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

Abstract

The invention relates to a cleaning method and device for self-moving equipment, the self-moving equipment and terminal equipment. The method comprises the following steps: when the self-moving equipment detects that first particulate matters exist in a second area and the number of second particulate matters in the first area is greater than a third preset number threshold value in the process of cleaning the first area, the first particulate matters are beaten from the first area to the second area; at least part of the first area is cleaned firstly, and then the second area is cleaned; or when the self-moving device detects that the first particulate matter exists in the second area and the number of the second particulate matter in the first area is larger than a third preset number threshold value in the process of sweeping the first area, the first particulate matter is beaten from the first area to the second area, the second area is swept firstly, and then the first area is swept back. By the adoption of the method, repeated pollution caused after particles are beaten away can be avoided, the cleaning effect is improved, the back-and-forth cleaning frequency is reduced, and the cleaning efficiency is improved.

Description

[0001] This application is a divisional application. The original application has the application number 202511537355.9 and the original application date is October 27, 2025. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to the field of smart device technology, and in particular to a cleaning method, apparatus, self-moving device, and terminal device for a self-moving device. Background Technology

[0003] With the continuous development of technology, cleaning robots are increasingly being used in various places requiring cleaning to reduce the labor intensity of cleaning. In traditional technology, cleaning robots plan a path for the cleaning area and clean sequentially according to the planned path. However, a small amount of particulate matter may still remain after cleaning, thus affecting the cleaning effect. Summary of the Invention

[0004] Therefore, it is necessary to provide a cleaning method, apparatus, self-moving device, and terminal device for the aforementioned technical problems, which can improve the cleaning effect by cleaning up the particulate matter that has been dispersed and avoiding repeated pollution caused by the particulate matter.

[0005] In a first aspect, this application provides a cleaning method for a self-moving device, the method comprising:

[0006] If, during the cleaning of the first area, the self-moving device detects particulate matter in the second area, and the number of particulate matter in the first area exceeds a third preset threshold, and the particulate matter is dislodged from the first area into the second area, then at least a portion of the first area is cleaned before the second area is cleaned; or

[0007] If, during the cleaning of the first area, the self-moving device detects particles in the second area and the number of particles in the first area is not greater than a third preset threshold, the particles are blown from the first area to the second area. The device then cleans the second area first and then returns to clean the first area.

[0008] In some embodiments, the first region includes a plurality of sub-regions, and cleaning the first region includes:

[0009] Clean multiple sub-regions sequentially;

[0010] Accordingly, the step of first cleaning the second area and then returning to clean the first area includes:

[0011] After cleaning the first sub-area, clean the second sub-area;

[0012] Clean the sub-regions within the first region in sequence, excluding the first sub-region.

[0013] In some embodiments, the second region includes a third region, which is the actual dirty area formed by the particulate matter;

[0014] The cleaning of the second area includes:

[0015] Clean the third area.

[0016] In some embodiments, during the cleaning of the second area, the method further includes:

[0017] 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

[0018] 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.

[0019] In some embodiments, before cleaning the second area, the method further includes:

[0020] The second region was then checked again to see if it contained particulate matter.

[0021] 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:

[0022] Clean along the edge region to push the particles toward the non-edge region;

[0023] After cleaning the edge areas, clean the non-edge areas.

[0024] In some embodiments, before detecting particulate matter in the second region, the method further includes:

[0025] 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.

[0026] In some embodiments, during the cleaning of the first area, the method further includes:

[0027] 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;

[0028] The second region is determined based on at least one of the particle quantity, particle size, particle hardness, particle location, and side brush rotation speed;

[0029] Alternatively, information sent by other devices indicating that particulate matter was ejected from the first area to the second area can be obtained.

[0030] In some embodiments, the method further includes:

[0031] 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.

[0032] In some embodiments, the method further includes:

[0033] 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.

[0034] In some embodiments, before cleaning the second area, the method further includes:

[0035] Obtain a preset rescan mode, wherein the preset rescan mode includes rescan confirmation information or rescan rejection information;

[0036] 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.

[0037] When the preset rescan mode is set to rescan confirmation information, the second area is cleaned.

[0038] In some embodiments, the self-moving device corresponds to a first particle cleaning mode and a second particle cleaning mode, and during the cleaning process, the method further includes:

[0039] 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

[0040] 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.

[0041] In some embodiments, the self-moving device corresponds to a first particle cleaning mode and a second particle cleaning mode, and during the cleaning process, the method further includes:

[0042] 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

[0043] 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.

[0044] In some embodiments, the self-moving device includes a suction port and a side brush; in the second particle cleaning mode, the method further includes:

[0045] Increase the suction force of the suction port and / or reduce the rotation speed of the side brush.

[0046] In some embodiments, the relationship between the second region and the first region includes at least one of the following relationships:

[0047] Relationship 1: The second region includes the first region;

[0048] Relationship 2: The second region overlaps with the first region;

[0049] Relationship 3: The second region and the first region do not overlap.

[0050] Relationship 4: The second region is located on the periphery of the first region;

[0051] Relationship 5: The first region includes the second region.

[0052] Secondly, this application also proposes a cleaning device for a self-moving device, the device comprising:

[0053] The cleaning module is configured to, during the cleaning process of the self-moving device in the first area, detect the presence of particulate matter in the second area, wherein the particulate matter is dispersed from the first area into the second area, and the module still cleans at least a portion of the first area before cleaning the second area; or

[0054] If, during the cleaning process of the self-moving device, particulate matter is detected in the second area, the particulate matter is blown from the first area into the second area, the second area is cleaned first, and then the device returns to clean the first area.

[0055] Thirdly, this application also proposes a self-moving device, comprising:

[0056] At least one detection sensor is used to detect the property values ​​of particulate matter;

[0057] A processor for executing the steps of the above methods.

[0058] In some embodiments, the self-moving device includes:

[0059] A first detection sensor is used to detect the hardness of the particulate matter;

[0060] The second detection sensor is used to detect the particle size of the particulate matter.

[0061] In some embodiments, the first detection sensor is a pressure sensor; the second detection sensor is an acoustic sensor.

[0062] In some embodiments, the first detection sensor is disposed at at least one of the following locations: the wall of the roller brush chamber of the self-moving device, the dust box, and the suction pipe;

[0063] 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.

[0064] Fourthly, this application also proposes a terminal device that is communicatively connected to the aforementioned self-moving device, the terminal device including a display module;

[0065] 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;

[0066] The display module is also used for:

[0067] Display the position of the self-moving device to show the positional relationship between the self-moving device and the marker box;

[0068] 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.

[0069] 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.

[0070] Fifthly, this application also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0071] Sixthly, this application also proposes a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method.

