Cleaning method and self-moving device

Abstract

The application relates to a cleaning method and a self-moving device. The cleaning method comprises the following steps: the self-moving device performs a cleaning task on a surface to be cleaned; the self-moving device returns to a base station and is aligned with the base station; the self-moving device is disengaged from the alignment with the base station and cleans a target area; wherein the target area is at least part of the base station. The method can clean the garbage falling during the return to the base station, and improves the cleaning effect.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a cleaning method and a self-moving device. Background Technology

[0002] With the rapid development of artificial intelligence and sensor technologies, cleaning robots have been widely used for floor cleaning in homes, office buildings, shopping malls, and other settings. Cleaning robots typically integrate a walking mechanism, cleaning module, vacuuming system, navigation and positioning system, and control unit, enabling them to autonomously complete tasks such as sweeping and mopping without human intervention.

[0003] However, current cleaning robots may shake off trash during their operation, causing secondary pollution. Summary of the Invention

[0004] Therefore, it is necessary to provide a cleaning method and self-moving device that can improve the cleaning effect in response to the above-mentioned technical problems.

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

[0006] The self-moving device performs the cleaning task on the surface to be cleaned;

[0007] The self-moving device returns to the base station and aligns with the base station;

[0008] The self-moving device detaches from the base station and cleans the target area;

[0009] The target area is at least a portion of the area of ​​the base station.

[0010] In one embodiment, after the self-moving device is aligned with the base station and before it is de-aligned, the method further includes:

[0011] The self-moving device performs a first detection of the target area;

[0012] The self-moving device identifies the area to be cleaned, including the stained area;

[0013] The cleaning of the target area includes:

[0014] The self-moving device cleans the area to be cleaned.

[0015] In one embodiment, after cleaning the target area, the method further includes:

[0016] The self-moving device returns to the base station and aligns with the base station;

[0017] The self-moving device performs a second detection on the target area;

[0018] Based on the result of the second detection, the self-moving device determines the cleaning result of the target area; if the cleaning result meets the preset cleaning result, the target area is no longer cleaned.

[0019] In one embodiment, after the self-moving device is aligned with the base station and before it is de-aligned, the method further includes:

[0020] The self-moving device receives cleaning instructions from the user;

[0021] The cleaning of the target area includes:

[0022] The self-moving device cleans the target area based on the cleaning command.

[0023] In one embodiment, the base station includes a base station body and an extension board connected to the base station body; at least a portion of the base station is an extension board area;

[0024] The cleaning of the target area includes:

[0025] The self-moving device cleans the extension plate area.

[0026] In one embodiment, cleaning the extension plate area includes:

[0027] The self-moving device cleans the extension plate area along a first direction;

[0028] Wherein, the first direction is the extension direction perpendicular to the extension plate.

[0029] In one embodiment, the bottom of the self-moving device includes a brush;

[0030] The cleaning of the target area also includes:

[0031] The self-moving device uses the brush to clean the debris in the extension plate area;

[0032] The self-moving device sucks the waste into its dustbin.

[0033] In one embodiment, the bottom of the self-moving device includes a suction port;

[0034] The brush is located within the projected area of ​​the self-moving device and is located on at least one side of the suction port.

[0035] In one embodiment, the target area further includes a peripheral area of ​​the base station, the peripheral area being located at least a portion of the outer periphery of the extension plate area;

[0036] The cleaning of the target area includes:

[0037] The self-moving device cleans the extension plate area;

[0038] The self-moving device cleans the area surrounding the base station.

[0039] In one embodiment, the bottom of the self-moving device includes a brush;

[0040] The cleaning of the extension plate area includes:

[0041] The self-moving device uses the brush to clean the extension plate area to remove some of the debris to the surrounding area of ​​the base station.

[0042] In one embodiment, the self-moving device performs a cleaning task on the surface to be cleaned, including:

[0043] During the cleaning process of the self-moving device, if particulate dirt is detected, the self-moving device shall perform at least part of the cleaning task using a particulate cleaning mode.

[0044] In one embodiment, after the self-moving device is aligned with the base station and before it is de-aligned, the method further includes:

[0045] When the self-moving device is aligned with the base station, a dust collection operation is performed.

[0046] In one embodiment, cleaning the target area further includes:

[0047] The self-moving device uses a cleaning mode to clean the target area;

[0048] The cleaning mode is obtained by adjusting at least one of the following: the moving speed, suction power, and brush speed of the self-moving device, based on the normal cleaning mode.

