Overlay detection method, cleaning process display method, electronic device, and storage medium

Abstract

The method, the display method, the electronic device and the storage medium are used for updating the current map with the historical map as the initial map after the single-point laser radar detects the environmental parameter each time in the process of executing the cleaning task by the self-moving cleaning device, determining whether the current map has the superposition according to the angle difference between the main direction of the current map and the main direction of the historical map in the process of executing the cleaning task, and achieving the accurate detection of the superposition without increasing the hardware cost of the self-moving cleaning device with the single-point laser radar, accurately and completely executing the cleaning task, and successfully returning to the base station after executing the cleaning task or after the cleaning task is completed, and improving the user experience.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automatic cleaning technology, and in particular to overlay detection methods, cleaning process display methods, electronic devices, and storage media. Background Technology

[0002] With the continuous development of electronic technology, various forms of smart homes have begun to appear in people's lives, providing convenience and improving the quality of life for users in many ways. For example, self-cleaning devices can free people up a significant portion of their time from housework, allowing them more time to experience the richness of life.

[0003] Self-moving cleaning devices that use single-point laser for positioning and mapping are a new type of smart home device. Compared with traditional self-moving cleaning devices, they achieve the same positioning and mapping effect as traditional self-moving cleaning devices equipped with ordinary laser machines by using single-point laser radar and their own rotation, but at a much lower cost, making them increasingly popular among users.

[0004] The inventors discovered during the use of a self-moving cleaning device equipped with a single-point laser that when the self-moving cleaning device performs cleaning tasks based on cleaning paths planned from historical maps, there may be map errors and overlaps, which directly leads to incomplete execution of the cleaning task and the device is unable to return to the base station during or after the cleaning task is completed. Summary of the Invention

[0005] This invention provides a method for detecting overlay maps, a method for displaying the cleaning process, an electronic device, and a storage medium to solve the technical problem that self-moving cleaning devices equipped with single-point lasers cannot thoroughly perform cleaning tasks due to map errors and overlaps, and cannot return to the base station during or after the cleaning task is completed.

[0006] In a first aspect, embodiments of the present invention provide an overlay detection method for a self-moving cleaning device. The self-moving cleaning device is equipped with a single-point lidar, which includes a laser emitter and at least one laser receiver. The laser emitter emits a laser signal, and the laser receiver receives the reflected laser signal. The overlay detection method includes:

[0007] Receive cleaning tasks for the area to be cleaned, and move in response to the cleaning tasks to perform the cleaning tasks;

[0008] During the cleaning task, a single-point lidar is used for positioning and detection, and the current map is updated based on the environmental parameters obtained after each positioning and detection.

[0009] Based on the angular difference between the main direction of the current map and the main direction of the historical map corresponding to the area to be cleaned, it is determined whether the current map is overlaid; the historical map is the initial map of the current map.

[0010] Specifically, determining whether map overlay has occurred is based on the angular difference between the current map's main direction and the main direction of the historical map corresponding to the area to be cleaned, including:

[0011] After each map update, determine whether map overlay occurs based on the angle difference between the main direction of the current map and the main direction of the historical map corresponding to the area to be cleaned.

[0012] During the cleaning process, positioning and detection are performed using a single-point LiDAR, including:

[0013] During the cleaning task, the self-moving cleaning equipment is controlled to rotate at a preset angle in place at preset intervals, and positioning detection is performed by a single-point lidar during the rotation.

[0014] Among these steps, after determining whether the current map is overlayed based on the angular difference between the main direction of the current map and the main direction of the historical map, the process includes:

[0015] Based on the angular difference between the main direction of the current map and the main direction of the historical map, if it is determined that the current map is overlaid, the self-moving cleaning equipment is controlled to return to the base station and the cleaning task is stopped.

[0016] Specifically, based on the angular difference between the main direction of the current map and the main direction of the historical map, if map overlay occurs in the current map, the self-moving cleaning device is controlled to return to the base station and the cleaning task is stopped, including:

[0017] Based on the angle difference between the main direction of the current map and the main direction of the historical map, if the current map is overlaid, the self-moving cleaning device is controlled to rotate in place by a preset angle. Based on the environmental parameters obtained by the single-point lidar during the rotation, the coordinates of the self-moving cleaning device in the historical map are re-determined.