[0072] In summary, this application provides a cleaning method, apparatus, self-moving device, and terminal device for a self-moving device. When the self-moving device detects particulate matter in a second area during the cleaning of a first area (the particulate matter being dislodged from the first area to the second area), it cleans the dislodged particulate matter in the second area using a corresponding cleaning method (first, cleaning at least part of the first area before cleaning the second area; second, cleaning the second area before returning to clean the first area). This avoids re-contamination caused by the dislodged particulate matter and improves the cleaning effect. Attached Figure Description

[0073] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0074] Figure 1 This is one of the structural diagrams of the self-moving device in one embodiment;

[0075] Figure 2 This is one of the flowcharts illustrating a cleaning method in one embodiment;

[0076] Figure 3 This is a second flowchart illustrating the cleaning method in one embodiment;

[0077] Figure 4This is one of the schematic diagrams illustrating the relationship between the first region and the second region in one embodiment;

[0078] Figure 5 This is a second schematic diagram illustrating the relationship between the first and second regions in one embodiment.

[0079] Figure 6 This is the third schematic diagram illustrating the relationship between the first and second regions in one embodiment.

[0080] Figure 7 This is the fourth schematic diagram illustrating the relationship between the first and second regions in one embodiment.

[0081] Figure 8 This is the fifth schematic diagram illustrating the relationship between the first and second regions in one embodiment.

[0082] Figure 9 This is the sixth schematic diagram illustrating the relationship between the first and second regions in one embodiment.

[0083] Figure 10 This is a schematic diagram illustrating the relationship between the second and third regions in one embodiment;

[0084] Figure 11 This is the third flowchart of a cleaning method in one embodiment;

[0085] Figure 12 This is the fourth flowchart of a cleaning method in one embodiment;

[0086] Figure 13 This is the fifth flowchart illustrating the cleaning method in one embodiment;

[0087] Figure 14 This is a flowchart of the cleaning method in one embodiment, number six.

[0088] Figure 15 This is a schematic diagram of the path taken by the mobile device in one embodiment;

[0089] Figure 16 This is a schematic diagram illustrating communication between a self-moving device and an external device in one embodiment.

[0090] Figure 17 This is one of the structural schematic diagrams of the cleaning device in one embodiment;

[0091] Figure 18 This is a second schematic diagram of the cleaning device in one embodiment;

[0092] Figure 19 This is a second schematic diagram of the structure of the self-moving device in one embodiment;

[0093] Figure 20This is one of the internal structural diagrams of the self-moving device in one embodiment;

[0094] Figure 21 This is a second internal structure diagram of a self-moving device in one embodiment;

[0095] Figure 22 This is one of the interface display diagrams of the terminal device in one embodiment;

[0096] Figure 23 This is the second interface display diagram of the terminal device in one embodiment;

[0097] Figure 24 This is the third diagram showing the interface of the terminal device in one embodiment. Detailed Implementation

[0098] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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 1As 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:

[0103] 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.

[0104] The cleaning system 140 may include side brushes, roller brushes, dust boxes, suction pipes, fans, etc.

[0105] The sensing system 120 may include one or more of the following: a camera (e.g., an AI camera, a binocular camera, a multi-camera system, etc.), an acoustic sensor (e.g., an ultrasonic sensor), a pressure sensor, and an optical sensor (e.g., a laser sensor). The camera and laser sensor can be used to acquire environmental parameters of the mobile device 100 (e.g., the position and shape of objects such as particles and obstacles in the environment); the acoustic sensor can distinguish between different substrates such as the ground and carpet, and can also determine the size of objects such as particles; the pressure sensor can detect the hardness of objects such as particles. The particles can be granular objects on the working surface, which can be understood as granular waste.

[0106] The control system 130 is used to control the operating state of the systems including the aforementioned walking system 110, cleaning system 140, and sensing system 120. It also adjusts and controls the operating state of at least one of the aforementioned walking system 110, cleaning system 140, and sensing system 120 based on acquiring at least one system parameter (e.g., image information, depth information, the moving speed and direction of the self-moving device 100, side brush speed, roller brush speed, dust box status, etc.) to enable the self-moving device 100 to perform various actions, such as sweeping and walking.

[0107] In some embodiments, such as Figures 2-3 As shown, a cleaning method for a self-moving device is provided, which can be applied to applications such as... Figure 1 The application environment shown can, of course, be applied to other devices as well, without limitation. The cleaning method for this self-moving device includes at least one of the following two cleaning steps, each step corresponding to a cleaning method.

[0108] In step S101, if the self-moving device detects particulate matter in the second area during the cleaning of the first area, and the particulate matter is blown from the first area to the second area, at least part of the first area is still cleaned first, and then the second area is cleaned.

[0109] In step S102, if the self-moving device detects particles in the second area during the cleaning of the first area, the particles are dislodged from the first area and moved to the second area. The second area is cleaned first, and then the device returns to clean the first area. All areas that the user needs to clean are collectively referred to as the preset cleaning areas.

[0110] The first area can be a preset area to be cleaned, or it can be a part of a preset area to be cleaned; there are no restrictions here.

[0111] Exemplarily, the first area may include at least one of the following: bedroom floor (e.g., one or more bedroom floors), living room floor, bathroom floor, a portion of the floor area in a bedroom (e.g., a pet area), and an area covered by the self-mounted cleaning device. The area covered by the self-mounted cleaning device can be understood as the area that the self-mounted device can clean at a given point, such as the projected area of ​​the self-mounted device on the floor. Exemplarily, the first area may include a window surface, a wall surface, or other flat surface.

[0112] The second area can be understood as the area where the particles from the first area land after being dispersed. For example, the second area can include the same type of floor as the first area, such as bedroom floors, living room floors, bathroom floors, window surfaces, walls, etc.

[0113] It is important to note that since the second area is where the particles land after being ejected, the working surface of the second area can be the same as the working surface of the first area, or it can be a different working surface. For example, if the working surface of the first area is a wall, the particles may be ejected to the ground, so in this case, the working surface of the second area is the ground.

[0114] As an example, the shapes of the first and second regions can be regular shapes, such as ellipses, sectors, rectangles, circles, etc., or they can be irregular shapes.

[0115] Since there are multiple possibilities for how particulate matter can be ejected, the relationship between the second region and the first region can include at least one of the following relationships:

[0116] Relationship 1, such as Figures 4-5 As shown, the second region 20 includes the first region 10.

[0117] Relationship 2, such as Figures 4-7 As shown, the second region 20 overlaps with the first region 10. Among them, Figure 7 The second region 20 is a ring, therefore, the overlapping part 21 is also a ring.

[0118] Relationship 3, such as Figure 8As shown, the second region 20 and the first region 10 do not overlap.

[0119] Relationship 4, such as Figure 9 As shown, the second region 20 is located around the first region 10.

[0120] Relationship 5, such as Figure 5 As shown, the first region 10 includes the second region 20.

