Multi-story map creation method, transport apparatus, cleaning apparatus, storage medium, and product

Abstract

The embodiment of the application discloses a multi-floor map establishing method, a carrying device, a cleaning device, a storage medium and a product. The carrying device comprises a first receiving assembly, a carrying assembly and a first processor. The first receiving assembly and the carrying assembly are respectively connected with the first processor in communication. The first receiving assembly is used for receiving a current floor map established in a current floor and at least one target floor map established in at least one target floor sent by the cleaning device. The carrying assembly is used for carrying the cleaning device to the at least one target floor when the cleaning device is in a target position of the carrying device, so that the cleaning device establishes at least one target floor map in the at least one target floor. The first processor is used for establishing a multi-floor map corresponding to the multi-floor according to the current floor map and the at least one target floor map. Through the application, the efficiency of establishing the multi-floor map can be improved.

Description

Technical Field

[0001] This application relates to the field of map creation technology, and in particular to a method for creating multi-story maps, a handling device, a cleaning device, a computer-readable storage medium, and a computer program product. Background Technology

[0002] With the development of electronic technology, there are more and more types of electronic devices, which have brought great convenience to human life. Examples include cleaning equipment and robots.

[0003] Before using cleaning equipment to clean a target area, it is necessary to first map the target area to obtain a regional map of the target area so that the cleaning equipment can clean the target area according to the regional map. In the case of a multi-story area, it is necessary to manually move the cleaning equipment to each floor in turn and then use the cleaning equipment to map each floor. This reduces the efficiency of creating a multi-story map. Summary of the Invention

[0004] To address the aforementioned technical problems, this application aims to provide a method for creating multi-floor maps, a handling device, a cleaning device, a computer-readable storage medium, and a computer program product that can improve the efficiency of creating multi-floor maps.

[0005] The technical solution of this application is implemented as follows:

[0006] This application embodiment provides a handling device, the handling device comprising:

[0007] First processor;

[0008] A first receiving component is communicatively connected to the first processor. The first receiving component receives a current floor map created on the current floor and at least one target floor map created corresponding to at least one target floor, sent by the cleaning equipment.

[0009] A transport component, communicatively connected to the first processor, transports the cleaning equipment to at least one target floor when the cleaning equipment is at the target location of the transport equipment, so that the cleaning equipment can establish a map of the at least one target floor on the at least one target floor.

[0010] The first processor establishes a multi-floor map corresponding to multiple floors based on the current layer map and the at least one target layer map.

[0011] This application provides a cleaning device, the cleaning device comprising:

[0012] Second processor;

[0013] The second processor creates a map of the current floor; locates a transport device on the current floor; and, if the transport device transports the cleaning equipment to at least one target floor, creates a map of at least one target floor corresponding to that target floor.

[0014] A mobile component, communicatively connected to the second processor, moves to the target location of the transport device upon locating the transport device;

[0015] A sending component, communicatively connected to the second processor, sends the current layer map to the handling device; and sends the at least one target layer map to the handling device, so that the handling device can establish a multi-floor map corresponding to multiple floors based on the current layer map and the at least one target layer map.

[0016] This application provides a method for creating a multi-story map, the method comprising:

[0017] Receive the current floor map created on the current floor from the cleaning equipment;

[0018] When the cleaning equipment is at the target location of the transport equipment, the cleaning equipment is transported to at least one target floor so that the cleaning equipment can create at least one target floor map corresponding to the at least one target floor;

[0019] Receive at least one target floor map corresponding to at least one target floor sent by the cleaning equipment;

[0020] Based on the current layer map and the at least one target layer map, a multi-layer map corresponding to multiple layers is created.

[0021] This application provides a method for creating a multi-story map, the method comprising:

[0022] Create a map of the current floor;

[0023] Locate the handling equipment on the current floor, and if the handling equipment is found, move it to the target location of the handling equipment;

[0024] Send the current layer map to the transport equipment;

[0025] When the transport equipment transports the cleaning equipment to at least one target floor, at least one target floor map is created corresponding to the at least one target floor, and the at least one target floor map is sent to the transport equipment so that the transport equipment can create a multi-floor map corresponding to multiple floors based on the current floor map and the at least one target floor map.