[0018] The self-moving cleaning equipment returns to the base station based on the newly determined location and stops the cleaning task.

[0019] The overlay detection method also includes:

[0020] Once the cleaning task for the area to be cleaned is completed, the most recently updated current map will replace the historical map.

[0021] Secondly, embodiments of this application provide a cleaning process display method for a control terminal of a self-moving cleaning device. The self-moving cleaning device is equipped with a single-point lidar, which includes a laser transmitter and at least one laser receiver. The laser transmitter emits a laser signal, and the laser receiver receives the reflected laser signal. The cleaning process display method includes:

[0022] The historical map of the area to be cleaned is displayed as the current map. The area to be cleaned is the area corresponding to the cleaning task received from the mobile cleaning equipment.

[0023] The current map is updated and displayed during the cleaning process of the self-moving cleaning equipment; the current map is updated based on the environmental parameters obtained by the self-moving cleaning equipment through positioning detection by a single-point LiDAR during the cleaning process.

[0024] When the angle difference between the main direction of the current map and the main direction of the historical map is used to determine that the current map is overlaid, the current map is stopped from being displayed, the historical map is displayed, and the repositioning result of the self-moving cleaning equipment is displayed on the historical map.

[0025] The cleaning process demonstration method also includes:

[0026] When the location information of the self-moving cleaning device is received during the display of the historical map, the self-moving cleaning device is marked on the historical map according to the location information.

[0027] Thirdly, embodiments of this application provide an electronic device, which includes:

[0028] One or more processors;

[0029] Memory, used to store one or more computer programs;

[0030] When one or more computer programs are executed by one or more processors, an electronic device performs the method as described in either the first or second aspect.

[0031] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in either the first or second aspect.

[0032] In the aforementioned overlay detection method, cleaning process display method, electronic device, and storage medium, the overlay detection method is used in a self-moving cleaning device. The self-moving cleaning device is equipped with a single-point lidar, which includes a laser emitter and at least one laser receiver. The laser emitter emits a laser signal, and the laser receiver receives the reflected laser signal. The self-moving cleaning device receives a cleaning task for the area to be cleaned and moves in response to the task to perform it. During the cleaning process, positioning detection is performed using the single-point lidar, and after each positioning detection, the current map is updated based on the environmental parameters obtained from the positioning detection. The device determines whether overlay has occurred based on the angular difference between the main direction of the current map and the main direction of the historical map corresponding to the area to be cleaned. The historical map is the initial map of the current map. During the cleaning process of the self-moving cleaning device, after each detection of environmental parameters, the single-point LiDAR updates the current map, which is based on the historical map. During the cleaning process, it determines whether the current map is overlaid based on the angle difference between the main direction of the current map and the main direction of the historical map corresponding to the area to be cleaned. The self-moving cleaning device equipped with single-point LiDAR achieves accurate detection of overlay without increasing hardware costs, can accurately and thoroughly perform cleaning tasks, and can smoothly return to the base station during or after the cleaning task, thus improving the user experience. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a flowchart of the overlay detection method provided in the embodiments of this application.

[0035] Figure 2 A perspective view of a self-moving cleaning device provided in an embodiment of this application.

[0036] Figure 3 This is a schematic diagram of an exemplary historical map.

[0037] Figure 4 For Figure 3 The historical map shown is a schematic diagram of the initial map used as the current map.

[0038] Figure 5 for Figure 3 The image shown is a schematic diagram of the current map after its first update.

[0039] Figure 6 For based on Figure 3 The image shown is a newly updated diagram of the current map after the cleaning task has been completed.

[0040] Figure 7 For based on Figure 3 The image shown is a newly updated diagram of the current map after another cleaning task has been completed.

[0041] Figure 8 This is a flowchart illustrating the cleaning process display method provided in an embodiment of this application.