[0121] Optionally, the self-moving device may include a camera or laser sensor to detect whether particulate matter is ejected from the first area 10 to the second area 20. Optionally, the self-moving device may acquire information from other devices that have detected particulate matter being ejected from the first area 10 to the second area 20. Optionally, if the self-moving device detects the presence of particulate matter in the second area 20, it is assumed that the particulate matter was ejected from the first area 10 to the second area 20, and no detection is required.

[0122] It should be noted that the cleaning method may differ depending on the relationship between the first and second zones, because the shapes of the zones are different. For example, if the first zone is rectangular, it is easy to perform arc-shaped cleaning; if the second zone happens to be at a corner, it is suitable to clean along the edge.

[0123] It should be noted that the two cleaning methods described above can be applied to different self-moving devices. For example, self-moving device a can perform step S101, and self-moving device b can perform step S102. Of course, the two cleaning methods described above can be performed simultaneously by the same self-moving device. For example, self-moving device c can perform steps S101 and S102 under different circumstances.

[0124] For example, if the first area is the floor of a room, the self-mounted mobile device c needs to clean each point on the planned path sequentially during the cleaning process. Each point corresponds to a required cleaning area, which is designated as the planned cleaning area. In other words, the planned cleaning area is the area that the self-mounted mobile device can clean at each point. When cleaning at a certain point, if particles are detected in the second area, the self-mounted mobile device c will first clean the planned cleaning area corresponding to the current point before cleaning the second area.

[0125] Considering that during the cleaning of the planned cleaning area corresponding to the current point, particles may be scattered at multiple times. If particles are detected in the second area at multiple times, multiple back-and-forth cleaning sessions will occur. For example, the second area might be cleaned once at the first time point, and then the cleaning team returns to the current point to continue cleaning the planned cleaning area. If particles are found in the second area again at the second time point during the cleaning process, the cleaning team goes to the second area again, and then returns to the current point to continue cleaning. This back-and-forth cleaning will reduce the overall cleaning efficiency.

[0126] 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.

[0127] 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).

[0128] 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.

[0129] 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.

[0130] Understandably, the second region 20 includes a number of particles 11, and the actual contaminated area includes a number of particles 11. The actual contaminated area is the sum of the orthographic projection areas of the particles 11 on the working surface. That is, the third region 30 can be greater than or equal to the sum of the orthographic projection areas of the particles on the working surface.

[0131] Clean the second area 20, including cleaning the third area 30.

[0132] Understandably, in some cases, the second zone 20 may not be entirely covered by particulate matter; that is, particulate matter may only cover a portion of the second zone 20, and this portion represents the actual dirty area. In such cases, it is possible to choose to clean only this actually dirty area, thus avoiding the need to clean the areas of the second zone 20 that are not covered by particulate matter, saving cleaning time and improving cleaning efficiency. Of course, it is also possible to choose to clean at least the actually dirty area, which also reduces the area to be cleaned, saving cleaning time and improving cleaning efficiency.

[0133] In some embodiments, the method further includes steps S103 and / or S104 during the cleaning of the second area.

[0134] In step S103, if particulate matter is detected in the fourth region, and the particulate matter is blown from the second region to the fourth region, at least part of the second region is cleaned first, and then the fourth region is cleaned.

[0135] In step S104, if particulate matter is detected in the fourth region, the particulate matter is blown from the second region to the fourth region. The fourth region is cleaned first, and then the second region is cleaned.

[0136] Understandably, during the cleaning of the second area, there may still be instances where particles are flung out again, that is, particles are flung out again into the fourth area. This allows for further cleaning, solves the problem of repeated contamination, and improves the cleaning effect.

[0137] It should be noted that if particulate matter is detected in the fourth area during the cleaning of the second area, it is possible to choose to clean at least part of the second area first, and then clean the fourth area (corresponding to step S103), or to clean the fourth area first and then return to clean the second area (corresponding to step S104). If steps S101 and S102 are combined with steps S103 and S104, four solutions can be obtained: step S101 + step S103, step S101 + step S104, step S102 + step S103, and step S102 + step S104.

[0138] The explanation will take step S101 + step S103 as an example. Figure 11 As shown, if the mobile device detects particles in the second area while cleaning the first area, it will still clean at least a portion of the first area before cleaning the second area. Similarly, if it detects particles in the fourth area while cleaning the second area, and these particles were dislodged from the second area into the fourth area, it will still clean at least a portion of the second area before cleaning the fourth area. The other three combinations can be referenced in this example and will not be elaborated upon here.

[0139] Taking step S101 + step S104 as an example, then... Figure 12 As shown above, the specific details are as described above and will not be repeated here.

[0140] Optionally, during the cleaning of the fourth area, particles may be scattered again, so cleaning can be performed again. The total number of times the particles are scattered and cleaned repeatedly can be 1, 2, 3, 4, 5, etc., without limitation. When the total number of times the particles are scattered and cleaned repeatedly is 1, it corresponds to step S101 or step S102; when the total number of times the particles are scattered and cleaned repeatedly is 2, it includes step S103 or step S104; when the total number of times the particles are scattered and cleaned repeatedly is 3 or more, step S103 or step S104 is executed in addition to step S104, and the corresponding number of cleaning operations are performed. This will not be elaborated further here.

[0141] In some embodiments, before cleaning the second area, the method further includes: detecting again whether the second area contains particulate matter.

[0142] Understandably, there might be areas without particles before cleaning the second area. This could be due to reasons such as a previous detection error or particles being moved to other areas by cats, people, dogs, etc. Therefore, it is necessary to detect again to ensure that particles are present in the second area, avoiding a situation where the cleaning efficiency is reduced due to the absence of particles after the mobile device has moved to the second area.

[0143] In some embodiments, such as Figure 13 As shown, 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 steps S1011 to S1012.

[0144] Step S1011: Sweep along the edge area to push the particles toward the non-edge area.

[0145] Step S1012: After cleaning the edge area, clean the non-edge area.

[0146] Understandably, when cleaning zones one, two, three, and four, one can first clean along the edges and then sweep the non-edge areas. Because cleaning along the edges pushes particles towards the non-edge areas, the particles are concentrated from a dispersed state into a smaller area. This not only facilitates particle cleaning but also effectively reduces the probability of particles being scattered, thus improving cleaning results.

[0147] Optionally, when the first area or other areas are large, the large area can be divided into several smaller sub-areas. During the cleaning process of each sub-area, the cleaning is carried out first along the edge area of ​​the sub-area to push the particles towards the non-edge area. After cleaning the edge area, the non-edge area is cleaned. In this way, when dealing with large, irregular areas, flexibility can be improved, and zigzag cleaning methods can be better implemented, thereby improving cleaning effect and cleaning efficiency.

[0148] In some embodiments, the method further includes, before detecting particulate matter in the second region:

[0149] If the particulate matter information of the first region meets the first preset condition, the 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.