[0049] In one embodiment, before the self-moving device returns to the base station, the method further includes:

[0050] Before moving to the extension plate area, the self-moving device performs a main unit vacuuming action to keep the debris inside the self-moving device away from the suction port area of ​​the self-moving device.

[0051] Secondly, this application also provides a self-moving device, comprising:

[0052] At least one detection sensor is used to detect an image of the target area;

[0053] A processor for executing the steps of the above methods.

[0054] Thirdly, this application also provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor of the steps described above.

[0055] Fourthly, this application also provides a computer program product, including a computer program that is executed by a processor using the steps of the above-described method.

[0056] The aforementioned cleaning method and self-moving equipment, by restricting the return to the base station and alignment with it before cleaning at least a portion of the base station after disalignment, can clean up debris that falls around the base station during the return process, thereby reducing secondary pollution caused by the return and improving the cleaning effect. Attached Figure Description

[0057] 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.

[0058] Figure 1 This is one of the structural diagrams of a self-moving device in one embodiment.

[0059] Figure 2 This is one of the flowcharts illustrating a cleaning method in one embodiment.

[0060] Figure 3 This is a schematic diagram of a base station structure in one embodiment.

[0061] Figure 4 This is a schematic diagram of the cleaning path of a self-moving device in one embodiment.

[0062] Figure 5 This is the second flowchart of a cleaning method in one embodiment.

[0063] Figure 6 This is the third flowchart of a cleaning method in one embodiment.

[0064] Figure 7 This is the fourth flowchart of a cleaning method in one embodiment.

[0065] Figure 8This is the fifth flowchart of a cleaning method in one embodiment.

[0066] Figure 9 This is the second structural diagram of a self-moving device in one embodiment.

[0067] Figure 10 This is a flowchart of the cleaning method in one embodiment, number six.

[0068] Figure 11 This is the seventh flowchart of a cleaning method in one embodiment.

[0069] Figure 12 This is the eighth flowchart of a cleaning method in one embodiment.

[0070] Figure 13 This is the third structural diagram of a self-moving device in one embodiment.

[0071] Figure 14 This is an internal structural diagram of a computer device in one embodiment.

[0072] Figure label:

[0073] 100: Self-moving device; 110: Walking system; 111: Wheels; 120: Sensing system; 130: Control system; 140: Cleaning system; 141: Brush; 142: Suction port; 150: Detection sensor; 160: Processor; 200: Base station; 210: Target area; 211: Extension plate area; 212: Surrounding area; 220: Extension plate; 221: Anti-slip rib; 230: Base station body. Detailed Implementation

[0074] 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.

[0075] 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.

[0076] The inventors discovered that after performing a cleaning task, during the return journey to the base station, the cleaning robot typically accelerates up the extension plate and then decelerates. During this process, debris inside the robot is easily shaken out of its dustbin, causing secondary pollution to the base station and its surrounding area. This is because the extension plate has a certain angle of inclination, and the cleaning robot needs to overcome gravity to climb it. If its initial speed is too low, it may fail to climb due to insufficient power. Therefore, the cleaning robot accelerates to a speed sufficient to complete the climb before approaching the extension plate. After climbing at high speed, if it doesn't decelerate, the cleaning robot will collide with the base station due to inertia. When the cleaning robot accelerates up the extension plate and then decelerates, the debris inside the robot is shaken out of its dustbin due to inertia. Furthermore, in the presence of water around the base station, the cleaning robot is prone to slipping when accelerating, causing vibrations and resulting in debris falling out. Accelerating up the extension plate may also cause the wheels to slip, further causing the robot to shake and debris to fall out. Furthermore, the cleaning robot returns to the base station after cleaning, and its dustbin may already be full of trash. Even slight shaking can easily cause the trash to fall out, thus polluting the base station and its surrounding area. Therefore, to solve the pollution problem caused by falling trash, this application proposes a cleaning method and a self-moving device.

[0077] To better illustrate this, we will first introduce some self-moving devices provided in embodiments of this application. These self-moving devices can be mobile devices with cleaning functions, such as robotic vacuum cleaners, window cleaning robots, etc. Figure 1 As shown, the self-moving device 100 may include a walking system 110, a sensing system 120, a control system 130, and a cleaning system 140, etc.