[0042] Figure 9 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are for illustrative purposes only and not for limiting the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the drawings, not all of the structures.

[0044] It should be noted that, due to space limitations, this application specification does not exhaustively list all possible implementation methods. Those skilled in the art should be able to conceive after reading this application specification that, as long as the technical features do not contradict each other, any combination of technical features can constitute an optional implementation method.

[0045] The embodiments are described in detail below.

[0046] Existing self-propelled cleaning equipment can move on its own and complete certain cleaning tasks, thereby freeing people from a large part of housework and allowing them more time to experience other rich aspects of life.

[0047] Self-moving cleaning devices that use single-point laser for positioning and mapping are a new type of smart home device. Compared with traditional self-moving cleaning devices, they achieve the same positioning and mapping effect as traditional self-moving cleaning devices equipped with ordinary laser machines by using single-point laser radar and their own rotation, but at a much lower cost, making them increasingly popular among users.

[0048] The inventors discovered during the use of a self-moving cleaning device equipped with a single-point laser that, when performing cleaning tasks based on cleaning paths planned from historical maps, map overlap errors may occur. This directly leads to incomplete cleaning and the device's inability to return to the base station during or after the cleaning task. A deeper analysis of the underlying causes revealed that, because the single-point laser cannot achieve real-time positioning during cleaning, errors may accumulate and amplify, leading to positioning errors. However, the self-moving cleaning device is unaware of these errors and therefore plots its location on the historical map based on the latest environmental parameters detected by the single-point laser, resulting in map overlap errors and the aforementioned problems.

[0049] To address the above technical problems, this application proposes an overlay detection method, a cleaning process display method, an electronic device, and a storage medium. The overlay detection method is used in a self-moving cleaning device equipped with a single-point lidar, which includes a laser emitter and at least one laser receiver. The laser emitter emits a laser signal, and the laser receiver receives the reflected laser signal. The self-moving cleaning device receives a cleaning task for the area to be cleaned and moves in response to the cleaning task to perform the cleaning task. During the execution of the cleaning task, positioning detection is performed using the single-point lidar, and after each positioning detection, the current map is updated based on the environmental parameters obtained from the positioning detection. The method determines whether overlay has occurred in the current map based on the angle difference between the main direction of the current map and the main direction of the historical map corresponding to the area to be cleaned. The historical map is the initial map of the current map. During the cleaning process of the self-moving cleaning device, after each detection of environmental parameters, the single-point LiDAR updates the current map, which is based on the historical map. During the cleaning process, it determines whether the current map is overlaid based on the angle difference between the main direction of the current map and the main direction of the historical map corresponding to the area to be cleaned. The self-moving cleaning device equipped with single-point LiDAR achieves accurate detection of overlay without increasing hardware costs, can accurately and thoroughly perform cleaning tasks, and can smoothly return to the base station during or after the cleaning task, thus improving the user experience.

[0050] Please refer to Figure 1This is a flowchart illustrating the overlay detection method provided in this application. The overlay detection method is implemented by a self-moving cleaning device, the specific product forms of which include, but are not limited to: sweeping robots, floor washing robots, sweeping and mopping robots, cleaning robots, lawnmowing robots, snow removal robots, etc. The self-moving cleaning device can clean using either a front-sweeping-then-mopping method or a separate sweeping and mopping method. The front-sweeping-then-mopping method allows sweeping and mopping simultaneously, improving cleaning efficiency. The separate sweeping and mopping method allows sweeping first, followed by mopping, improving cleaning effectiveness.

