulative time length is greater than or equal to a first preset time length threshold value, it is determined that the second particulate cleaning mode is switched.

[0163] The first switching condition b is that, in the first particle cleaning mode, if the number of particles with the attribute value greater than the preset attribute threshold is detected and the number is greater than the first preset number threshold, the second particle cleaning mode is determined to be switched to.

[0164] Understandably, in the process of cleaning, different particles have different sizes, weights, hardnesses, and materials. It is necessary to adjust various cleaning parameters according to the specific particle conditions to better clean the corresponding size of particles. Therefore, the embodiment can determine the mode to be adjusted by the current self-moving device according to the current particle conditions, and different modes correspond to different cleaning parameters. The cleaning parameters include the side brush rotation speed, the main brush rotation speed, the suction port suction force, the travel speed, and the like. The first particle cleaning mode can be a small particle cleaning mode, and the second particle cleaning mode can be a large particle cleaning mode. Large particles are, for example, soybeans, pet food, and stones, and small particles are, for example, dust, cat litter, and pollen.

[0165] Further, in order to prevent the misjudgment of the size of the particles, the time during which the target particles are detected within a certain time period is accumulated, and when the time is greater than a certain time, the second particle cleaning mode is determined to be switched to. The target particles refer to particles with an attribute value greater than a preset attribute threshold. The attribute value of the particles includes at least one attribute type, and the preset attribute threshold includes a threshold value corresponding to multiple attribute types, such as a hardness threshold and a particle size threshold. When the attribute value of the particles includes one type, for example, the attribute value only includes the particle size, the particles with a particle size greater than the particle size threshold are regarded as target particles; for example, the attribute value only includes the hardness, and the particles with a hardness greater than the hardness threshold are regarded as target particles; when the attribute value includes two types, for example, only the particle size and the hardness, both of the two attribute values are greater than the corresponding preset attribute threshold. Therefore, the number of attribute types in the attribute value in the switching condition can be adjusted according to different scenarios.

[0166] The first preset time length threshold and the preset time period can be adjusted according to specific conditions, for example, the value range of the first preset time length threshold and the preset time period can be 0.1s-3s, but the first preset time length threshold is less than or equal to the time length of the preset time period. Specifically, it can be 0.1s, 0.25s, 0.5s, 0.75s, 1s, and the like. Exemplarily, in the first particle cleaning mode, if the first preset time length threshold is 0.2s, the preset time period is 0.3s, the attribute value only includes the particle size, and the preset attribute threshold is 0.5cm, if the time during which the particles with a particle size greater than 0.5cm are detected within 0.3s is accumulated, and the time is greater than 0.2s, the first particle cleaning mode is switched to the second particle cleaning mode.

[0167] Of course, the number can also be used for judgment, wherein the first preset number threshold can be adjusted according to specific circumstances, and the value range can be 0-10, for example, 0, 3, 5, 7, 10, etc.

[0168] Exemplarily, if the first preset number threshold is 1, and one large particle is currently detected, the second particle cleaning mode (large particle mode) is not switched.

[0169] Therefore, the switching mode condition can be various, and the user can dynamically adjust the cleaning mode switching condition according to different environments and application scenarios. The flexibility is improved, and the cleanliness and adaptability of the self-moving device are also improved.

[0170] In some embodiments, the self-moving device corresponds to a first particle cleaning mode and a second particle cleaning mode, and in the cleaning process, the method further comprises any one of the following two second switching conditions.

[0171] The second switching condition a is that in the second particle cleaning mode, the cumulative time length of detecting at least one particle with an attribute value greater than a preset attribute threshold within a preset time period is less than a second preset time length threshold, and the cumulative time length is less than the second preset time length threshold. In the case of, it is determined to switch to the first particle cleaning mode.

[0172] The second switching condition b is that in the second particle cleaning mode, the number of particles with an attribute value greater than a preset attribute threshold is detected, and the number is not greater than a second preset number threshold. In the case of, it is determined to switch to the first particle cleaning mode.