[0078] The walking system 110 can be 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.

[0079] The cleaning system 140 may include a roller brush, dust box, suction pipe, fan, etc.

[0080] 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 work surface, which can be understood as granular waste.

[0081] The control system 130 is used to control the operating state of 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, the brush speed, the dustbin status, etc.) to enable the self-moving device 100 to perform various actions, such as sweeping and walking.

[0082] In one exemplary embodiment, such as Figure 2 and Figure 3 As shown, a cleaning method is provided, including the following steps S102 to S106, wherein:

[0083] Step S102: The self-moving device performs the cleaning task on the surface to be cleaned.

[0084] That is, when the self-moving device receives a cleaning instruction, it performs the cleaning task on the surface to be cleaned.

[0085] When performing cleaning tasks, the self-moving device can adopt different cleaning modes based on different levels of dirt, different materials of the surface to be cleaned, and different types of garbage. The surface to be cleaned can be a tile surface, a wooden floor surface, a carpet surface, etc.

[0086] For example, when the waste is wet waste, the mopping mode is used. When the waste is dry waste, the sweeping mode is used.

[0087] Step S104: The mobile device returns to the base station 200 and aligns with the base station 200.

[0088] The mobile device may return to base station 200 because the surface to be cleaned has been cleaned, the cleaning cloth has been washed midway, the battery power is lower than the threshold, or a return instruction has been received. There are no restrictions on the triggering conditions for returning to base station 200.

[0089] The alignment of the self-moving device with the base station 200 as referred to in this invention can mean that the charging terminal of the self-moving device is connected to the charging terminal of the base station, or that the water replenishment interface of the self-moving device is connected to the water replenishment interface of the base station, thereby enabling the self-moving device to be charged, dust collected, water replenished, and mop cleaned.

[0090] It is understandable that during the return journey to base station 200, the mobile device typically needs to traverse an area with a certain slope. If base station 200 has a threshold, the mobile device will experience bumps when crossing it, causing debris to fall out. Even if base station 200 does not have a threshold, the drive wheels of the mobile device need to output greater torque as it ascends the slope, increasing vibration and potentially causing debris to fall out, leading to secondary pollution.

[0091] In this embodiment, the process of returning to base station 200 mainly refers to the process of returning to base station body 230. More specifically, the process of returning to base station 200 refers to the process of returning to base station body 230 through other components of base station 200. During this process, trash may fall into the area of ​​base station 200.

[0092] Step S106: The mobile device is disengaged from the base station 200 and the target area 210 is cleaned.

[0093] The target area 210 is at least a portion of the area of ​​the base station 200.

[0094] As mentioned earlier, the trash mainly falls during the return process to base station 200, and it mainly falls within the area of ​​base station 200. Therefore, it is possible to mainly clean a portion of the area within base station 200.

[0095] It is understandable that there is a high probability of trash falling during the return process. Therefore, the target area 210 can be cleaned directly without detection. In this case, the target area 210 can be set according to the location where trash often falls and is distributed during the return to the base station 200.

[0096] The above-mentioned cleaning method, by restricting the return to base station 200 to align with base station 200 first, and then cleaning at least a portion of base station 200 after disalignment, can clean up the garbage that falls around base station 200 during the return process, thereby reducing secondary pollution caused by the return to base station 200 and improving the cleaning effect.

[0097] In one embodiment, the self - moving device performs a cleaning task on a surface to be cleaned, including:

[0098] During the cleaning task performed by the self - moving device, when particulate dirt is recognized, the self - moving device performs at least part of the cleaning task in a particulate cleaning mode.

[0099] Refer to Figure 4 , Figure 4 which is a schematic diagram of the path for the self - moving device to perform the cleaning task on the surface to be cleaned. Figure 4 The boxed area corresponds to the surface to be cleaned. During the cleaning task, the self - moving device can use a mopping mode, a sweeping mode, etc. to perform the cleaning task on the surface to be cleaned, and can use a zigzag cleaning path. The zigzag cleaning path first moves straight from the left end to the right of the surface to be cleaned, then moves up or down a short distance, and finally moves straight from the right end to the left. The entire movement trajectory resembles the shape of the Chinese character "弓" (bow). Using the zigzag cleaning path can gradually cover the entire surface to be cleaned and improve the cleaning effect. The circular area corresponds to the area where particulate dirt is recognized. The particulate dirt can be recognized by the camera of the self - moving device or by an acoustic wave sensor, and there is no limitation here. Within the circular area, the self - moving device performs the cleaning task in a particulate cleaning mode and can also use a zigzag cleaning path when performing the cleaning task. That is, in the circular area of the surface to be cleaned, the particulate cleaning mode is used, and in the non - circular area of the surface to be cleaned, the corresponding mopping mode, sweeping mode, etc. are used to perform the cleaning task.