[0051] Self-propelled cleaning devices may include a body, a processor, one or more cleaning components, one or more sensors, etc. The body can be circular, square, or other shapes. For example, the front part of the body can be circular, and the rear part can be square. The cleaning components can be circular, square, multi-branched, or other shapes (e.g., semi-circular, arc-shaped, triangular, etc.). A circular shape facilitates rotating cleaning, while other shapes facilitate cleaning corner areas. Cleaning components may include side brushes, roller brushes (also known as floor brushes), and mop trays (also known as mop pads). Side brushes gather debris, moving it towards the center of the bottom of the self-propelled cleaning device for collection. Roller brushes sweep debris from the bottom of the device, allowing it to enter the dust collection box through the suction port. The mop tray is used for wiping or mopping, and contains a mop. The self-propelled cleaning device has a water tank; water from the tank flows through holes to the mop, wetting it for mopping. Self-propelled cleaning devices can clean foreign objects including, but not limited to, dust, hair, and pet feces. Sensors can include lidar sensors (e.g., triangulation sensors, TOF sensors), infrared sensors, line laser sensors, edge sensors, vision sensors (e.g., cameras), and pose sensors. Sensors are used to detect various state information about the self-propelled cleaning device itself or its surroundings. For example, a line laser sensor can detect obstacle information indicating one or more obstacles. The processor can control the self-propelled cleaning device based on the state information detected by the sensors. Among the sensors, the sensor used to detect obstacle information is defined as a ranging sensor. Different types of ranging sensors can emit specific signals (e.g., laser signals, infrared signals) and receive reflected signals from obstacles. Then, based on the time difference between emission and reception and the direction of emission, the relative position of the obstacle and the device itself is determined to complete the ranging. The specific number and type of ranging sensors are not limited. It also includes a moving component, which mainly includes multiple wheels, at least one of which is a drive wheel. The drive wheel is driven to rotate by a motor. The rotation of the drive wheel includes rotation about the axial direction and rotation about the vertical direction. Rotation about the axial direction enables the self-moving cleaning device to move horizontally, and rotation about the vertical direction enables the self-moving cleaning device to change its direction of movement in the horizontal direction.

[0052] In this embodiment of the self-moving cleaning device, the ranging sensor specifically uses a single-point lidar. A single-point lidar can emit laser light and receive reflected laser light, determining the distance to obstacles based on the time difference between laser emission and reception. The single-point lidar may be fixedly installed on the top or side of the self-moving cleaning device. The self-moving cleaning device needs to rotate one full circle to detect the ranging value of obstacles in its surrounding area using the single-point lidar. To ensure normal movement, the self-moving cleaning device typically rotates one full circle at intervals to obtain environmental parameters.

[0053] Figure 2 An illustrative perspective view of a self-moving cleaning device 21 is presented. This device 21 is equipped with a single-point lidar 22, which includes a laser emitter 221 and a laser receiver 222. The laser emitter 221 emits a laser beam, which is reflected back after encountering a target object and received by the laser receiver 222. The single-point lidar 22 then calculates the phase difference between the emitted and reflected modulated laser beam to determine the distance to the target object and generates point cloud information. Figure 2 In the self-propelled cleaning device 21 shown, a single-point lidar 22 is positioned directly in front of the self-propelled cleaning device 21 along its direction of travel. The single-point lidar 22 can be embedded in the outer casing of the self-propelled cleaning device 21 or adhered to its outer casing. The mounting height of the single-point lidar 22 is lower than the overall height of the self-propelled cleaning device 21; for example, the mounting position of the single-point lidar 22 can be towards the top of the self-propelled cleaning device 21. The single-point lidar 22 can be positioned in front of the self-propelled cleaning device 21 near the top. Positioning the single-point lidar 22 in front of the self-propelled cleaning device 21, compared to the lidar sensor method used in the prior art, reduces costs and also lowers the overall height of the self-propelled cleaning device 21, resulting in better maneuverability and allowing it to enter lower areas for cleaning.

[0054] like Figure 1 As shown, the overlay detection method includes, but is not limited to, steps S110-S130:

[0055] Step S110: Receive the cleaning task for the area to be cleaned, and move in response to the cleaning task to perform the cleaning task.