[0173] Understandably, in the second particle cleaning mode, in order to prevent the size of the particle from being misjudged, the cumulative detection time of the target particle within a certain time is less than a certain time, and then it is determined to switch to the second particle cleaning mode. The target particle is a particle with an attribute value greater than a preset attribute threshold. The second preset time length threshold and the preset time period can be adjusted according to specific circumstances, for example, the value range of the second preset time length threshold and the preset time period can be 0.1s-3s, but the second preset time length threshold is less than the time length of the preset time period. Specifically, it can be 0.1s, 0.25s, 0.5s, 0.75s, 1s, etc. The second preset number threshold can be adjusted according to specific circumstances, and the value range can be 0-10, for example, 0, 3, 5, 7, 10, etc.

[0174] It should be noted that the above proposes two first switching conditions and two second switching conditions, which are respectively first switching condition a, first switching condition b, second switching condition a and second switching condition b. Then four schemes can be combined: first switching condition a+second switching condition a, first switching condition a+second switching condition b, first switching condition b+second switching condition a, first switching condition b+second switching condition b. The self-moving device can execute at least one of the above four cases.

[0175] Taking the first switching condition a+second switching condition a as an example, the self-moving device executes the first combined scheme (first switching condition a+second switching condition a). Specifically, in the first particle cleaning mode, in a preset time period, if the cumulative time length of the particulate matter with at least one attribute value greater than the preset attribute threshold is detected and the cumulative time length is greater than or equal to the first preset time length threshold, it is determined to switch to the second particle cleaning mode; in the second particle cleaning mode, in a preset time period, if the cumulative time length of the particulate matter with at least one attribute value greater than the preset attribute threshold is detected and the cumulative time length is less than the second preset time length threshold, it is determined to switch to the first particle cleaning mode. The remaining combinations can refer to the example, which will not be described here.

[0176] The embodiment gives the switching conditions between multiple first particle cleaning modes and second particle cleaning modes, and the user can dynamically adjust the cleaning mode switching conditions according to different environments and application scenarios. The flexibility is improved, and the cleanliness and adaptability of the self-moving device are also improved.

[0177] In some embodiments, the self-moving device includes a suction port and an edge brush. In the second particle cleaning mode, the method further includes increasing the suction of the suction port and / or reducing the rotation speed of the edge brush.

[0178] Understandably, if the particles of different sizes are sucked by the same suction force or rotated by the same speed, the effect is not optimal. For example, if the hardness of the particles is moderate, the suction force is appropriate, but under the same suction force, the particles with greater hardness are easily blown away, so in order to prevent being blown away, the suction force needs to be increased for the particles with greater hardness. For example, the particles that are easily blown away need to increase the suction force to prevent them from being blown away. For example, the faster the speed, the easier the particles are blown away. Therefore, in different modes, the suction force and the speed need to be adjusted correspondingly, so that the most suitable mode is used for different particles in different environments, so that the suction force and the speed can be in the best state, and the overall cleaning effect is improved. If the second particle cleaning mode is a large particle mode, the large particles are easily blown away, so the suction force of the suction port can be increased and / or the speed of the brush can be reduced, so that the probability of repeated pollution caused by the blowing away of large particles is reduced, and the cleaning effect is improved. Of course, if in the first particle cleaning mode, the suction force of the suction port can be reduced and / or the speed of the brush can be increased.

[0179] It should be noted that the above only takes the first particle cleaning mode as the large particle mode and the second particle cleaning mode as the small particle mode as an example for description, and the first particle cleaning mode and the second particle cleaning mode can also be other modes. For example, the first particle cleaning mode and the second particle cleaning mode can each be one of a high-speed large-suction mode, a high-speed medium-suction mode, a high-speed small-suction mode, a medium-speed large-suction mode, a medium-speed medium-suction mode, a medium-speed small-suction mode, a low-speed large-suction mode, a low-speed medium-suction mode, and a low-speed small-suction mode, but the first particle cleaning mode and the second particle cleaning mode are different, and the suction force in the first particle cleaning mode is less than the suction force in the second particle cleaning mode, and the speed of the brush in the first particle cleaning mode is greater than the speed of the brush in the second particle cleaning mode.