[0026] This application embodiment provides a handling device, the handling device comprising:

[0027] The system comprises a first memory, a first processor, and a first communication bus. The first memory communicates with the first processor via the first communication bus. The first memory stores a multi-floor map creation program executable by the first processor. When the multi-floor map creation program is executed, the multi-floor map creation method described above for use in the transport equipment is executed by the first processor.

[0028] This application provides a cleaning device, the cleaning device comprising:

[0029] The system includes a second memory, a second processor, and a second communication bus. The second memory communicates with the second processor via the second communication bus. The second memory stores a multi-floor map creation program executable by the second processor. When the multi-floor map creation program is executed, the multi-floor map creation method described above for use in the cleaning equipment is executed by the second processor.

[0030] This application provides a computer-readable storage medium storing a computer program that can run in handling equipment and cleaning equipment. The computer program, when executed by a first processor, implements the multi-floor map creation method described above for use in handling equipment; and when executed by a second processor, it implements the same method for use in cleaning equipment.

[0031] This application also provides a computer program product, including a computer program that can be executed by a first processor in a handling device to complete the steps of any of the aforementioned multi-floor map creation methods executed in the handling device; the computer program can also be executed by a second processor in a cleaning device to complete the steps of any of the aforementioned multi-floor map creation methods executed in the cleaning device.

[0032] This application provides a method for creating a multi-floor map, a transport device, a cleaning device, a computer-readable storage medium, and a computer program product. The transport device includes: a first processor; a first receiving component, communicatively connected to the first processor, the first receiving component receiving a current floor map created on the current floor and at least one target floor map created corresponding to at least one target floor sent by the cleaning device; and a transport component, communicatively connected to the first processor, the transport component transporting the cleaning device to at least one target floor when the cleaning device is at the target location of the transport device, so that the cleaning device can create at least one target floor map corresponding to at least one target floor. The first processor creates a multi-floor map corresponding to multiple floors based on the current floor map and the at least one target floor map. The above-described solution involves a transport device receiving a current-floor map from a cleaning device using a first receiving component. The transport device then moves the cleaning device to at least one target floor within a multi-floor system, allowing the cleaning device to create at least one target floor map for each target floor. The first receiving component then receives the at least one target floor map sent by the cleaning device. Finally, a first processor uses the current-floor map and the at least one target floor map to create a multi-floor map. This eliminates the need for manual transport of the cleaning device to each floor; the transport device can directly move the cleaning device to each floor, enabling the cleaning device to create a map on each floor. Ultimately, the transport device creates a multi-floor map based on the cleaning device's mapping on each floor, thus improving the efficiency of creating multi-floor maps. Attached Figure Description

[0033] Figure 1 A schematic diagram of the composition structure of a handling device provided in this application embodiment. Figure 1 ;

[0034] Figure 2 A schematic diagram of the composition structure of a handling device provided in this application embodiment. Figure 2 ;

[0035] Figure 3 A schematic diagram of a computer program product provided in this application embodiment. Figure 1 ;

[0036] Figure 4 A schematic diagram of the composition structure of a cleaning device provided in this application embodiment. Figure 1 ;

[0037] Figure 5 A schematic diagram of the composition structure of a cleaning device provided in this application embodiment. Figure 2 ;

[0038] Figure 6A schematic diagram of a computer program product provided in this application embodiment. Figure 2 ;

[0039] Figure 7 A method flow for creating a multi-story map provided in this application embodiment Figure 1 ;

[0040] Figure 8 A method flow for creating a multi-story map provided in this application embodiment Figure 2 ;

[0041] Figure 9 An exemplary multi-story map creation method flow provided in this application embodiment Figure 1 ;

[0042] Figure 10 An exemplary multi-story map creation method flow provided in this application embodiment Figure 2 . Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this application and do not limit the scope of this application.