[0150] Understandably, the location, extent, and shape of the second region can be predicted based on the particulate matter information in the first region. Different particles have different probabilities of being dislodged; for example, harder particles are more easily dislodged, and the greater the number of particles, the higher the probability and the greater the number of particles dislodged. Furthermore, particles are more likely to be dislodged at the edge of the self-operated device than in its center. Therefore, it is necessary to predict the existence of a second region based on specific particulate matter information, and if a second region exists, to predict its location, extent, and shape, in order to more accurately determine the area where the dislodged particles are located and improve cleaning efficiency. The particulate matter information includes at least one of the following: particle quantity, particle location, and particle attribute values. The particle attribute values ​​include at least one of the following: particle hardness, particle size, particle density, and particle viscosity.

[0151] In some embodiments, such as Figure 14 As shown, during the cleaning of the first area, the method also includes steps S1021 to S1022.

[0152] Step S1021: Obtain the associated information of the first region. The associated information includes at least one of the following: particle quantity, particle size, particle hardness, particle position, and side brush rotation speed.

[0153] Step S1022: Determine the second region based on at least one of the following: particle number, particle size, particle hardness, particle position, and side brush rotation speed.

[0154] Understandably, the number, size, and hardness of particles all affect the probability, number, and distance at which particles are ejected. Simultaneously, the side brush rotation speed also influences the direction and distance of particle ejection. The relevant information includes at least one of the particle information and the cleaning parameters of the self-moving device. The cleaning parameters include the side brush rotation speed. Using multiple parameters can improve the accuracy of predicting the range, size, and location of the second area.

[0155] In some embodiments, the method further includes:

[0156] 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.

[0157] Understandably, in some cases, the path traversed by the mobile device during its journey to the preset cleaning area is considered a passing path. This path can be the path from a portion of one preset cleaning area to a portion of another. For example, if the preset cleaning area includes multiple discontinuous room floors, then any one of those room floors is a portion of the preset cleaning area, and the path traversed from one room to another is the passing path. Figure 15 As shown, it can also be a path 22 from the base station to the preset area to be cleaned. If particulate matter is found along the path, such as Figure 16 As shown, a first prompt message can be sent to the external device 300. Taking a mobile phone as an example, if the user receives the first prompt message on the phone, the user can perform operations according to their needs. If the user needs to clean up particles in the path, a cleaning confirmation operation will be performed. The external device 300 will respond to this operation and generate a response message including cleaning confirmation, and transmit the response message to the self-moving device 100 so that the self-moving device 100 can detect particles while cleaning the path. If the user does not need to clean up particles in the path, a no-cleaning confirmation operation will be performed. The external device 300 will respond to this operation and generate a response message including no-cleaning confirmation, and transmit the response message to the self-moving device 100 so that the self-moving device 100 does not need to clean up particles detected while passing through the path. The self-moving device communicates with the external device via a network. External devices can be, but are not limited to, various personal computers, laptops, smartphones, tablets, drones, low-altitude aircraft, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, projection devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted displays, etc. Head-mounted displays can include virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc.

[0158] When the mobile device needs to clean up particles in its path, optionally, if the mobile device is in the path and particles are detected, it cleans up the particles and then continues to move towards the preset cleaning area. Optionally, if particles are detected in the path before reaching the preset cleaning area, it returns to clean up the particles in the path after cleaning the preset cleaning area.

[0159] In summary, users can not only remotely control their own mobile devices, but also meet their different needs, making it more convenient and improving user satisfaction.

[0160] In some embodiments, the method further includes, prior to cleaning the second area:

[0161] Obtain the preset rescan mode, which includes rescan confirmation information or rescan rejection information.

[0162] When the preset rescan mode is set to rescan negative information, and at least one particulate matter is present in the second area, a rescan prompt is sent to an external device that is communicatively connected to the self-moving device; the rescan prompt is used to indicate to the user of the external device whether to perform a rescan confirmation operation.

[0163] With the preset rescan mode set to rescan confirmation information, clean the second area.

[0164] Understandably, users can pre-set a default rescan mode for their mobile devices. This default mode can be set to either a confirm / deny rescan mode or a deny / deny rescan mode. When set to confirm / deny rescan mode, the mobile device receives confirm / deny rescan information; when set to deny / deny rescan mode, it receives deny / deny rescan information. For example, the default rescan mode might be represented by the variable SpotCleanup. Setting different modes will change the value of SpotCleanup. When set to confirm / deny rescan mode, SpotCleanup = 1, and the mobile device receives 1 (confirm / deny rescan information); when set to deny / deny rescan mode, SpotCleanup = 0, and the mobile device receives 0 (deny / deny rescan information).

[0165] Optionally, if the user receives a rescan prompt and confirms the rescan, the external device responds by generating corresponding rescan confirmation information and transmitting it to the self-moving device. The self-moving device then changes its current rescan rejection mode to rescan confirmation mode based on the received confirmation information, effectively setting it to rescan confirmation mode automatically. When the self-moving device sends a rescan prompt to the user, the user may not respond immediately. Therefore, the self-moving device will continue its current cleaning operation without waiting for the user's response. After receiving the rescan confirmation information from the user, the self-moving device will, starting from the current location or the next location, begin cleaning the second area if particles are found again in the second area. Optionally, it can also return to clean the previously cleaned second area after cleaning the current preset cleaning area.

[0166] Optionally, the rescan prompt can be displayed in any form, such as a pop-up window, SMS, or message notification.

[0167] This not only informs the user of the current mode, but also allows for remote control of mode changes via external devices, improving user convenience and satisfaction.

[0168] In some embodiments, the self-moving device corresponds to a first particle cleaning mode and a second particle cleaning mode. During the cleaning process, the method further includes any one of the following two first switching conditions.

[0169] First switching condition a: In the first particle cleaning mode, if the 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 the first preset time length threshold, then it is determined to switch to the second particle cleaning mode.

[0170] First switching condition b: In the first particle cleaning mode, if the number of particles with attribute values ​​greater than a preset attribute threshold is detected and the number is greater than a first preset quantity threshold, then the switch to the second particle cleaning mode is determined.

[0171] Understandably, during the cleaning process, different particles vary in size, weight, hardness, and material. Various cleaning parameters need to be adjusted based on the specific particle characteristics to better clean particles of corresponding sizes. Therefore, this embodiment can determine the appropriate mode for the current self-moving device based on the current particle characteristics. Different modes correspond to different cleaning parameters. These cleaning parameters include side brush speed, main brush speed, suction power, and travel speed. 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 include soybeans, pet food, and stones, while small particles include dust, cat litter, and pollen.