[0100] In the mopping mode, sweeping mode or mopping - sweeping mode in the normal cleaning mode, particulate matter may be击飞 (flung away), resulting in the pollution of other areas by the garbage. The particulate cleaning mode will reduce the traveling speed, thereby reducing the impact force on the particulate matter, reducing the flinging of the particulate matter, and improving the cleaning effect.

[0101] It can be understood that particulate matter is usually spherical or irregularly块状 (block - shaped). The frictional force between particulate matter and the frictional force between the particles and the wall of the dust box are much smaller than those of fibrous garbage, and relative sliding is likely to occur. When subjected to high - frequency vibration, the particulate matter is very likely to leave the contact surface, bounce or roll, and then fall out of the dust box. When there is particulate matter in the dust box of the self - moving device, due to the jitter during the return to the base station, it is very easy for the internal particulate matter to roll out of the dust box, especially when it falls on the extended plate with an inclined angle, the particulate matter is more likely to accelerate and roll to the surrounding of the base station, causing pollution to the base station and its surrounding area. By cleaning at least part of the area of the base station, the pollution of the surrounding area of the base station by particulate matter can be reduced and the cleanliness can be improved.

[0102] In one embodiment, after the self-moving device is aligned with the base station and before the self-moving device is disaligned, i.e. after step S104 and before step S106, see [reference needed]. Figure 5 The method further includes steps S202 to S204, wherein:

[0103] Step S202: The self-moving device performs the first detection of the target area.

[0104] Self-moving devices can include detection sensors, such as AI cameras, binocular cameras, and multi-view cameras, which can be used to acquire images of the target area.

[0105] Understandably, the self-moving device is currently located within the base station. As mentioned earlier, the self-moving device needs to traverse an area with a certain slope to return to the base station. Therefore, the height of the base station is at least higher than part of the target area. The self-moving device performs its initial detection from a higher position, allowing the camera to have a wider field of view and capture the entire target area, thus providing a foundation for accurately locating the area to be cleaned.

[0106] Step S204: The self-moving device identifies the area to be cleaned, including the stained area.

[0107] The self-moving device identifies areas to be cleaned, including those with stains, based on the acquired images and existing image detection algorithms.

[0108] Step S106: The mobile device detaches from the base station and cleans the target area, including:

[0109] Step S1061: The mobile device is dealigned from the base station and the area to be cleaned is cleaned.

[0110] If the camera detects stains in a portion of the target area, the area with stains in the target area is determined as the area to be cleaned. The area to be cleaned can be a portion of the target area. If stains are present in all areas of the target area, the area to be cleaned is the same as the target area, that is, the area to be cleaned is less than or equal to the target area.

[0111] By using cameras to detect and identify areas that need cleaning, mobile devices can perform targeted cleaning, reducing resource waste.

[0112] In one embodiment, after cleaning the target area, see [reference] Figure 6 The method further includes steps S302 to S306, wherein:

[0113] In step S302, the mobile device returns to the base station and aligns with the base station.

[0114] In this embodiment, the trigger condition for the mobile device to return to the base station can be the completion of cleaning.

[0115] Step S304: The self-moving device performs a second detection on the target area.

[0116] Referring to step S202, the self-moving device acquires an image of the target area using a detection sensor within the base station.

[0117] Step S306: Based on the results of the second detection, the self-moving device determines the cleaning result of the target area. If the cleaning result meets the preset cleaning result, the target area will no longer be cleaned.

[0118] The cleaning result can be a cleanliness level. Based on the acquired image and existing detection algorithms, the cleanliness level of the target area can be determined. If the cleanliness level corresponding to the second detection is greater than or equal to a preset cleanliness level, the cleaning result is determined to meet the preset cleanliness requirement. If the preset cleanliness requirement is met, the self-moving device will not detach from the base station and will continue cleaning the target area. If the cleanliness level corresponding to the second detection is less than the preset cleanliness level, the cleaning result is determined to not meet the preset cleanliness requirement. The self-moving device will then detach from the base station and clean the target area again.