[0044] This application provides a material handling device. Figure 1 This is a schematic diagram of the composition structure of a handling device provided in an embodiment of this application, as shown below. Figure 1 As shown, the handling equipment includes:

[0045] First processor 11;

[0046] The first receiving component 12 is communicatively connected to the first processor 11. The first receiving component 12 receives a current floor map and at least one target floor map sent by the cleaning equipment.

[0047] The transport component 13 is communicatively connected to the first processor 11. When the cleaning equipment is at the target location of the transport equipment, the transport component 13 transports the cleaning equipment to at least one target floor so that the cleaning equipment can establish a map of the at least one target floor on the at least one target floor.

[0048] The first processor 11 establishes a multi-floor map corresponding to multiple floors based on the current layer map and the at least one target layer map.

[0049] The present application provides a handling device that can operate in a scenario where cleaning equipment is handled and a multi-floor map corresponding to multiple floors is created.

[0050] In the embodiments of this application, the handling equipment can be implemented in various forms. For example, the handling equipment described in this application may include devices such as robots, transport equipment, stair climbers, etc., which have the function of handling cleaning equipment and can communicate and interact with the cleaning equipment. The specific handling equipment can be determined according to the actual situation, and the embodiments of this application do not limit it.

[0051] It should be noted that the current floor map is the map created by the cleaning equipment on the current floor.

[0052] It should be noted that the cleaning equipment can be a sweeper, vacuum cleaner, or other equipment with cleaning functions. The specific cleaning equipment can be determined according to the actual situation, and this application embodiment does not limit it.

[0053] In this embodiment of the application, the cleaning equipment and the handling equipment are always in a communication state, and in this communication state, the cleaning equipment can communicate with the handling equipment.

[0054] In this embodiment, the cleaning device can interact directly with the handling device, or the cleaning device can send information to a first base station corresponding to the cleaning device, the first base station forwards the information to a second base station corresponding to the handling device, and then the second base station sends the information to the handling device. The specific interaction method between the cleaning device and the handling device can be determined according to the actual situation, and this embodiment does not limit it.

[0055] It should be noted that the target location refers to the position of the cleaning equipment within the transport equipment during the handling process. This includes at least one target floor and at least one target floor level. Figure 1 One-to-one correspondence, specifically, one target floor corresponds to one target floor map.

[0056] In this embodiment of the application, at least one target floor can be a portion of multiple floors excluding the current floor. Multiple floors can be the interior floors of a building, such as a villa with 10 floors, in which case the multiple floors are the 10 floors within the villa.

[0057] It should be noted that at least one target layer map is a map sent by the cleaning equipment.

[0058] In this embodiment of the application, the handling equipment can sort and organize the current layer map and at least one target layer map according to the floor height order of the multi-story building to obtain a multi-story map.

[0059] Optionally, the transport component 13 transports the cleaning equipment to a first type of target floor in at least one target floor, and unloads the cleaning equipment at each entrance of each target floor in the first type of target floor, so that the cleaning equipment can establish a corresponding first type of target floor map in each target floor; the first type of target floor is a floor above or below the current floor; if there is a second type of target floor in at least one target floor, the cleaning equipment is transported to each entrance of each target floor in the second type of target floor, and unloaded, so that the cleaning equipment can establish a corresponding second type of target floor map in each target floor; the second type of target floor is a floor in the opposite direction to the first type of target floor; the at least one target floor map includes each first type of target floor map and each second type of target floor map.

[0060] For example, if the first type of target floor is the floor above the current floor, then the second type of target floor is the floor below the current floor; if the first type of target floor is the floor below the current floor, then the second type of target floor is the floor above the current floor.

[0061] In this embodiment of the application, if the multi-story building is a 10-story villa, the current floor is the first floor, and the first type of target floor is the floor above the current floor, then at least one target floor does not contain a second type of target floor (i.e., there is no floor below the current floor); if the multi-story building is a 10-story villa, the current floor is the tenth floor, and the first type of target floor is the floor below the current floor, then at least one target floor does not contain a second type of target floor (i.e., there is no floor above the current floor); if the multi-story building is a 10-story villa, the current floor is the fifth floor, and the first type of target floor is the floor below the current floor, then at least one target floor contains a second type of target floor (i.e., there is a floor above the current floor).