[0172] Furthermore, to prevent false detections of particle size, a second particle cleaning mode can be established only when the cumulative time for detecting target particles exceeds a certain threshold. Target particles refer to particles whose attribute values ​​are greater than preset attribute thresholds. Particle attribute values ​​include at least one attribute type, and preset attribute thresholds include thresholds corresponding to multiple attribute types, such as hardness thresholds and particle size thresholds. When a particle's attribute value includes only one type (e.g., particle size), particles larger than the particle size threshold are considered target particles; similarly, if the attribute value includes only hardness, particles with hardness greater than the hardness threshold are considered target particles. When the attribute value includes two types (e.g., particle size and hardness), both attribute values ​​must be greater than their corresponding preset attribute thresholds. Therefore, the number of attribute types in the switching conditions can be adjusted according to different scenarios.

[0173] The first preset time length threshold and the preset time period can be adjusted according to specific circumstances. For example, the value range of both the first preset time length threshold and the preset time period can be 0.1s to 3s, but the first preset time length threshold is less than or equal to the preset time period. Specifically, it can be 0.1s, 0.25s, 0.5s, 0.75s, 1s, etc. 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 particle size, and the preset attribute threshold is 0.5cm, if the cumulative detection time of particles larger than 0.5cm within 0.3s is greater than 0.2s, then the first particle cleaning mode is switched to the second particle cleaning mode.

[0174] Of course, quantity can also be used for judgment. The first preset quantity threshold can be adjusted according to the specific situation, and its value range can be 0~10, for example, it can be 0, 3, 5, 7, 10, etc.

[0175] For example, if the first preset quantity threshold is 1 and a large particle is detected, the second particle cleaning mode (large particle mode) will not be switched.

[0176] Therefore, there can be multiple conditions for switching modes, allowing users to dynamically adjust the conditions for switching cleaning modes based on different environments and application scenarios. This improves flexibility while also enhancing cleanliness and the adaptability of mobile devices.

[0177] In some embodiments, the self-moving device corresponds to a first particle cleaning mode and a second particle cleaning mode. During the cleaning process, the method further includes any one of the following two second switching conditions.

[0178] Second switching condition a: In the second particle cleaning mode, if the 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, then it is determined to switch to the first particle cleaning mode.

[0179] The second switching condition b is that, in the second particle cleaning mode, if the number of particles whose attribute value is greater than the preset attribute threshold is detected, and the number is not greater than the second preset quantity threshold, then the switch to the first particle cleaning mode is determined.

[0180] Understandably, in the second particle cleaning mode, to prevent false detections or misjudgments based on particle size, the system can be configured to switch to the second particle cleaning mode only if the cumulative detected target particles within a certain time period are less than a certain threshold. The target particles are those with attribute values ​​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, both the second preset time length threshold and the preset time period can range from 0.1s to 3s, but the second preset time length threshold is shorter than the preset time period. Specifically, it can be 0.1s, 0.25s, 0.5s, 0.75s, 1s, etc. The second preset quantity threshold can also be adjusted according to specific circumstances, with a value range of 0 to 10, for example, 0, 3, 5, 7, 10, etc.

[0181] It should be noted that the above proposes two first switching conditions and two second switching conditions, namely first switching condition a, first switching condition b, second switching condition a, and second switching condition b. These can be combined into the following four schemes: first switching condition a + second switching condition a, first switching condition a + second switching condition b, first switching condition b + second switching condition a, and first switching condition b + second switching condition b. The self-moving device can execute at least one of these four schemes.

[0182] Taking the first switching condition a + second switching condition a as an example, the self-moving device executes the first combination scheme (first switching condition a + second switching condition a). Specifically, in the first particle cleaning mode, if the 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, then the device is determined to switch to the second particle cleaning mode; in the second particle cleaning mode, if the 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, then the device is determined to switch back to the first particle cleaning mode. Other combinations can be referenced in this example and will not be elaborated here.

[0183] This embodiment provides various switching conditions between the first and second particle cleaning modes, allowing users to dynamically adjust the switching conditions according to different environments and application scenarios. This improves flexibility while also enhancing cleanliness and the adaptability of the self-moving equipment.

[0184] In some embodiments, the self-moving device includes a suction port and a side brush. In the second particle cleaning mode, the method further includes: increasing the suction power of the suction port and / or decreasing the rotational speed of the side brush.

[0185] Understandably, using the same suction power or rotation speed for particles of different sizes will not yield optimal results. For example, for particles of moderate hardness, even with appropriate suction power, harder particles are easily dislodged under the same suction power. Therefore, to prevent this, suction power needs to be increased for harder particles. Similarly, for particles that are easily dislodged, increased suction power is necessary. Higher rotation speeds also increase the likelihood of dislodging particles. Therefore, suction power and rotation speed need to be adjusted accordingly in different modes to ensure the most suitable mode is used for different particles and environments, achieving optimal suction power and rotation speed for improved overall cleaning performance. If the second particle cleaning mode is for large particles, large particles are easily dislodged. Therefore, increasing the suction power at the nozzle and / or decreasing the rotation speed of the side brush can reduce the probability of re-contamination caused by dislodged large particles, thus improving cleaning performance. Conversely, in the first particle cleaning mode, decreasing the suction power at the nozzle and / or increasing the rotation speed of the side brush can be selected.

[0186] It should be noted that the above explanation only uses the example of the first particle cleaning mode being the large particle cleaning mode and the second particle cleaning mode being the small particle cleaning mode. The first and second particle cleaning modes can also be other modes. For example, both the first and second particle cleaning modes can be one of the following: high-speed high suction mode, high-speed medium suction mode, high-speed low suction mode, medium-speed high suction mode, medium-speed medium suction mode, medium-speed low suction mode, low-speed high suction mode, low-speed medium suction mode, and low-speed low suction mode. However, the first and second particle cleaning modes are different, and the suction power in the first particle cleaning mode is less than that in the second particle cleaning mode, while the side brush speed in the first particle cleaning mode is greater than that in the second particle cleaning mode.

[0187] In some embodiments, considering that the self-moving device needs to activate sensors, such as acoustic sensors, during the cleaning process, and that the self-moving device may encounter special scenarios such as obstacle crossing, mapping, recharging, brush lifting, and moving from one room to another, if the sensors continue to operate in these special scenarios, it may trigger cleaning operations based on sensor-detected data, leading to misjudgments. Furthermore, if cleaning operations are initiated simultaneously during obstacle crossing, mapping, recharging, brush lifting, and moving from one room to another, it may also reduce the accuracy or effectiveness of the actions in some scenarios. Therefore, cleaning operations can be disabled in these special scenarios to avoid cleaning misjudgments and improve the effectiveness of each action.

[0188] In some embodiments, the method further includes:

[0189] If the particulate matter information in a region meets a second preset condition, a cleaning fluid release label is added for that region. The second preset condition includes a quantity condition and a frequency condition. The quantity condition is that the number of target particles is greater than a second preset quantity threshold; the target particles are particles whose attribute values ​​are greater than a preset attribute threshold. The frequency condition is that the number of times the particulate matter information in the same region meets the quantity condition is greater than a preset frequency threshold.