[0056] For self-propelled cleaning devices, once configured to clean an area, they typically cannot clean other areas. The area where the self-propelled cleaning device is located becomes the default area to be cleaned. Cleaning tasks can be single, real-time tasks triggered by the user at any time via the control terminal or the self-propelled cleaning device, or scheduled tasks executed periodically after the user has pre-set a cleaning schedule. After receiving a cleaning task, the self-propelled cleaning device moves in response to the task to begin cleaning. It should be understood that the self-propelled cleaning device moves to begin cleaning based on a cleaning path generated from a pre-constructed map of the area to be cleaned. The specific process of generating the cleaning path can be found in relevant technologies and will not be elaborated upon here.

[0057] Step S120: During the cleaning task, a single-point LiDAR is used for positioning detection, and after each positioning detection, the current map is updated based on the environmental parameters obtained from the positioning detection.

[0058] In this embodiment of the self-moving cleaning device, the ranging sensor specifically uses a single-point lidar. A single-point lidar can emit and receive reflected laser light, determining the distance to obstacles based on the time difference between emission and reception. The single-point lidar may be fixedly mounted on the top or side of the self-moving cleaning device. The device needs to rotate one full circle to detect the ranging value of obstacles in its surrounding area using the single-point lidar. To ensure normal movement, the self-moving cleaning device typically rotates one full circle at intervals to obtain environmental parameters. That is, during the cleaning task, the self-moving cleaning device rotates at a preset angle at its current position at preset intervals, performing positioning detection using the single-point lidar during the rotation. Specifically, this can be done at preset time intervals or preset distance intervals; that is, every preset fixed time period or every preset distance traveled, the self-moving cleaning device rotates, causing the single-point lidar to rotate one full circle for positioning detection.

[0059] During the cleaning task, the self-moving cleaning equipment uses the historical map corresponding to the area to be cleaned as the initial map. During the task, the environmental parameters obtained by positioning detection are regarded as the latest changes in the environment, and the current map is updated accordingly.

[0060] During the update process, the environmental parameters and pose data of the mobile cleaning device rotating one full circle are first acquired. This data is then subjected to window-based brute-force matching with the current map. Specifically, during window-based brute-force matching, two window parameter thresholds set by the mobile cleaning device (e.g., 5cm translation and 3° rotation per frame) are acquired. Within these thresholds, a frame of environmental parameters and pose data acquired during the mobile cleaning device's full rotation is rotated and translated, and then matched with the current map. The matching score is calculated after each adjustment of the environmental parameters and pose data. When the matching score meets the criteria, the match is considered successful. Based on the corrected pose data, objects in the area to be cleaned, as determined by the environmental parameters, are inserted into the current map, and the current map is updated. If the window-based brute-force matching does not yield a matching score that meets the criteria, it indicates a significant environmental change in the area to be cleaned. The cleaning task is then stopped, an alert is sent to the user, and remapping is initiated.

[0061] Step S130: Determine whether the current map is overlaid based on the angle difference between the main direction of the current map and the main direction of the historical map corresponding to the area to be cleaned; the historical map is the initial map of the current map.

[0062] The angle difference between the main direction of the current map and the main direction of the historical map corresponding to the area to be cleaned is determined based on the main direction extracted from the maps. Each planar map has a unique main direction, which represents the approximate direction of the line distribution in the corresponding planar map. Line extraction is performed on both the current and historical maps, i.e., using the Hough transform method to extract black wall segments with linear characteristics from the map. The Hough transform is a classic image processing technique used to detect lines in an image. It maps points in the image to a parameter space where all points on a straight line form the intersection of a curve. By finding these intersections, lines in the image can be detected. For all straight lines obtained through the Hough transform, the main direction angle of the map is determined by normalization and voting methods, and this main direction angle value is recorded. The difference between the two main direction angle values ​​is the angle difference between the main direction of the current map and the main direction of the historical map.

[0063] To determine if map overlay has occurred, the angle difference between the current map's main direction and the historical map's main direction is used. This can be done by intervals of several iterations to reduce data processing. Alternatively, it can be done after a cleaning task is completed to ensure a generally effective cleaning process. Another approach is to determine if map overlay has occurred after each map update, based on the angle difference between the current map's main direction and the historical map's main direction, to quickly identify any instances of overlay.