[0062] Understandably, by classifying multiple floors, the handling equipment obtains the floors above and below the current floor, i.e., the first type of target floor and the second type of floor. This allows the handling equipment to first go upstairs to create a map of each floor above the current floor when moving cleaning equipment to each floor in the multi-story building, and then go downstairs to create a map of each floor below the current floor, or vice versa. This avoids repeatedly climbing stairs between the floors above and below the current floor when creating a map for each floor in the multi-story building, thus improving the efficiency of creating at least one target floor map corresponding to at least one target floor.

[0063] Optionally, the transport component 13 moves from the exit of the current floor to the entrance of the first target floor in the first type of target floors; the first target floor is the floor in the first type of target floors that is closest to the current floor; at the entrance of the first target floor, the cleaning equipment is unloaded to create a first type of target floor map for the first target floor using the cleaning equipment, and the first type of target floor map transmitted by the cleaning equipment is received; the transport component 13 continues to move the cleaning equipment to the first remaining floors in the first type of target floors until each type of target floor map transmitted by the cleaning equipment is received; the first remaining floors are the floors in the first type of target floors other than the first target floor;

[0064] If the first processor 11 determines that a horizontal platform exists during the movement and that the length of the horizontal platform is greater than a preset length threshold, then the plane where the horizontal platform is located is determined to be the plane where the first target floor is located.

[0065] For example, if the building is a 10-story villa and the current floor is the 5th floor, and the first target floor is the floor above the current floor, then the first target floor could be the 6th floor.

[0066] In this embodiment, the preset length threshold can be a threshold configured in the handling equipment, a threshold transmitted from other equipment to the handling equipment, or a threshold obtained by the handling equipment through other means. The specific way the handling equipment obtains the preset length threshold can be determined according to the actual situation, and this embodiment does not limit it.

[0067] For example, the preset length threshold can be 4 meters, or it can be 5 meters, or it can be other lengths. The specific value of the preset length threshold can be determined according to the actual situation, and this application embodiment does not limit it.

[0068] Understandably, when moving cleaning equipment up or down stairs, the handling equipment can detect the length of the horizontal platform during the movement to identify whether the horizontal platform is a target floor. This avoids misidentifying the target floor when the floor heights are inconsistent in multiple floors, thus improving the accuracy of the handling equipment in identifying the target floor.

[0069] Optionally, if the first processor 11 determines during the movement that there is a horizontal platform and the length of the horizontal platform is less than or equal to the preset length threshold, it determines that the plane where the horizontal platform is located is not the plane where the first target floor is located.

[0070] If the transport component 13 determines that mapping of the horizontal platform is not required, it continues to move towards the entrance of the first target floor until it reaches the entrance of the first target floor; or, if it determines that mapping of the horizontal platform is required, it detaches the cleaning equipment so that the cleaning equipment can create a corresponding horizontal platform layer map of the horizontal platform; upon receiving the horizontal platform layer map sent by the cleaning equipment, it continues to move towards the entrance of the first target floor until it reaches the entrance of the first target floor.

[0071] In this embodiment, if the first target floor is the floor above the current floor, the transport equipment ascends the stairs at the exit of the current floor. If it reaches a horizontal platform whose length exceeds a preset length threshold, the horizontal platform is identified as the first target floor. The cleaning equipment is then unloaded at the entrance of the first target floor to create a first-type target floor map. If it reaches a horizontal platform whose length is less than or equal to the preset length threshold, the horizontal platform is not identified as the first target floor. If no mapping is created for the horizontal platform, the equipment continues ascending until it encounters a horizontal platform whose length exceeds the preset length threshold, and this horizontal platform is identified as the first target floor. Alternatively, if mapping of the horizontal platform is determined, the transport equipment unloads the cleaning equipment, allowing the cleaning equipment to create a corresponding horizontal platform layer map. Upon receiving the horizontal platform layer map from the cleaning equipment, the transport equipment continues transporting the cleaning equipment upstairs until it encounters a horizontal platform whose length exceeds the preset length threshold, and this horizontal platform is identified as the first target floor.