[0190] Understandably, certain areas often accumulate large particles, stubborn dirt, or unpleasant odors. Examples include pet areas and trash can areas. Therefore, cleaning fluid release labels can be added to these areas. During subsequent cleaning, these labels indicate the appropriate amount of cleaning fluid to release and remove odors. Alternatively, users can manually add different labels to specific areas, each corresponding to a different function, such as releasing cleaning fluid, spraying perfume, or playing music. This allows self-service cleaning devices to offer differentiated cleaning functions and entertaining prompts, meeting diverse user needs and improving applicability across various scenarios.

[0191] To make it easier to understand, a specific example is given below:

[0192] After the user selects the desired cleaning area, the mobile device plans a path based on the desired cleaning area. After the path is planned, the mobile device starts from the base station and goes to the desired cleaning area. The following explanation is based on the desired cleaning area being a pet area.

[0193] After the mobile device reaches the pet area, it cleans according to a preset planned path. This path includes several points, each corresponding to a planned cleaning area, which is roughly the same size as the projected area of ​​the mobile device on the work surface. The mobile device judges the particle information in the current planned cleaning area. If the particle information and cleaning parameters meet the conditions for particle dispersal, it predicts the direction and distance of particle dispersal based on the particle information and cleaning parameters, thus determining a second area. After cleaning the planned cleaning area corresponding to the current point, it checks the particle situation in the second area. If no particles are found, it continues to the next point for cleaning. If particles are found, it moves to the second area for particle cleaning. After cleaning the second area, it moves to the next point for cleaning. This cycle continues until all the preset required cleaning areas are completed, at which point it returns to the base station.

[0194] It should be noted that the above is an embodiment only for ease of understanding and should not be used as a limitation on the present application.

[0195] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0196] This application also proposes a cleaning device for a self-moving device, such as... Figure 17 As shown, the cleaning device 400 includes:

[0197] The cleaning module 410 is configured to, during the cleaning of the first area by the self-moving device, if it detects particulate matter in the second area and the number of particulate matter in the first area exceeds a third preset threshold, clean at least a portion of the first area before cleaning the second area, even if the particulate matter is blown from the first area into the second area; or

[0198] If, during the cleaning process of the self-moving device, particulate matter is detected in the second area and the number of particulate matter in the first area is not greater than a third preset threshold, the particulate matter is blown from the first area to the second area, the second area is cleaned first, and then the device returns to clean the first area.

[0199] Understandably, the solution to the problem provided by this cleaning device is similar to the solution described in the above method. Therefore, the specific limitations of one or more options provided below can be found in the limitations of the cleaning method above, and will not be repeated here.

[0200] In some embodiments, the first region includes multiple sub-regions, and the cleaning module 410 is used to clean the multiple sub-regions sequentially; and after cleaning the first sub-region, to clean the second region; and to clean the sub-regions within the first region except for the first sub-region sequentially.

[0201] In some embodiments, the second region includes a third region, which is the actual dirty area formed by the particulate matter;

[0202] The cleaning module 410 is also used to clean at least the third area in the second area.

[0203] In some embodiments, the cleaning module 410 is further configured to: during the cleaning of the second area;

[0204] If particulate matter is detected in the fourth region, and the particulate matter was dispersed from the second region to the fourth region, at least a portion of the second region should be cleaned first, followed by the fourth region; or

[0205] 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.

[0206] In some embodiments, the cleaning module 410 is further configured to:

[0207] Before cleaning the second area, check the second area again for particulate matter.

[0208] 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:

[0209] Clean along the edge areas to push particles toward the non-edge areas;

[0210] After cleaning the edge areas, clean the non-edge areas.

[0211] 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.

[0212] In some embodiments, the cleaning module 410 is further configured to:

[0213] 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.

[0214] 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.

[0215] The cleaning module 410 is also used to acquire information sent by other devices indicating that particulate matter is being blown from the first area to the second area.

[0216] In some embodiments, such as Figure 18 As shown, the cleaning device 400 also includes a communication module 420, which is used for:

[0217] 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.

[0218] In some embodiments, the cleaning module 410 is further configured to:

[0219] 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 a first area.

[0220] In some embodiments, the cleaning module 410 is further configured to obtain a preset rescanning mode before cleaning the second area, the preset rescanning mode including rescanning confirmation information or rescanning rejection information;

[0221] The communication module 420 is also used to send a rescan prompt to an external device that is communicatively connected to the self-moving device when the preset rescan mode is rescan negative information and at least one particulate matter is present in the second area; the rescan prompt is used to indicate to the user of the external device whether to perform a rescan confirmation operation.

[0222] The cleaning module 410 is also used to clean the second area when the preset re-scanning mode is confirmed as re-scanning.

[0223] 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:

[0224] During the cleaning process, in the first particle cleaning mode, if the 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, then it is determined to switch to the second particle cleaning mode; or

[0225] In the first particle cleaning mode, if the number of particles whose attribute value is greater than the preset attribute threshold is detected, and the number is greater than the first preset quantity threshold, the system determines to switch to the second particle cleaning mode.

[0226] 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:

[0227] During the cleaning process, in the second particle cleaning mode, if the 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, then it is determined to switch to the first particle cleaning mode; or

[0228] In the second particle cleaning mode, if the number of particles whose attribute value is greater than the preset attribute threshold is detected, and the number is not greater than the second preset quantity threshold, the system determines to switch to the first particle cleaning mode.

[0229] In some embodiments, the self-moving device includes a suction port and a side brush; in the second particle cleaning mode, the cleaning module 410 is further configured to:

[0230] Increase the suction power of the suction nozzle and / or reduce the rotation speed of the side brush.

[0231] Optionally, the relationship between the second region and the first region includes at least one of the following relationships:

[0232] Relationship 1: The second region includes the first region.

[0233] Relationship 2: The second region overlaps with the first region.

[0234] Relationship 3: The second region and the first region do not overlap.

[0235] Relationship 4: The second region is located around the first region.

[0236] Relationship 5: The first region includes the second region.

[0237] Each module in the aforementioned cleaning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0238] This application also proposes a self-moving device, such as Figure 19 As shown, the self-moving device 100 includes:

[0239] At least one detection sensor 121 is used to detect the property values ​​of particulate matter.

[0240] Processor 131 is configured to perform the steps of the method in any of the above embodiments.

[0241] Understandably, the self-moving device 100 may include any number of detection sensors 121. When multiple detection sensors 121 exist, each detection sensor 121 may be the same or different; there is no limitation here, but at least one detection sensor 121 for detecting particulate matter property values ​​is included. The processor 131 is used to execute the steps of the method in any of the above embodiments to achieve the corresponding function.