[0064] If, based on the angular difference between the current map's main direction and the historical map's main direction, it is determined that the current map is overlaying, the self-moving cleaning device should be controlled to return to the base station and the cleaning task should be stopped. If positioning and navigation cannot be performed using the historical map, the actual cleaning effect is completely random; in this case, the cleaning task can be stopped directly to reduce unnecessary work done by the self-moving cleaning device.

[0065] If map overlay occurs when the current map's main direction is determined to be different from the historical map's main direction, the self-propelled cleaning device is controlled to rotate in place by a preset angle. Based on environmental parameters obtained from positioning detection by a single-point LiDAR during rotation, the device's coordinates in the historical map are redefined, essentially performing relocation within the historical map. Based on the redefined location, the self-propelled cleaning device returns to the base station and stops the cleaning task. At this point, the device's status information (including the redefined location information) can be sent to the corresponding management application, which then presents this information to the user on the control terminal, providing a detailed overview of the entire self-propelled cleaning device.

[0066] Of course, in the actual implementation process, when the cleaning task of the area to be cleaned is completed, it indicates that the positioning is accurate. The environmental parameters detected by the self-moving cleaning equipment during the cleaning task should be used as an accurate record of the most recent changes in the area to be cleaned for use in subsequent cleaning tasks. In other words, the most recently updated current map replaces the historical map, thus updating the historical map.

[0067] Please refer to further information. Figures 3-7 This visually illustrates the potential map changes that may occur when performing cleaning tasks based on historical maps. Figure 3 The image shows a historical map generated during map construction, corresponding to the indoor room distribution of the area to be cleaned 10. Base station 20 is located in a corner of the living room, and the self-mobile cleaning device 21 is located within base station 20 when there is no cleaning task. When the self-mobile cleaning device 21 receives a cleaning task, it leaves base station 20 to begin executing the cleaning task. Figure 3 The historical map shown is the initial map for the current map. For the self-mobile cleaning device 21, leaving the base station 20 requires... Figure 4 The device rotates to a position near base station 20 to perform localization detection using a single-point lidar to determine environmental parameters. Alternatively, if the mobile cleaning device 21 receives a cleaning task outside base station 20, it will begin moving from the position where the cleaning task was received.

[0068] Self-moving cleaning equipment 21 Figure 4 The environmental parameters obtained from the location detection shown can roughly form a map of the living room. Figure 3 The updated result of the current map is shown below. Figure 5 As shown, the dashed lines represent walls that have not yet been detected. At this point, we can... Figure 5 The current map shows the main direction (i.e., Figure 5 As shown in the direction indicated by D1), because the updated map content at this time accounts for a smaller proportion compared to the historical map content, its impact on the main direction is relatively small. Therefore, the extracted main direction at this time differs from the main direction in the historical map (i.e.,...). Figure 3 If the direction indicated by D0 is relatively close, it is assumed that there is no overlay.

[0069] As time progressed, the cleaning task was completed. Multiple location checks were performed during this process. Each time a location check was performed, the updated map's main direction was compared to the historical map's main direction. If any deviation was significant, it was considered an overlay, and the cleaning task was immediately stopped, or... Figure 6 As shown, the main direction of the current map is not determined until the last positioning detection (i.e., Figure 6 If the direction indicated by D2 deviates significantly from the main direction of the historical map, the cleaning task will stop after the last location check, even if only a small portion of the area remains uncleaned. Of course, if... Figure 7 The current map shows the main direction (i.e.) Figure 7 If the direction indicated by D3 is roughly consistent with the main direction of the historical map, then the current map will be directly replaced with the historical map.

[0070] In practice, the current map during the cleaning process of the self-propelled cleaning device can be sent to the control terminal and displayed through the application interface of the management application installed on the control terminal to manage the self-propelled cleaning device. The general display effect can be found by referring to [reference needed]. Figures 3-7 This means that the current map is displayed each time it is updated. When an overlay map is found, the current map is stopped and the historical map is displayed. The process of the self-mobile cleaning device returning to the base station is displayed synchronously on the control terminal, that is, the location of the self-mobile cleaning device is displayed synchronously in the historical map. This information is sent to the control terminal by the self-mobile cleaning device.