[0072] It should be noted that if a corresponding horizontal platform layer map is created for a horizontal platform, then each first-class target layer map includes the horizontal platform layer map.

[0073] In this embodiment, if the first target floor is a floor above the current floor, the transport device, upon receiving a map of the first target floor created by the cleaning device, will transport the cleaning device upstairs to the floor above the first target floor (e.g., the first floor, i.e., the floor above the first target floor). The transport device can determine the first floor in the same way as determining the first target floor, unload the cleaning device at the entrance of the first floor, and use the cleaning device to create a map of the first floor to obtain a second first target floor map. It will then receive the second first target floor map sent by the cleaning device. Finally, the transport device will continue transporting the cleaning device upstairs to the first floor. The cleaning equipment is located on the floor above the first floor (e.g., the second floor, which is the floor above the first floor). The moving equipment can determine the second floor in the same way as the first target floor. The cleaning equipment is unloaded at the entrance of the second floor, and the second floor is mapped using the cleaning equipment to obtain a third first-class target floor map. The third first-class target floor map sent by the cleaning equipment is received. Then the moving equipment continues to move the cleaning equipment upstairs to the floor above the second floor, ... until the moving equipment moves the cleaning equipment to each floor of the first-class target floors. The cleaning equipment is used to map each floor of the first-class target floors to obtain a first-class target floor map, and each first-class target floor map is received.

[0074] For example, a villa has ten floors. The current floor is the fifth floor, and the first type of target floor is the floor above the current floor. When the transport equipment receives the current floor map sent by the cleaning equipment, and the cleaning equipment is at the target location of the transport equipment, the transport equipment carries the cleaning equipment upstairs. When the transport equipment moves to a horizontal platform, and the length of the horizontal platform is greater than a preset length threshold, the plane where the horizontal platform is located is determined to be the plane where the first target floor (sixth floor) of the first type of target floors is located. At the entrance of the first target floor, the transport equipment unloads the cleaning equipment and uses the cleaning equipment to create the first type of target floor map for the first target floor. When the transport equipment receives the first type of target floor map sent by the cleaning equipment, it carries the cleaning equipment upstairs to the floor above the first target floor (e.g., the first floor, i.e., the floor above the first target floor). The transport equipment can determine the first floor (seventh floor) in the same way as determining the first target floor. The cleaning equipment is unloaded at the entrance, and used to map the first floor, resulting in a second first-class target floor map. The second first-class target floor map sent by the cleaning equipment is received. Then, the transport equipment continues to move the cleaning equipment upstairs to the floor above the first floor (e.g., the second floor, i.e., the floor above the first floor). The transport equipment can determine the second floor (eighth floor) in the same way as determining the first target floor. The cleaning equipment is unloaded at the entrance of the second floor, and used to map the second floor, resulting in a third first-class target floor map. The third first-class target floor map sent by the cleaning equipment is received. The transport equipment continues to move the cleaning equipment upstairs to the floor above the second floor, and so on, until the transport equipment moves the cleaning equipment to each of the first-class target floors (i.e., the sixth, seventh, eighth, ninth, and tenth floors). The cleaning equipment is used to map each of the first-class target floors, resulting in a first-class target floor map, and each first-class target floor map is received.

[0075] Optionally, the transport component 13 moves from the exit of the current floor to the entrance of the second target floor in the second type of target floors; the second target floor is the floor in the second type of target floors that is closest to the current floor; at the entrance of the second target floor, the cleaning equipment is unloaded to create a first second type of target floor map for the second target floor using the cleaning equipment, and the first second type of target floor map transmitted by the cleaning equipment is received; the transport component 13 continues to move the cleaning equipment to the second remaining floors in the second type of target floors until each of the second type of target floor maps transmitted by the cleaning equipment is received; the second remaining floors are the floors in the second type of target floors other than the second target floor;

[0076] During the movement, if the first processor 11 determines that a horizontal platform exists and the length of the horizontal platform is greater than a preset length threshold, then the plane where the horizontal platform is located is determined to be the plane where the second target floor is located.