[0180] In some embodiments, considering that the self-moving device needs to turn on the sensor, such as the sound wave sensor, in the process of cleaning, and the self-moving device may encounter actions in special scenarios such as obstacle crossing, mapping, recharging, brush lifting, and moving from one room to another room in the process of moving, in these special scenarios, if the sensor continues to work, it will cause the cleaning operation to be triggered according to the data detected by the sensor, causing misjudgment, and in addition, if the cleaning operation is started at the same time when the actions such as obstacle crossing, mapping, recharging, brush lifting, and moving from one room to another room are performed, it will also cause the action accuracy or effect to decrease in some scenarios. Therefore, the cleaning operation can be turned off in these special scenarios to avoid cleaning misjudgment and improve the effect of each action.

[0181] In some embodiments, the method further comprises:

[0182] In a case where the particulate information in the region meets a second preset condition, a cleaning liquid release label of the region is added, wherein the second preset condition includes a quantity condition and a frequency condition. The quantity condition is that the quantity of target particulates is greater than a second preset quantity threshold, and the target particulates are particulates with an attribute value greater than a preset attribute threshold. The frequency condition is that the frequency of the particulate information in the same region meeting the quantity condition is greater than a preset frequency threshold.

[0183] Understandably, some special regions often have more large particulates, difficult-to-clean dirt, or odors. For example, pet areas, garbage can areas, and the like. Therefore, the cleaning liquid release label can be added to these special regions, so that in the subsequent cleaning process of the regions, the cleaning liquid is determined to be released based on the acquired cleaning liquid release label of the region, to remove the odor. Alternatively, the user can also manually add different labels to the required special regions, and different labels correspond to different functions, such as releasing cleaning liquid, spraying perfume, playing songs, and the like. In this way, the self-moving device has differentiated cleaning functions and entertainment-type prompt functions, meets different needs of the user, and also improves the applicability of different scenes.

[0184] In order to make it easier to understand, a specific embodiment is given below:

[0185] After the user selects the preset required cleaning region, the self-moving device plans a path according to the preset required cleaning region, and after the planning is completed, the self-moving device departs from the base station to the preset required cleaning region. Taking the preset required cleaning region as a pet area as an example for description.

[0186] After the self-moving device reaches the pet area, cleaning is performed according to the preset planning path, and the preset planning path includes a plurality of point positions, each of which corresponds to a planning cleaning region, and the planning cleaning region is basically as large as the orthographic projection area of the self-moving device on the working surface. The self-moving device will judge according to the particulate information in the current planning cleaning region, and if the particulate information and the cleaning parameter meet the condition that the particulates are kicked, the direction and distance of the particulates being kicked are predicted according to the particulate information and the cleaning parameter, and a second region is determined. After the planning cleaning region corresponding to the current point position is cleaned, the particulate situation in the second region is detected, and if no particulates are found, the next point position is cleaned. If particulates are found, the second region is cleaned. And after cleaning the second region, move to the next point position for cleaning. This cycle continues until all the preset required cleaning regions are completed and the base station is returned.

[0187] It should be noted that the above is an embodiment, which is only for the convenience of easy understanding and cannot be used as a limitation on the scheme of the present application.

[0188] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or steps in other steps. It can be understood that the steps in different embodiments can be freely combined as needed, and various non-contradictory schemes formed by the combination are within the scope of protection of the present application.

[0189] The present application also provides a cleaning device of a self-moving device, as shown in the accompanying drawings, the cleaning device 400 comprises: Figure 17

[0190] The cleaning module 410 is configured to, in the process of cleaning the first area by the self-moving device, when it is detected that there is particulate matter in the second area, the particulate matter being kicked from the first area into the second area, first clean at least part of the first area, and then clean the second area; or

[0191] The cleaning module 410 is configured to, in the process of cleaning the first area by the self-moving device, when it is detected that there is particulate matter in the second area, the particulate matter being kicked from the first area into the second area, first clean the second area, and then return to clean the first area.

[0192] It can be understood that the implementation scheme for solving the problem provided by the cleaning device is similar to the implementation scheme described in the above method, and therefore the specific limitations in one or more options provided below can refer to the limitations of the cleaning method described above, and will not be repeated here.