[0242] Optionally, the detection sensor 121 can be located on the wall of the brush chamber, dust box, or suction pipe of the self-moving device 100.

[0243] Optionally, such as Figure 20 As shown, the self-moving device also includes a memory, an input / output interface (I / O), and a communication interface. The processor, memory, and I / O interface are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interface. The processor of the self-moving device provides computing and control capabilities. The memory of the self-moving device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the self-moving device stores data related to the cleaning methods of the self-moving device. The I / O interface of the self-moving device is used for exchanging information between the processor and external devices. The communication interface of the self-moving device is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements any of the aforementioned cleaning methods.

[0244] Optionally, the self-moving device can be a terminal, and its internal structure diagram can be as follows: Figure 21As shown, the self-moving device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements any of the aforementioned cleaning methods. The display unit of the self-moving device forms a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the self-moving device can be a touch layer covering the display screen, or a button, trackball, or touchpad set on the casing of the self-moving device, or an external keyboard, touchpad, or mouse, etc.

[0245] Those skilled in the art will understand that Figure 21 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0246] In some embodiments, the self-moving device includes:

[0247] The first detection sensor is used to detect the hardness of particulate matter.

[0248] The second detection sensor is used to detect the particle size of particulate matter.

[0249] Optionally, the first detection sensor can be a pressure sensor, etc.; the second detection sensor can be an acoustic sensor, optical sensor, etc. Optionally, if the second detection sensor is an acoustic sensor, the frequency of the acoustic signal emitted by the acoustic sensor is higher than the frequency of the acoustic signal generated by the movement of the self-moving device and the operation of its motors. This is because the self-moving device generates acoustic signals during movement. These acoustic signals are a collection of sound waves of different frequencies generated by the mechanical rotation, impact, and airflow friction of various motors (fans, main brushes, side brushes, wheels, etc.) inside the self-moving device during operation. This acoustic signal can interfere with the acoustic detection signal generated when detecting particulate matter properties. To avoid interference, the frequency of the acoustic detection sensor needs to be set higher than the frequency of the acoustic signal generated by the movement of the self-moving device. This ensures that the acoustic waves received by the acoustic detection sensor are not interfered with by other acoustic waves (the acoustic signal generated by the movement of the self-moving device), improving the signal-to-noise ratio and making the detection more accurate.

[0250] The first detection sensor can be disposed at at least one location among the roller brush chamber wall, dust box, and suction pipe of the self-moving device. The second detection sensor can be disposed at at least one location among the roller brush chamber wall, dust box, and suction pipe.

[0251] This application also proposes a terminal device that is communicatively connected to the self-moving device in any of the above embodiments, the terminal device including a display module.

[0252] The display module is used to receive and visualize the marker boxes corresponding to the contaminated areas identified by the self-moving device during the cleaning process, and, in the case of at least two contaminated areas, to display the positional relationship between each marker box by displaying the marker box corresponding to each contaminated area, wherein the contaminated areas include a first area and / or a second area.

[0253] The display module is also used for:

[0254] Display the location of the self-moving device to show the positional relationship between the self-moving device and the marker box.

[0255] The display module is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the self-moving device can be a touch layer covering the display screen, or buttons, a trackball, or a touchpad set on the casing of the self-moving device, or an external keyboard, touchpad, or mouse, etc.

[0256] For ease of explanation, the following explanation will use a mobile phone screen as an example. Figure 22 As shown, users can see the entire cleaning process of the mobile device on their phone screen. Figure 22The image shows the positional relationship between the self-moving device icon 301 corresponding to the self-moving device and the first marker box 302 corresponding to the first area (i.e., the user-specified cleaning area). Optionally, the self-moving device detects particles in the planned cleaning area corresponding to the current point position at each point during the cleaning process. When the particles in the planned cleaning area meet the first preset condition, a second area is predicted based on the particle information. When predicting the second area, the corresponding second marker box can be displayed, or it can be hidden until particles are confirmed to exist in the second area. Figure 22 The image shows a scenario where, when a mobile device detects particulate matter in the second area, a second marker box 303 is displayed for that area. By displaying the second marker box 303, the user can understand the positional relationship between the second and first areas. Optionally, a particulate matter marker 304 corresponding to the particulate matter can be displayed on the phone screen, or it can be left undisplayed. Figure 22 The image shows the self-moving device icon 301 within the second marker box 303, indicating that the self-moving device is cleaning the second area. Optionally, a prompt "Cleaning particulate matter re-sweeping area" can be displayed, where the particulate matter re-sweeping area is the second area. This serves to remind the user of the current cleaning status. Figure 22 The middle d shows the scene of the second marker box 303 corresponding to another second area.

[0257] In response to the user's first operation on the first interactive entry point in the terminal device interface, 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.

[0258] Understandably, the particulate matter re-scanning area is the second area, and the preset required cleaning area is all areas specified by the user for cleaning. If the user-specified required cleaning area includes multiple non-contiguous areas, Figure 23 A first marked box corresponding to a portion of the preset cleaning area is shown. The planned cleaning area refers to the area that the mobile device can clean at each point position. The user can perform the first operation, namely the display operation, at the first interaction entry 305 on the interface. At least one prompt of particulate matter re-sweeping area, planned cleaning area, or preset cleaning area can be displayed through different operations.

[0259] Optionally, the first interactive entry point can also be the displayed first marker box, second marker box, self-moving device icon, or other similar icons. For example, when the user clicks the first marker box, a prompt indicating the preset cleaning area is displayed; clicking the first marker box again hides the second prompt indicating the preset cleaning area. Similarly, second prompts for particulate matter re-sweeping areas and planned cleaning areas can be displayed / hidden respectively. This allows for more convenient and flexible user operation.

[0260] In response to the user's second operation on the second interactive entry point in the terminal device interface, a third prompt message is displayed, which prompts the user to switch cleaning modes.

[0261] Understandably, self-operated cleaning devices offer various cleaning modes, such as: powerful mode (significantly increases suction power and main brush speed, but may reduce travel speed), mopping mode (sweeps and mops simultaneously), mopping-only mode (mops only, without sweeping), fast cleaning mode (cleans at a faster speed, only traversing the designated path once), zone cleaning mode (cleans only the area specified by the user), and full-area cleaning mode (cleans the entire house), etc. This allows users greater convenience, enabling them to switch cleaning modes as needed.

[0262] It should be noted that this interface can be the page the user enters after clicking on the app, or the page the user enters through a mini-program, a webpage, or even a page the user enters through a component bundled with the terminal system (such as...). Figure 24 As shown, similar to a function control in a control center, you can select the corresponding function control 307 from the function set by swiping down the main screen to display a pop-up window showing the function set.

[0263] This application also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-described cleaning methods.

[0264] This application also proposes a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the above methods.