[0077] In this embodiment of the application, if the first type of target floor is the floor above the current floor, and there is a second type of target floor among at least one target floor, after the transport equipment receives the map of each first type of target floor transmitted by the cleaning equipment, it transports the cleaning equipment downstairs to the exit of the current floor, and moves from the exit of the current floor to the entrance of the second target floor among the second type of target floors.

[0078] In this embodiment of the application, if the first type of target floor is the floor below the current floor, and there is a second type of target floor among at least one target floor, after the transport equipment receives the map of each first type of target floor transmitted by the cleaning equipment, it transports the cleaning equipment upstairs to the exit of the current floor, and moves from the exit of the current floor to the entrance of the second target floor among the second type of target floors.

[0079] Optionally, if the first processor 11 determines during the movement that there is a horizontal platform and the length of the horizontal platform is less than or equal to the preset length threshold, it determines that the plane where the horizontal platform is located is not the plane where the second target floor is located.

[0080] If the transport component 13 determines that mapping of the horizontal platform is not required, it continues to move towards the entrance of the second target floor until it reaches the entrance of the second target floor; or, if it determines that mapping of the horizontal platform is required, it unloads the cleaning equipment so that the cleaning equipment can create a corresponding horizontal platform layer map of the horizontal platform; upon receiving the horizontal platform layer map sent by the cleaning equipment, it continues to move towards the entrance of the second target floor until it reaches the entrance of the second target floor.

[0081] In this embodiment, if the second target floor is a floor below the current floor, the transport equipment descends the stairs at the exit of the current floor. If it reaches a horizontal platform whose length is greater than a preset length threshold, the horizontal platform is identified as the second target floor. Then, at the entrance of the second target floor, the cleaning equipment is unloaded to create a first second-type target floor map. If it reaches a horizontal platform whose length is less than or equal to the preset length threshold, the horizontal platform is not identified as the second target floor. If no mapping is created for the horizontal platform, the equipment continues descending until it encounters a horizontal platform whose length is greater than the preset length threshold, and this horizontal platform is identified as the second target floor. Alternatively, if mapping of the horizontal platform is determined to be necessary, the cleaning equipment is unloaded so that it can create a corresponding horizontal platform layer map. Upon receiving the horizontal platform layer map sent by the cleaning equipment, the equipment continues descending until it encounters a horizontal platform whose length is greater than the preset length threshold, and this horizontal platform is identified as the second target floor.

[0082] It should be noted that if a corresponding horizontal platform layer map is created for the horizontal platform, then the second type of target layer map will include the horizontal platform layer map.

[0083] In this embodiment, if the second target floor is a floor below the current floor, the transport device, upon receiving a map of the second target floor created by the cleaning device, transports the cleaning device downstairs to the floor below the second target floor (e.g., the first basement level, i.e., the floor below the second target floor). The transport device can determine the first basement level in the same way as determining the second target floor, unload the cleaning device at the entrance of the first basement level, and use the cleaning device to create a map of the first basement level to obtain the second target floor map. It then receives the second target floor map sent by the cleaning device. Finally, the transport device continues to transport the cleaning device downstairs to the first basement level. The cleaning equipment is located at the floor below the first basement level (e.g., the second basement level, which is the floor below the first basement level). The moving equipment can determine the second basement level in the same way as determining the second target floor. The cleaning equipment is unloaded at the entrance of the second basement level, and the cleaning equipment is used to map the second basement level to obtain a third second-class target floor map. The third second-class target floor map sent by the cleaning equipment is received. Then the moving equipment continues to move the cleaning equipment downstairs to the floor below the second basement level, ... until the moving equipment moves the cleaning equipment to each floor of the second-class target floor. The cleaning equipment is used to map each floor of the second-class target floor to obtain a second-class target floor map, and each second-class target floor map is received.