[0193] In some embodiments, the second area comprises a third area, and the third area is an actual dirty area corresponding to the particulate matter;

[0194] The cleaning module 410 is further configured to clean at least the third area in the second area.

[0195] In some embodiments, the cleaning module 410 is further configured to, in the process of cleaning the second area;

[0196] The cleaning module 410 is further configured to, in the process of cleaning the second area, when it is detected that there is particulate matter in the fourth area, the particulate matter being kicked from the second area into the fourth area, first clean at least part of the second area, and then clean the fourth area; or

[0197] ​If particulate matter is detected in the fourth area, the particulate matter is blown from the second area into the fourth area. The fourth area is cleaned first, and then the cleaning process returns to the second area.

[0198] In some embodiments, the cleaning module 410 is further configured to:

[0199] Before cleaning the second area, check the second area again for particulate matter.

[0200] In some embodiments, both the first region and the second region include edge regions and non-edge regions; during the cleaning of the first region and / or the second region, the method further includes:

[0201] Clean along the edge areas to push particles toward the non-edge areas;

[0202] After cleaning the edge areas, clean the non-edge areas.

[0203] In some embodiments, the cleaning module 410 is further configured to: before detecting particulate matter in the second region, determine the second region based on the particulate matter information of the first region if the particulate matter information of the first region satisfies a first preset condition, wherein the first preset condition includes at least one particulate matter having an attribute value greater than a preset attribute threshold.

[0204] In some embodiments, the cleaning module 410 is further configured to:

[0205] During the cleaning of the first area, the associated information of the first area is obtained. The associated information includes at least one of the following: particle quantity, particle size, particle hardness, particle position, and side brush rotation speed.

[0206] The second region is determined based on at least one of the following: particle number, particle size, particle hardness, particle location, and side brush rotation speed.

[0207] In some embodiments, such as Figure 18 As shown, the cleaning device 400 also includes a communication module 420, which is used for:

[0208] If particulate matter is detected in the path before reaching the preset cleaning area, a first prompt message is sent to an external device that is communicatively connected to the self-moving device. The first prompt message is used to instruct the user of the external device to confirm whether to clean the particulate matter in the path. The preset cleaning area includes a first area.

[0209] In some embodiments, the cleaning module 410 is further configured to:

[0210] In a case where the particle is detected in the passing path before reaching the preset required cleaning area, the particle in the passing path is cleaned after the preset required cleaning area is cleaned, wherein the preset required cleaning area includes the first area.

[0211] In some embodiments, the cleaning module 410 is further configured to obtain a preset re-cleaning mode before cleaning the second area, the preset re-cleaning mode including re-cleaning determination information or re-cleaning negative information.

[0212] The communication module 420 is further configured to, in a case where the preset re-cleaning mode is the re-cleaning negative information, send a re-cleaning prompt to an external device in communication connection with the self-moving device in a case where there is at least one particle in the second area; the re-cleaning prompt is used to indicate whether the user of the external device performs a confirmation operation of re-cleaning.

[0213] The cleaning module 410 is further configured to, in a case where the preset re-cleaning mode is the re-cleaning determination information, clean the second area.

[0214] In some embodiments, the self-moving device corresponds to a first particle cleaning mode and a second particle cleaning mode, and the cleaning module 410 is further configured to:

[0215] In the first particle cleaning mode, in a case where a cumulative time length of at least one particle with an attribute value greater than a preset attribute threshold is detected within a preset time period, and the cumulative time length is greater than or equal to a first preset time length threshold, it is determined to switch to the second particle cleaning mode; or

[0216] In the first particle cleaning mode, in a case where a number of particles with an attribute value greater than a preset attribute threshold is detected, and the number is greater than a first preset number threshold, it is determined to switch to the second particle cleaning mode.

[0217] In some embodiments, the self-moving device corresponds to a first particle cleaning mode and a second particle cleaning mode, and the cleaning module 410 is further configured to:

[0218] In the second particle cleaning mode, in a case where a cumulative time length of at least one particle with an attribute value greater than a preset attribute threshold is detected within a preset time period, and the cumulative time length is less than a second preset time length threshold, it is determined to switch to the first particle cleaning mode; or

[0219] In the second particle cleaning mode, in a case where a number of particles with an attribute value greater than a preset attribute threshold is detected, and the number is not greater than a second preset number threshold, it is determined to switch to the first particle cleaning mode.