[0071] In the aforementioned overlay detection method, an autonomous mobile cleaning device equipped with a single-point LiDAR receives a cleaning task for the area to be cleaned and moves in response to the task to execute it. During the cleaning process, the single-point LiDAR performs positioning detection, and after each positioning detection, updates the current map based on the environmental parameters obtained. The method determines whether overlay has occurred based on the angular difference between the current map's main direction and the main direction of the historical map corresponding to the area to be cleaned; the historical map serves as the initial map for the current map. During the cleaning process, the single-point LiDAR updates the current map (which uses the historical map as its initial map) after each environmental parameter detection. By using a single-point LiDAR in the autonomous mobile cleaning device, accurate overlay detection is achieved without increasing hardware costs. This allows for precise and thorough cleaning, and the device can smoothly return to the base station during or after the cleaning task, improving the user experience.

[0072] Please refer to Figure 8 This application also provides a cleaning process display method for a control terminal of a self-moving cleaning device. The self-moving cleaning device is equipped with a single-point lidar, which includes a laser transmitter and at least one laser receiver. The laser transmitter emits a laser signal, and the laser receiver receives the reflected laser signal. Figure 8 As shown, the cleaning process includes, but is not limited to, steps S210-S230:

[0073] Step S210: Display the historical map of the area to be cleaned as the current map. The area to be cleaned is the area corresponding to the cleaning task received by the mobile cleaning device.

[0074] Step S220: The current map is updated and displayed during the cleaning process of the self-moving cleaning device; the current map is a new map updated based on the environmental parameters obtained by the self-moving cleaning device through positioning detection by a single-point LiDAR during the cleaning process.

[0075] Step S230: When it is determined that the current map is overlaid based on the angle difference between the main direction of the current map and the main direction of the historical map, stop displaying the current map, display the historical map, and display the repositioning result of the self-moving cleaning equipment on the historical map.

[0076] Based on the above embodiments, the cleaning process display method further includes:

[0077] When the location information of the self-moving cleaning device is received during the display of the historical map, the self-moving cleaning device is marked on the historical map according to the location information.

[0078] The cleaning process display method in this application embodiment has been comprehensively described in the previous embodiment of the stacked image detection method, and will not be repeated here.

[0079] Figure 9 This is a schematic diagram of the structure of a self-moving cleaning device provided in an embodiment of this application. Figure 9 As shown, the self-propelled cleaning device includes a processor 310 and a memory 320. The self-propelled cleaning device may also include an input device 330, an output device 340, and a communication device 350. The number of processors 310 in the self-propelled cleaning device can be one or more. Figure 9 Taking a processor 310 as an example; the processor 310, memory 320, input device 330, output device 340, and communication device 350 in the self-propelled cleaning device can be connected via a bus or other means. Figure 9 Taking the example of a connection between China and Israel via a bus.

[0080] The memory 320, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the overlay detection method and the cleaning process display method in the embodiments of this application. The processor 310 executes various functional applications and data processing of the self-moving cleaning device by running the software programs, instructions, and modules stored in the memory 320, thereby realizing the above-mentioned overlay detection method and cleaning process display method.

[0081] The memory 320 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on the use of the self-propelled cleaning device. Furthermore, the memory 320 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 320 may further include memory remotely located relative to the processor 310, which can be connected to the self-propelled cleaning device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0082] Input device 330 can be used to receive network configuration information. Output device 340 may include a display device such as a screen.

[0083] The aforementioned self-moving cleaning equipment can be used to perform arbitrary overlay detection methods and cleaning process display methods, and has corresponding functions and beneficial effects.

[0084] This invention also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform relevant operations in the overlay detection method provided in any embodiment of this application, and have corresponding functions and beneficial effects.

[0085] Those skilled in the art will understand that embodiments of this application may be provided as methods, systems, or computer program products.