[0084] For example, a villa has ten floors. The current floor is the fifth floor, and the second target floor is the floor below the current floor. When the transport equipment receives each first target floor map sent by the cleaning equipment, and the cleaning equipment is at the target location of the transport equipment, the transport equipment carries the cleaning equipment downstairs to the exit of the current floor. From the exit of the current floor, it continues to carry the cleaning equipment downstairs along the direction of the second target floor. When the transport equipment reaches a horizontal platform, and the length of the horizontal platform is greater than a preset length threshold, the plane where the horizontal platform is located is determined to be the plane where the second target floor (fourth floor) is located in the second target floor. At the entrance of the second target floor, the transport equipment unloads the cleaning equipment and uses the cleaning equipment to create the first second target floor map for the second target floor. When the transport equipment receives the first second target floor map sent by the cleaning equipment, it carries the cleaning equipment downstairs to the floor below the second target floor (such as the first basement floor, i.e., the floor below the second target floor). The transport equipment can proceed according to the determined second target floor... The process involves determining the first basement level (third floor) using a specific method. The cleaning equipment is unloaded at the entrance of the first basement level, and a map of that level is created using the cleaning equipment to obtain a second target floor map. The second target floor map sent by the cleaning equipment is then received. The transport equipment then continues to move the cleaning equipment downstairs to the floor below the first basement level (e.g., the second basement level, which is the floor immediately below the first basement level). The transport equipment can determine the second basement level (second floor) using the same method as determining the second target floor. The cleaning equipment is unloaded at the entrance of the second basement level, and a map of that level is created using the cleaning equipment to obtain a third target floor map. The third target floor map sent by the cleaning equipment is then received. This process continues until the transport equipment has moved the cleaning equipment to each of the target floors (i.e., the fourth, third, second, and first floors). A map of each target floor is created using the cleaning equipment, and each target floor map is received.

[0085] For example, a villa has ten floors. The current floor is the fifth floor. The cleaning equipment first creates a map on the fifth floor to obtain the map of the current floor. Then, the transport equipment moves the cleaning equipment to the first type of target floor (such as floors above the current floor, including the sixth, seventh, eighth, ninth, and tenth floors). For example, the cleaning equipment is first moved to the sixth floor and used to create a map on the sixth floor; then the cleaning equipment is moved to the seventh floor and used to create a map on the seventh floor; ... finally, the cleaning equipment is moved to the tenth floor and used to create a map on the tenth floor; the cleaning equipment is used on the sixth, seventh, eighth, ninth, and tenth floors. After maps are created on all ten floors, maps for each first-category target floor are obtained. Then, cleaning equipment is moved to second-category target floors (such as floors below the current floor, including the fourth, third, second, and first floors). For example, cleaning equipment is first moved to the fourth floor and used to create maps on that floor; then the cleaning equipment is moved to the third floor and used to create maps on that floor; ... finally, the cleaning equipment is moved to the first floor and used to create maps on that floor. After maps are created on the fourth, third, second, and first floors, maps for each second-category target floor are obtained.

[0086] Optionally, the first receiving component 12 receives a new floor map sent by the cleaning equipment; the new floor map is a map obtained by the cleaning equipment during the cleaning process; the new floor is a floor that does not exist or could not be entered for mapping when creating a multi-floor map;

[0087] The first processor 11 determines the floor information of the new floor; updates the multi-floor map according to the new floor map and the floor information to obtain the updated multi-floor map.

[0088] In this embodiment of the application, the new floor information can be the floor number information of the new floor, such as the 11th floor.

[0089] It should be noted that the floor information of the new floor can be the floor information determined by the handling equipment, or the information determined by the handling equipment from the information sent by the cleaning equipment. The handling equipment can also determine the floor information of the new floor through other means. The specific method by which the handling equipment determines the floor information of the new floor can be determined according to the actual situation, and this application embodiment does not limit it.

[0090] In this embodiment of the application, the handling equipment can add new floor maps to the multi-floor map according to the floor information, thereby obtaining an updated multi-floor map.