[0220] In some embodiments, the self-moving device includes a suction port and an edge brush; and in the second particle cleaning mode, the cleaning module 410 is further configured to:

[0221] Increasing the suction force of the suction port and / or reducing the rotation speed of the side brush.

[0222] Optionally, the relationship between the second region and the first region comprises at least one of the following relationships:

[0223] Relationship one, the second region comprises the first region.

[0224] Relationship two, the second region and the first region have an overlapping region.

[0225] Relationship three, the second region and the first region do not have an overlapping region.

[0226] Relationship four, the second region is on the side of the first region.

[0227] Relationship five, the first region comprises the second region.

[0228] The above cleaning device can be implemented by software, hardware, or a combination thereof. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0229] The present application also proposes a self-moving device, as shown in the figure, the self-moving device 100 comprises: Figure 19

[0230] At least one detection sensor 121 is configured to detect the attribute value of the particulate matter.

[0231] A processor 131 is configured to execute the steps of the method in any of the above embodiments.

[0232] Understandably, the self-moving device 100 can include any number of detection sensors 121, and when there are multiple detection sensors 121, each detection sensor 121 can be the same or different, which is not limited here, but at least includes one detection sensor 121 for detecting the attribute value of the particulate matter. The processor 131 is configured to execute the steps of the method in any of the above embodiments to achieve the corresponding functions.

[0233] Optionally, the detection sensor 121 can be arranged on the wall of the rolling brush cavity, the dust box, or the suction duct of the self-moving device 100.

[0234] Optionally, as shown in the figure, the self-moving device 100 comprises: Figure 20 ​As shown, the self-moving device further includes a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the self-moving device is configured to provide computing and control capabilities. The memory of the self-moving device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The database of the self-moving device is configured to store data of the cleaning method of the self-moving device. The input / output interface of the self-moving device is configured to exchange information between the processor and an external device. The communication interface of the self-moving device is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement any of the above cleaning methods.

[0235] Optionally, the self-moving device can be a terminal, and an internal structure diagram of the terminal can be as shown in Figure 21 As shown, the self-moving device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the self-moving device is configured to provide computing and control capabilities. The memory of the self-moving device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The input / output interface of the self-moving device is configured to exchange information between the processor and an external device. The communication interface of the self-moving device is configured to communicate with an external terminal in a wired or wireless manner. The wireless manner can be achieved through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. The computer program is executed by the processor to implement any of the above cleaning methods. The display unit of the self-moving device is configured to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the self-moving device can be a touch layer overlaid on the display screen, or can be a button, a trackball or a touchpad arranged on the housing of the self-moving device, or can be an external keyboard, a touchpad or a mouse, etc.

[0236] Those skilled in the art can understand that, Figure 21The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. A specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0237] In some embodiments, the self-moving device comprises:

[0238] A first detection sensor for detecting the hardness of the particulate matter.

[0239] A second detection sensor for detecting the particle size of the particulate matter.

[0240] Optionally, the first detection sensor can be a pressure sensor or the like, and the second detection sensor can be an acoustic wave sensor or an optical sensor or the like. Optionally, if the second detection sensor is an acoustic wave sensor, the frequency of the acoustic wave signal emitted by the acoustic wave sensor is higher than the frequency of the acoustic wave signal generated by the movement of the self-moving device and the operation of the motor. This is because it is considered that the self-moving device will generate an acoustic wave signal when it is moving, which is a collection of acoustic waves of different frequencies generated by the mechanical rotation, impact, airflow friction, etc. of various motors (fans, main brushes, side brushes, walking wheels, etc.) inside the self-moving device when they are running. This acoustic wave signal will interfere with the acoustic wave detection signal generated when detecting the attribute value of the particulate matter. In order to avoid interference, the frequency of the acoustic wave detection sensor needs to be set to be higher than the frequency of the acoustic wave signal generated by the movement of the self-moving device. In this way, the acoustic wave received by the acoustic wave detection sensor will not be interfered by other acoustic waves (acoustic wave signals generated by the movement of the self-moving device), improving the signal-to-noise ratio and making the detection more accurate.