[0119] By acquiring images of the target area again after cleaning, the cleaning result can be determined, thus clarifying the cleaning outcome. If the cleaning result does not meet the preset cleaning result, the mobile device can be instructed to clean the target area again to improve the cleanliness.

[0120] In one embodiment, after the self-moving device is aligned with the base station and before the self-moving device is disaligned, i.e. after step S104 and before step S106, see [reference needed]. Figure 7 The method further includes step S402, wherein:

[0121] Step S402: The self-moving device receives a cleaning instruction from the user.

[0122] For example, cleaning instructions could be "There is trash near the base station" or "Come out and clean up," etc., without any restrictions.

[0123] Step S106: The mobile device detaches from the base station and cleans the target area, including:

[0124] Step S1062: The mobile device is de-aligned with the base station and the target area is cleaned based on the cleaning command.

[0125] The self-moving device can clean a target area under the user's instructions.

[0126] Cleaning is performed based on user instructions, which better meets user needs.

[0127] In one embodiment, see [reference] Figure 3 A base station includes a base station body and an extension board connected to the base station body; at least a portion of the base station is the extension board area.

[0128] The extension board is a component that guides the mobile device into and out of the base station and has a certain slope. As mentioned earlier, when climbing the slope, the drive wheels of the mobile device need to output greater torque, causing vibration and resulting in debris being shaken off. Therefore, when the mobile device moves towards the base station on the extension board, it may shake off debris onto the extension board.

[0129] Cleaning the target area includes:

[0130] The self-moving device cleans the extension board area.

[0131] Cleaning the extension board area can remove trash that has fallen onto the extension board, improving overall cleanliness.

[0132] In one embodiment, cleaning the extension plate area 211 includes:

[0133] The self-moving device cleans the extension plate area 211 along the first direction.

[0134] Among them, see Figure 3 The first direction is the extension direction perpendicular to the extension plate 220.

[0135] Understandably, the extension board 220 has a certain slope in its extension direction. Cleaning along the extension direction of the extension board 220 may cause debris to fall out of the self-moving device again. Cleaning along the first direction can reduce the amount of debris falling out. Furthermore, the extension board 220 is usually provided with multiple anti-slip ribs 221 arranged along the first direction. Cleaning the extension board area 211 along the first direction can deeply clean the grooves between adjacent anti-slip ribs 221, thereby improving the cleanliness.

[0136] In one embodiment, the bottom of the self-moving device includes a brush.

[0137] See Figure 8 The cleaning of the target area also includes steps S502 to S504, wherein:

[0138] Step S502: The self-moving device uses a brush to sweep away the debris in the extension plate area.

[0139] As mentioned earlier, the extension plate typically has multiple anti-slip ribs arranged along the first direction, with adjacent ribs spaced a certain distance apart. These ribs increase friction, thus achieving an anti-slip function. However, gaps form between adjacent ribs, which easily accumulate fine dirt. If not cleaned, this can affect the anti-slip performance. Directly sucking out trash using suction might not remove debris from these small gaps. A soft, flexible brush, however, can reach deep into these gaps, directly contacting the trash and moving it to an area easily accessible for the mobile device to absorb.

[0140] Even in areas without anti-slip ribs within the extension board, the brush can sweep debris into one area for the self-moving device to absorb.

[0141] Step S504: The self-moving device sucks the garbage into the dust box of the self-moving device.

[0142] The bottom of the self-moving device includes a suction port. The self-moving device can use a fan to create negative pressure inside the dust box, thereby sucking external debris into the dust box through the suction port.

[0143] Using brushes to sweep away trash and a self-moving device to absorb it, it can not only gather trash in the extension board area to improve cleaning efficiency, but also clean trash in the gaps to improve cleanliness.

[0144] In one embodiment, see [reference] Figure 9 The bottom of the self-moving device 100 includes a suction port 142 and may also include a wheel 111.

[0145] The brush 141 is located within the projected area of ​​the self-moving device 100 and is located on at least one side of the suction port 142.

[0146] The brush 141 is located within the projected area of ​​the self-moving device 100, meaning that the range of motion of the brush 141 does not exceed the vertical projection area of ​​the self-moving device 100. One or more brushes 141 can be provided. When only one brush 141 is provided, it can be positioned in front of the suction port 142. That is, during the forward movement of the self-moving device 100, the brush 141 is located in front of the suction port 142; if the self-moving device 100 moves backward, the brush 141 is located behind the suction port 142.