[0265] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0266] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0267] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A cleaning method of a self-moving device, characterized by, The method comprises: In a process of cleaning the first area, the self-moving device detects that the first particles exist in the second area, and the number of the second particles in the first area is greater than the third preset number threshold, the first particles are kicked 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; or In a process of cleaning the first area, the self-moving device detects that the first particles exist in the second area, and the number of the second particles in the first area is not greater than the third preset number threshold, the first particles are kicked from the first area to the second area, the second area is cleaned first, and then the first area is cleaned.

2. The method of claim 1, wherein, The first area comprises a plurality of sub-areas, the second area is cleaned first, and then the first area is cleaned, which comprises: After cleaning the first sub-area, the second area is cleaned; The first area is cleaned again except the first sub-area.

3. The method of claim 1, wherein, The second area comprises a third area, and the third area is an actual dirty area corresponding to the first particles; The second area is cleaned, which comprises: The third area is cleaned.

4. The method of claim 1, wherein, In the process of cleaning the second area, the method further comprises: In a case where the fourth area contains the third particles and the number of the first particles in the second area is greater than the third preset number threshold, the third particles are kicked from the second area to the fourth area, at least part of the second area is cleaned first, and then the fourth area is cleaned; or In a case where the fourth area contains the third particles and the number of the first particles in the second area is not greater than the third preset number threshold, the third particles are kicked from the second area to the fourth area, the fourth area is cleaned first, and then the second area is cleaned.

5. The method of claim 1, wherein, Before cleaning the second area, the method further comprises: The second area is detected again to determine whether it contains the first particles.

6. The method of claim 1, wherein, The first area and the second area each comprise an edge area and a non-edge area; in a process of cleaning the first area and / or the second area, the method further comprises: Cleaning along the edge area to push the corresponding particles towards the non-edge area; After cleaning the edge area, the non-edge area is cleaned.

7. The method of claim 1, wherein, Before detecting that the second area contains the first particles, the method further comprises: In a case where the fourth particle information of the first area meets a first preset condition, the second area is determined based on the particle information of the fourth particles of the first area, wherein the fourth particles comprise the first particles and the second particles, and the first preset condition comprises that the attribute value of at least one particle is greater than a preset attribute threshold.

8. The method of claim 1, wherein, In the process of cleaning the first area, the method further comprises: Obtaining associated information of the first area, the associated information comprising at least one of the number of particles, the particle size, the particle hardness, the particle position, and the brush rotation speed; Determine the second area based on at least one of the particle quantity, the particle size, the particle hardness, the particle position, and the brush rotation speed; Alternatively, obtain information indicating that the first particles are kicked from the first area to the second area.

9. The method of claim 1, wherein, The method further comprises: In a case where the fifth particles are detected in the passing path before reaching the preset required cleaning area, send first prompt information 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 fifth particles in the passing path, wherein the preset required cleaning area includes the first area.

10. The method of claim 1, wherein, The method further comprises: In a case where the fifth particles are detected in the passing path before reaching the preset required cleaning area, return to clean the fifth particles in the passing path after cleaning the preset required cleaning area, wherein the preset required cleaning area includes the first area.

11. The method of claim 1, wherein, Before cleaning the second area, the method further comprises: Obtain a preset re-cleaning mode, the preset re-cleaning mode including re-cleaning determination information or re-cleaning negative information; In a case where the preset re-cleaning mode is re-cleaning negative information, in a case where at least one first particle exists in the second area, send a re-cleaning prompt to an external device in communication connection with the self-moving device; the re-cleaning prompt is used to instruct a user of the external device to perform a confirmation operation of whether to re-clean; In a case where the preset re-cleaning mode is re-cleaning determination information, clean the second area.

12. The method of claim 1, wherein, 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: In the first particle cleaning mode, in a case where the 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 In the first particle cleaning mode, in a case where the 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.

13. The method of claim 1 or 12, wherein, 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: In the second particle cleaning mode, in a case where the 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 In the second particle cleaning mode, in a case where 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, it is determined to switch to the first particle cleaning mode.

14. The method of claim 13, wherein, The self-moving device includes a suction port and a brush; in the second particle cleaning mode, the method further comprises: Increase the suction of the suction port and / or reduce the rotation speed of the brush.

15. The method of claim 1, wherein, The relationship between the second region and the first region includes at least one of the following relationships: Relationship one, the second region includes the first region; Relationship two, the second region and the first region have an overlapping region; Relationship three, the second region and the first region do not have an overlapping region; Relationship four, the second region is on the side of the first region; Relationship five, the first region includes the second region.

16. A cleaning device of a self-moving apparatus, characterized by, The device comprises: A cleaning module, configured to, in a process of cleaning a first region by the self-moving device, in a case that a first particulate matter is detected in a second region and a number of second particulate matters in the first region is greater than a third preset number threshold, the first particulate matter being kicked from the first region to the second region, still clean at least part of the first region first and then clean the second region; or In a case that a first particulate matter is detected in a second region and a number of second particulate matters in the first region is not greater than a third preset number threshold, the first particulate matter being kicked from the first region to the second region, clean the second region first and then return to clean the first region.

17. A self-moving device, characterized by Comprise: At least one detection sensor, configured to detect an attribute value of a particulate matter; A processor, configured to execute steps of the method in any one of claims 1 to 15.

18. The apparatus of claim 17, wherein, Comprise: A first detection sensor, configured to detect a hardness of the particulate matter; A second detection sensor, configured to detect a particle size of the particulate matter.

19. The apparatus of claim 18, wherein, The first detection sensor is a pressure sensor; and the second detection sensor is a sound wave sensor.

20. The apparatus of claim 18, wherein, The first detection sensor is arranged on at least one of a rolling brush cavity wall, a dust box and a dust suction pipeline of the self-moving device; The second detection sensor is arranged on at least one of the rolling brush cavity wall, the dust box and the dust suction pipeline.

21. A terminal device, comprising: In communication connection with the self-moving device in claim 17, the terminal device comprises a display module; The display module is configured to receive and visually display a mark frame corresponding to a pollution region identified by the self-moving device in a cleaning process, and in a case that there are at least two pollution regions, display a position relationship between each mark frame by displaying a mark frame corresponding to each pollution region, wherein the pollution region includes the first region and / or the second region; The display module is further configured to: Display a position of the self-moving device to display a position relationship between the self-moving device and the mark frame; In response to a first operation of a first interaction entrance 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 region is a particulate matter re-cleaning region, a planned cleaning region or a preset required cleaning region; In response to a second operation of a second interaction entrance by a user on the interface in the terminal device, display third prompt information, the third prompt information being used to prompt the user to switch a cleaning mode.

22. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement steps of the method in any one of claims 1 to 15.

23. A computer program product comprising a computer program, characterized in that, The computer program, which when executed by the processor implements the steps of the method of any one of claims 1 to 15.

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