[0086] Therefore, this application may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, produce implementations of the flowchart... Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0087] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory. Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0088] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0089] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0090] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. An overlay detection method for a self-moving cleaning device, characterized in that, The self-moving cleaning device is equipped with a single-point lidar, which includes a laser transmitter and at least one laser receiver. The laser transmitter is used to emit laser signals, and the laser receiver is used to receive the reflected signals of the laser signals. The overlay detection method includes: Receive a cleaning task for the area to be cleaned, and move in response to the cleaning task to perform the cleaning task; During the cleaning task, a single-point lidar is used for positioning detection, and the current map is updated based on the environmental parameters obtained after each positioning detection. Based on the angular difference between the main direction of the current map and the main direction of the historical map corresponding to the area to be cleaned, it is determined whether the current map is overlaid; the historical map is the initial map of the current map.

2. The overlay detection method of claim 1, wherein The step of determining whether the current map is overlayed based on the angle difference between the main direction of the current map and the main direction of the historical map corresponding to the area to be cleaned includes: After each update of the current map, it is determined whether the current map has overlayed based on the angle difference between the main direction of the current map and the main direction of the historical map corresponding to the area to be cleaned.

3. The overpainting detection method according to claim 1 or 2, characterized in that, The process of positioning and detection using a single-point lidar during the execution of the cleaning task includes: During the cleaning task, the self-moving cleaning device is controlled to rotate at a preset angle in place at preset intervals, and positioning detection is performed by a single-point laser radar during the rotation.

4. The overpainting detection method according to claim 1 or 2, characterized in that, After determining whether the current map is overlayed based on the angle difference between the main direction of the current map and the main direction of the historical map corresponding to the area to be cleaned, the process includes: Based on the angular difference between the main direction of the current map and the main direction of the historical map, if it is determined that the current map is overlaid, the self-moving cleaning device is controlled to return to the base station and the cleaning task is stopped.

5. The overpaint detection method of claim 4, wherein The step of determining, based on the angular difference between the main direction of the current map and the main direction of the historical map, that if the current map is overlayed, controlling the self-moving cleaning device to return to the base station and stopping the cleaning task includes: Based on the angular difference between the main direction of the current map and the main direction of the historical map, if the current map is overlaid, the self-moving cleaning device is controlled to rotate in place by a preset angle, and the coordinates of the self-moving cleaning device in the historical map are re-determined based on the environmental parameters obtained by the single-point lidar during the rotation. The self-moving cleaning device is controlled to return to the base station based on the newly determined location, and the cleaning task is stopped.

6. The method of claim 4, wherein Also includes: Once the cleaning task is completed for the area to be cleaned, the historical map is replaced with the most recently updated current map.

7. A cleaning process display method characterized by, A control terminal for a self-moving cleaning device, the self-moving cleaning device being equipped with a single-point lidar, the single-point lidar comprising a laser transmitter and at least one laser receiver, the laser transmitter being used to emit laser signals, and the laser receiver being used to receive the reflected signals of the laser signals; The cleaning process display method includes: The historical map of the area to be cleaned is displayed as the current map, and the area to be cleaned is the area corresponding to the cleaning task received by the self-moving cleaning device; The current map is updated and displayed during the process of the self-moving cleaning device performing the cleaning task; the current map is a map updated based on environmental parameters obtained by positioning and detection by a single-point lidar during the process of the self-moving cleaning device performing the cleaning task. When it is determined that the current map is overlaid based on the angular difference between the main direction of the current map and the main direction of the historical map, the display of the current map is stopped, the historical map is displayed, and the repositioning result of the self-moving cleaning device is displayed on the historical map.

8. The cleaning process display method according to claim 7, wherein, Also includes: When the location information of the self-moving cleaning device is received during the display of the historical map, the self-moving cleaning device is identified on the historical map according to the location information.

9. An electronic device, characterized by include: One or more processors; Memory, used to store one or more computer programs; When the one or more computer programs are executed by the one or more processors, the electronic device performs the method as described in any one of claims 1-8.

10. A computer readable storage medium having stored thereon a computer program, characterized in that When the computer program is executed by the processor, it implements the method as described in any one of claims 1-8.

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