[0147] It is understandable that negative pressure absorption may not be able to absorb strongly attached garbage. By placing the brush 141 in front of the suction port 142, the garbage can be loosened by sweeping, making it easier for the garbage to be sucked into the dust box with the air.

[0148] In one embodiment, see [reference] Figure 3The target area 210 also includes the peripheral area 212 of the base station 200, which is located at least part of the outer periphery of the extension plate area 211. That is, the target area 210 consists of the extension plate area 211 and the peripheral area 212 of the base station 200.

[0149] If the base station 200 is placed on a horizontal surface, the surrounding area 212 can be a portion of the horizontal surface on which the base station 200 is placed. For example, it can be an area other than the coverage area of ​​the base station 200, centered on the base station 200 and with a radius of R. R can be the sum of the extension length of the extension plate 220 and a preset distance. The preset distance can be set according to requirements, such as 0.5m, 0.8m, 1m, etc., and is not limited here. If the base station 200 is placed against a wall, the surrounding area 212 can be a semi-circular area other than the coverage area of ​​the base station 200, centered on the base station 200 and with a radius of R.

[0150] Cleaning of target area 210 includes:

[0151] The self-moving device cleans the extension board area 211.

[0152] The self-moving device cleans the surrounding area 212 of the base station 200.

[0153] It is understandable that the extension plate area 211 is a sloped area, meaning the height of the extension plate is higher than the surrounding area 212 of the base station 200. When cleaning the extension plate area 211, debris may fall into the surrounding area 212 of the base station 200. If the surrounding area 212 is cleaned first, and then the extension plate area 211 is cleaned, the debris in the extension plate area 211 may cause secondary pollution to the surrounding area 212 of the base station 200. Cleaning the extension plate area 211 first, and then cleaning the surrounding area 212 of the base station 200, can avoid secondary pollution of the surrounding area 212 of the base station 200 by the debris in the extension plate area 211. Furthermore, after being disengaged from alignment, the self-moving device will pass through the extension plate area 211 first when moving to the surrounding area 212 of the base station 200, which can improve cleaning efficiency.

[0154] Furthermore, the extension plate area 211 is typically equipped with anti-slip ribs 221, with gaps between adjacent anti-slip ribs 221. The cleaning difficulty of the extension plate area 211 is greater than that of the horizontal surface of the surrounding area 212 of the base station 200. If the surrounding area 212 is cleaned first, and then the extension plate area 211 is cleaned during the return trip to the base station 200, and the cleaning of the extension plate area 211 fails due to its greater difficulty, the self-moving device needs to leave the base station body 230 again to clean the extension plate area 211 before returning to the base station body 230.

[0155] The extension board area 211 is cleaned as the mobile device leaves the station. If the extension board area 211 fails to meet cleaning standards due to its difficulty in cleaning, it can be cleaned again during the return trip to the base station. This eliminates the need for the mobile device to make multiple trips, thereby improving cleaning efficiency.

[0156] In one embodiment, see [reference] Figure 9 The bottom of the self-moving device 100 includes a brush 141.

[0157] Clean the extension board area, including:

[0158] The self-moving device 100 uses a brush 141 to clean the extension board area to remove some of the debris to the surrounding area of ​​the base station.

[0159] It is understandable that there may be many gaps in the extension plate area. Directly absorbing the garbage in the gaps may make it difficult to suck it into the dust box. Even if the garbage in the gaps is swept out, the absorption effect may be reduced due to the obstruction of the surrounding anti-slip ribs. By using the brush 141 to move the garbage to the surrounding area of ​​the base station, the problem of cleaning with obstruction can be transformed into a normal horizontal surface cleaning problem, thereby reducing the cleaning difficulty and improving the cleaning effect.

[0160] In one embodiment, after the self-moving device is aligned with the base station, and before it is disaligned, see [reference]. Figure 10 The method also includes:

[0161] Step S602: When the self-moving device is aligned with the base station, perform the dust collection action.

[0162] Dust collection refers to the automatic emptying of the dustbin. When aligned correctly, this process not only enhances the intelligence of the mobile cleaning device but also increases the effective capacity of the dustbin for storage during the next cleaning cycle. Furthermore, if the dustbin becomes clogged due to excessive dust accumulation, airflow will be obstructed, reducing the suction power of the mobile cleaning device and resulting in poor cleaning performance. Automatic dust collection maintains suction power for a longer period, improving cleaning effectiveness.