[0241] The first detection sensor can be arranged at at least one of the positions of the rolling brush cavity wall, the dust box, and the dust suction pipeline of the self-moving device. The second detection sensor can be arranged at at least one of the positions of the rolling brush cavity wall, the dust box, and the dust suction pipeline.

[0242] The present application also proposes a terminal device, which is in communication connection with the self-moving device in any of the above embodiments, and the terminal device comprises a display module.

[0243] The display module is configured to receive and visually display a mark frame corresponding to a pollution area identified by the self-moving device during cleaning, and in the case where there are at least two pollution areas, display the position relationship between each mark frame by displaying the mark frame corresponding to each pollution area.

[0244] The display module is further configured to:

[0245] Display the position of the self-moving device to display the position relationship between the self-moving device and the mark frame.

[0246] The display module is used to form a visually visible picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the self-moving device can be a touch layer overlaid on the display screen, or a button, trackball or touchpad arranged on the shell of the self-moving device, or an external keyboard, touchpad or mouse.

[0247] For the convenience of description, the following takes the display screen of a mobile phone as an example for description. As shown in FIG. 3a, the user can see the entire cleaning process of the self-moving device on the display screen of the mobile phone. Figure 22 As shown in FIG. 3b, the user can see the position relationship between the self-moving device and the first mark frame 302 corresponding to the first area (i.e., the user-specified cleaning area) on the display screen of the mobile phone. Figure 22 When the particles in the planned cleaning area meet the first preset condition, the second area can be predicted according to the particle information. When predicting the second area, the corresponding second mark frame can be displayed, or the second mark frame can be displayed after confirming the presence of particles in the second area. Figure 22 As shown in FIG. 3c, the second mark frame 303 corresponding to the second area is displayed when the self-moving device discovers the presence of particles in the second area, and the user can know the position relationship between the second area and the first area by displaying the second mark frame 303. Optionally, the particle mark 304 corresponding to the particles can be displayed on the display screen of the mobile phone, or not. Figure 22 As shown in FIG. 3d, the self-moving device mark 301 is in the second mark frame 303, indicating that the self-moving device is cleaning the second area. Optionally, a prompt such as “cleaning the particle re-cleaning area” can be displayed to remind the user of the current cleaning situation. Figure 22 As shown in FIG. 3e, the second mark frame 303 corresponding to another second area is displayed.

[0248] In response to the first operation of the user on the first interaction entry in the interface of the terminal device, the second prompt information is displayed, and the second prompt information is used to prompt the user that the contaminated area is the particle re-cleaning area, the planned cleaning area or the preset required cleaning area.

[0249] It can be understood that the particle re-cleaning area is the second area, and the preset required cleaning area is all the areas required to be cleaned by the user. If the all the areas required to be cleaned by the user include multiple discontinuous areas, Figure 23The first mark frame corresponding to a part of the preset required cleaning area is shown. The planned cleaning area refers to the area that can be cleaned by the self-moving device at each point position. The user can perform a first operation on the first interaction entry 305 on the interface, that is, a display operation, and at least one prompt of the particle re-cleaning area, the planned cleaning area or the preset required cleaning area can be displayed through different operations.

[0250] Optionally, the first interaction entry can also be the first mark frame, the second mark frame, the self-moving device logo and the like. For example, when the user clicks the first mark frame, the preset required cleaning area is displayed, and the second prompt information of the preset required cleaning area is hidden by clicking the first mark frame again. Similarly, the second prompt information of the particle re-cleaning area and the planned cleaning area can be displayed / hidden respectively. In this way, the user can perform flexible operations more conveniently.

[0251] In response to a second operation of the user on the interface in the terminal device on the second interaction entry, third prompt information is displayed, and the third prompt information is used to prompt the user to switch the cleaning mode.