[0163] In one embodiment, cleaning the target area further includes:

[0164] The self-moving device uses a cleaning mode to clean the target area;

[0165] The cleaning mode is based on the normal cleaning mode, but adjusts at least one of the following: the moving speed of the self-moving device, the suction power, and the speed of the roller brush.

[0166] The normal cleaning mode can include mopping mode, sweeping mode, and sweeping-mopping mode. Sweeping-mopping mode means that the mobile device will perform mopping and sweeping.

[0167] It is understandable that the cleaning targets the fallen trash, which is small in quantity and distributed over a small area. The cleaning mode can be a targeted adjustment based on the aforementioned trash situation, which helps to improve cleanliness.

[0168] For example, the moving speed can be lower than that of the normal cleaning mode, such as 0.05m / s-1m / s; the suction power can be higher than that of the normal cleaning mode; and the brush speed can be lower than that of the normal cleaning mode. If the debris is particulate matter, the cleaning mode can also adjust the cloth lifting height, which is higher than that of the normal cleaning mode.

[0169] Understandably, a slower movement speed reduces the impact of the mobile device on debris, thus minimizing the possibility of debris being flung to other areas and causing contamination. With a fixed target area, a slower movement speed allows for longer cleaning time, resulting in improved cleanliness. Stronger suction can draw more firmly attached debris into the dustbin, enhancing cleanliness. Lowering the brush speed also reduces debris flung around, minimizing contamination of other areas. When the debris is particulate, a cloth is usually unnecessary; increasing the cloth's lifting height reduces cloth contamination.

[0170] In one embodiment, before the mobile device returns to the base station, see [reference]. Figure 11 The method also includes:

[0171] In step S702, before the self-moving device moves to the extension plate area, the main unit performs a vacuuming action to keep the debris inside the self-moving device away from the suction port area of ​​the self-moving device.

[0172] Before the mobile device accurately returns to the base station body after passing through the extension plate with a certain tilt angle, the host vacuuming action is performed, which will create a negative pressure airflow in the suction port area. This negative pressure airflow will suck the garbage into the dust box, thereby keeping the garbage away from the suction port area of ​​the mobile device. After the garbage is sucked into the dust box and away from the suction port area, even if the garbage inside the dust box may move outward due to vibration, it will not fall out in a short time because the garbage is far away from the suction port area, reducing the possibility of garbage falling out, helping to maintain cleanliness and reduce secondary pollution.

[0173] In one embodiment, see [reference] Figure 12After the mobile device returns to the base station and aligns with it, cleaning of the target area can proceed directly without further detection. Alternatively, the mobile device can perform an initial detection of the target area, determine the area to be cleaned based on the initial detection, and then proceed with cleaning. Cleaning can also be based on received user commands.

[0174] The target area may be the extension plate area, or it may include at least a portion of the outer perimeter of the extension plate area. When the self-moving device cleans the extension plate area, it may clean along a first direction and use a brush to sweep away debris in the extension plate area. If the target area includes at least a portion of the outer perimeter of the extension plate area, the self-moving device may use the brush to sweep debris to at least a portion of the outer perimeter of the extension plate area, and then clean at least a portion of the outer perimeter of the extension plate area.

[0175] Before returning to and aligning with the base station, and before the mobile device travels to the extension board area, the mobile device can perform a vacuuming action, keeping the debris inside the mobile device away from the suction port area. This reduces the amount of debris that falls off the mobile device as it returns to the base station via the extension board.

[0176] Before disengaging from the base station, a dust collection process can be performed to remove debris from the dustbin in the self-moving device, increasing the usable space in the dustbin and thus reducing the likelihood of debris falling out during the next return to the base station.

[0177] It should be understood that although the steps in the flowcharts of the embodiments described above 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 embodiments described above 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.

[0178] In one exemplary embodiment, a self-moving device is provided, see [link to relevant documentation]. Figure 13 It includes at least one detection sensor 150 and a processor 160.

[0179] The detection sensor 150 is used to detect an image of the target area, which is used to obtain the cleaning results of the target area.

[0180] The processor 160 is used to execute the steps in any of the above embodiments to achieve the corresponding function.

[0181] The detection sensor 150 can be an AI camera, a binocular camera, a multi-view camera, etc.

[0182] Optionally, the self-moving device also includes memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is connected to the system bus via the I / O interfaces. The processor of this computer device provides computing and control capabilities. The memory of this computer device includes non-volatile storage media and internal memory. The non-volatile storage media 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 media. The database of this computer device stores cleaning data. The I / O interfaces of this computer device are used for exchanging information between the processor and external devices. The communication interface of this computer device is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a cleaning method.

[0183] Those skilled in the art will understand that Figure 14 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.

[0184] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps described above.

[0185] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps described above.

[0186] It should be noted that the user information (including but not limited to user device information, user voice information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0187] 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, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, 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.

[0188] 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.

[0189] 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 characterized by, Applied to self-moving devices, the method includes: The self-moving device performs the cleaning task on the surface to be cleaned; The self-moving device returns to the base station and aligns with the base station; The self-moving device detaches from the base station and cleans the target area; The target area is at least a portion of the area of ​​the base station.

2. The method of claim 1, wherein, After the self-moving device is aligned with the base station, and before it is de-aligned, the method further includes: The self-moving device performs a first detection of the target area; The self-moving device identifies the area to be cleaned, including the stained area; The cleaning of the target area includes: The self-moving device cleans the area to be cleaned.

3. The method of claim 2, wherein, After cleaning the target area, the method further includes: The self-moving device returns to the base station and aligns with the base station; The self-moving device performs a second detection on the target area; Based on the result of the second detection, the self-moving device determines the cleaning result of the target area; if the cleaning result meets the preset cleaning result, the target area is no longer cleaned.

4. The method of claim 1, wherein, After the self-moving device is aligned with the base station, and before it is de-aligned, the method further includes: The self-moving device receives cleaning instructions from the user; The cleaning of the target area includes: The self-moving device cleans the target area based on the cleaning command.

5. The method according to any one of claims 1 to 4, characterized in that, The base station includes a base station body and an extension board connected to the base station body; at least a portion of the base station is the extension board area; The cleaning of the target area includes: The self-moving device cleans the extension plate area.

6. The method of claim 5, wherein, The cleaning of the extension plate area includes: The self-moving device cleans the extension plate area along a first direction; Wherein, the first direction is the extension direction perpendicular to the extension plate.

7. The method of claim 5, wherein, The bottom of the self-moving device includes a brush; The cleaning of the target area also includes: The self-moving device uses the brush to clean the debris in the extension plate area; The self-moving device sucks the waste into its dustbin.

8. The method of claim 7, wherein, The bottom of the self-moving device includes a suction port; The brush is located within the projected area of ​​the self-moving device and is located on at least one side of the suction port.

9. The method of claim 5, wherein, The target area also includes the surrounding area of ​​the base station, which is located on at least a portion of the outer periphery of the extension plate area; The cleaning of the target area includes: The self-moving device cleans the extension plate area; The self-moving device cleans the area surrounding the base station.

10. The method of claim 9, wherein, The bottom of the self-moving device includes a brush; The cleaning of the extension plate area includes: The self-moving device uses the brush to clean the extension plate area to remove some of the debris to the surrounding area of ​​the base station.

11. The method of claim 1, wherein, The self-moving device performs a cleaning task on the surface to be cleaned, including: During the cleaning process of the self-moving device, if particulate dirt is detected, the self-moving device shall perform at least part of the cleaning task using a particulate cleaning mode.

12. The method of claim 9, wherein, After the self-moving device is aligned with the base station, and before it is de-aligned, the method further includes: When the self-moving device is aligned with the base station, a dust collection operation is performed.

13. The method according to claim 9, characterized in that, The cleaning of the target area also includes: The self-moving device uses a cleaning mode to clean the target area; The cleaning mode is obtained by adjusting at least one of the following: the moving speed, suction power, and brush speed of the self-moving device, based on the normal cleaning mode.

14. The method according to claim 5, characterized in that, Before the self-moving device returns to the base station, the method further includes: Before moving to the extension plate area, the self-moving device performs a main unit vacuuming action to keep the debris inside the self-moving device away from the suction port area of ​​the self-moving device.

15. A self-moving device, characterized in that, include: At least one detection sensor is used to detect an image of the target area; A processor for performing the steps of the method as described in any one of claims 1 to 14.

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