[0252] As can be understood, there are various modes for the self-moving device to clean, for example, a strong mode (greatly increasing the suction force, the main brush rotation speed, and possibly reducing the travel speed), a mopping mode (sweeping and mopping at the same time), a mopping-only mode (only mopping without sweeping), a fast cleaning mode (cleaning at a faster speed, and the path is only passed once), a regional cleaning mode (cleaning only the region specified by the user to clean), a full-area cleaning mode (cleaning the entire house area), and the like. Therefore, the user can switch the cleaning mode according to the needs at any time, which is more convenient.

[0253] It should be noted that the interface can be a page entered by the user after clicking the APP, or a page entered by the user through a small program or a webpage, and of course, it can also be a page entered by the user through a terminal system bundled component (such as Figure 24 As shown, similar to a function control in the control center, the function control 307 can be selected from a function set by sliding the main screen to display a pop-up box of the function set.

[0254] The application also proposes a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of any of the above cleaning methods.

[0255] The application also proposes a computer program product, which includes a computer program, and the computer program is executed by a processor to implement the steps of any of the above methods.

[0256] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0257] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0258] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A cleaning method for a self-moving device, characterized in that, The method includes: If the self-moving device detects particulate matter in the second area while cleaning the first area, and the particulate matter is blown from the first area into the second area, then at least part of the first area is cleaned first, and then the second area is cleaned; or, if the self-moving device detects particulate matter in the second area while cleaning the first area, and the particulate matter is blown from the first area into the second area, then the second area is cleaned first, and then the device returns to clean the first area. The method further includes, during the cleaning of the first area: Obtain the associated information of the first region, the associated information including at least one of the following: particle quantity, particle size, particle hardness, particle position, and side brush rotation speed; The second region is determined based on at least one of the particle quantity, particle size, particle hardness, particle position, and side brush rotation speed.

2. The method according to claim 1, characterized in that, The second region includes a third region, which is the actual dirty area formed by the particulate matter; The cleaning of the second area includes: Clean the third area.

3. The method according to claim 1, characterized in that, During the cleaning of the second area, the method further includes: If particulate matter is detected in the fourth region, and the particulate matter was dispersed from the second region into the fourth region, at least a portion of the second region should be cleaned first, followed by cleaning the fourth region; or If particulate matter is detected in the fourth region, the particulate matter is blown from the second region into the fourth region. The fourth region is cleaned first, and then the process returns to clean the second region.

4. The method according to claim 1, characterized in that, Before cleaning the second area, the method further includes: The second region was checked again to see if it contained particulate matter.

5. The method according to claim 1, characterized in that, Both the first region and the second region include edge regions and non-edge regions; during the cleaning of the first region and / or the second region, the method further includes: Clean along the edge region to push the particles toward the non-edge region; After cleaning the edge areas, clean the non-edge areas.

6. The method according to claim 1, characterized in that, Before detecting particulate matter in the second region, the method further includes: If the particulate matter information of the first region meets the first preset condition, a second region is determined based on the particulate matter information of the first region, wherein the first preset condition includes at least one particulate matter attribute value being greater than a preset attribute threshold.

7. The method according to claim 1, characterized in that, The method further includes: If particulate matter is detected in the path before reaching the preset cleaning area, a first prompt message is sent to an external device that is communicatively connected to the self-moving device; the first prompt message is used to instruct the user of the external device to confirm whether to clean the particulate matter in the path, wherein the preset cleaning area includes the first area.

8. The method according to claim 1, characterized in that, The method further includes: If particulate matter is detected in the path before reaching the preset cleaning area, the system will return to clean the particulate matter in the path after cleaning the preset cleaning area. The preset cleaning area includes the first area.

9. The method according to claim 1, characterized in that, Before cleaning the second area, the method further includes: Obtain a preset rescan mode, wherein the preset rescan mode includes rescan confirmation information or rescan rejection information; When the preset rescan mode is set to rescan negative, and at least one particulate matter is present in the second area, a rescan prompt is sent to an external device communicatively connected to the self-mobile device; the rescan prompt is used to indicate to the user of the external device whether to confirm the rescan. When the preset rescan mode is set to rescan confirmation information, the second area is cleaned.

10. The method according to claim 1, characterized in that, The self-moving device has a first particle cleaning mode and a second particle cleaning mode. During the cleaning process, the method further includes: In the first particle cleaning mode, if, within a preset time period, the cumulative time duration of at least one particle with an attribute value greater than a preset attribute threshold is detected, and the cumulative time duration is greater than or equal to a first preset time duration threshold, then it is determined to switch to the second particle cleaning mode; or In the first particle cleaning mode, if the number of particles whose attribute value is greater than a preset attribute threshold is detected, and the number is greater than a first preset number threshold, it is determined to switch to the second particle cleaning mode.

11. The method according to claim 1 or 10, characterized in that, The self-moving device has a first particle cleaning mode and a second particle cleaning mode. During the cleaning process, the method further includes: In the second particle cleaning mode, if, within a preset time period, the cumulative time duration of at least one particle with an attribute value greater than a preset attribute threshold is detected, and the cumulative time duration is less than a second preset time duration threshold, then it is determined to switch to the first particle cleaning mode; or In the second particle cleaning mode, if the number of particles whose attribute value is greater than a preset attribute threshold is detected, and the number is not greater than a second preset number threshold, it is determined to switch to the first particle cleaning mode.

12. The method according to claim 11, characterized in that, The self-moving device includes a suction port and a side brush; in the second particle cleaning mode, the method further includes: Increase the suction force of the suction port and / or reduce the rotation speed of the side brush.

13. The method according to claim 1, characterized in that, The relationship between the second region and the first region includes at least one of the following relationships: Relationship 1: The second region includes the first region; Relationship 2: The second region overlaps with the first region; Relationship 3: The second region and the first region do not overlap. Relationship 4: The second region is located on the periphery of the first region; Relationship 5: The first region includes the second region.

14. A cleaning device for a self-moving device, characterized in that, The device includes: The cleaning module is configured to, during the process of the self-moving device cleaning the first area, if it detects particulate matter in the second area, and the particulate matter is ejected from the first area to the second area, clean at least a portion of the first area first, and then clean the second area; or, during the process of the self-moving device cleaning the first area, if it detects particulate matter in the second area, and the particulate matter is ejected from the first area to the second area, clean the second area first, and then return to clean the first area. During the cleaning of the first area, the cleaning module is further configured to: Obtain the associated information of the first region, the associated information including at least one of the following: particle quantity, particle size, particle hardness, particle position, and side brush rotation speed; The second region is determined based on at least one of the particle quantity, particle size, particle hardness, particle position, and side brush rotation speed.

15. A self-moving device, characterized in that, include: At least one detection sensor is used to detect the property values ​​of particulate matter; A processor for performing the steps of the method as described in any one of claims 1 to 13.

16. The device according to claim 15, characterized in that, include: A first detection sensor is used to detect the hardness of the particulate matter; The second detection sensor is used to detect the particle size of the particulate matter.

17. The device according to claim 16, characterized in that, The first detection sensor is a pressure sensor; the second detection sensor is an acoustic sensor.

18. The device according to claim 16, characterized in that, The first detection sensor is disposed at at least one of the following locations: the wall of the roller brush chamber, the dust box, and the suction pipe of the self-moving device; The second detection sensor is disposed at at least one of the following locations: the wall of the roller brush chamber, the dust box, and the suction pipe.

19. A terminal device, characterized in that, The terminal device is communicatively connected to the self-moving device of claim 15, wherein the terminal device includes a display module; The display module is configured to receive and visualize the marker boxes corresponding to the contaminated areas identified by the self-moving device during the cleaning process, and, when there are at least two contaminated areas, display the positional relationship between each marker box by displaying the marker box corresponding to each contaminated area, wherein the contaminated area includes the first area and / or the second area; The display module is also used for: Display the position of the self-moving device to show the positional relationship between the self-moving device and the marker box; In response to the user’s first operation on the first interactive entry in the interface of the terminal device, a second prompt message is displayed. The second prompt message is used to prompt the user that the polluted area is a particulate matter re-sweeping area, a planned cleaning area, or a preset required cleaning area. In response to a user's second operation on the second interactive entry point in the interface of the terminal device, a third prompt message is displayed, which prompts the user to switch cleaning modes.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 13.

21. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 13.

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