[0091] Understandably, the handling equipment receives a new floor map sent by the cleaning equipment while performing cleaning tasks. It then uses the new floor map and the floor information of the new floors to update the multi-floor map. This allows the updated multi-floor map to be used to perform cleaning tasks on multiple floors later, avoiding the omission of cleaning new floors and improving the intelligence of cleaning when using the cleaning equipment.

[0092] For example, a villa has 10 floors. A transport device moves cleaning equipment to each of the 10 floors. On each floor, the cleaning equipment creates a map of that floor and sends it to the transport device. The transport device then uses this map to create a multi-floor map corresponding to each floor. Later, two new floors (the 11th and 12th floors) are added to the villa. When the transport device moves the cleaning equipment to the first new floor (e.g., the 11th floor) for cleaning, the cleaning equipment creates a map of that new floor during the cleaning process and sends it to the transport device. Similarly, when the transport device moves the cleaning equipment to the second new floor (e.g., the 12th floor) for cleaning, it creates a map of that new floor during the cleaning process and sends it to the transport device. The transport device then uses these two new floor maps and their floor information to update the multi-floor map, resulting in an updated multi-floor map.

[0093] Optionally, the first receiving component 12 receives a search instruction sent by the cleaning device to locate the cleaning device;

[0094] The first processor 11 locates the cleaning device according to the search instruction;

[0095] Accordingly, when the cleaning device is located, the first receiving component 12 receives the current layer map sent by the cleaning device.

[0096] It should be noted that the handling equipment can locate the cleaning equipment by infrared signal sensing; the handling equipment can also locate the cleaning equipment by image model recognition algorithm; the handling equipment can also locate the cleaning equipment by combining infrared signal sensing with image model recognition algorithm; the handling equipment can also locate the cleaning equipment by other methods. The specific method of the handling equipment locating the cleaning equipment can be determined according to the actual situation, and this application embodiment does not limit it.

[0097] It should be noted that the cleaning equipment can locate the handling equipment by infrared signal sensing; the cleaning equipment can also locate the handling equipment by image model recognition algorithm; the cleaning equipment can also locate the handling equipment by combining infrared signal sensing with image model recognition algorithm; the cleaning equipment can also locate the handling equipment by other methods. The specific method of the cleaning equipment locating the handling equipment can be determined according to the actual situation, and this application embodiment does not limit it.

[0098] In this embodiment of the application, if the cleaning equipment cannot find the transport equipment or the cleaning equipment cannot move to the transport equipment due to external environment (such as the cleaning equipment and the transport equipment not being on the same floor), the cleaning equipment can send a search instruction to the transport equipment. Upon receiving the search instruction, the transport equipment will search for the cleaning equipment.

[0099] In this embodiment, the cleaning equipment can send the current floor map to the transport equipment after creating the current floor map, and the transport equipment can simultaneously receive the current floor map. Alternatively, the cleaning equipment can send the current floor map to the transport equipment while it is already at the target location of the transport equipment, and the transport equipment can simultaneously receive the current floor map. The specific timing for receiving the current floor map sent by the cleaning equipment can be determined according to the actual situation, and this embodiment does not limit this.

[0100] In this embodiment of the application, the cleaning equipment can map the current floor. The method of obtaining the map of the current floor can be determined according to the actual situation, and this embodiment of the application does not limit it.

[0101] It should be noted that the current floor map may include information such as the layout information inside the current floor. The specific current floor map can be determined according to the actual situation, and this application embodiment does not limit it.

[0102] It should be noted that the current floor can be any floor among multiple floors. Specifically, the current floor refers to the floor where the cleaning equipment is located at the current point in time.

[0103] Understandably, when the moving equipment receives a search instruction from the cleaning equipment, it can directly search for the cleaning equipment. This allows the cleaning equipment to search for the moving equipment even if it cannot find it. Once the moving equipment finds the cleaning equipment, it can move it to any floor, thus improving the efficiency of the cleaning equipment in finding the moving equipment.

[0104] This application also provides a handling device, such as... Figure 2As shown, the transport device includes: a first processor 11, a first memory 14 and a first communication bus 15. The first memory 14 communicates with the first processor 11 through the first communication bus 15. The first memory 14 stores programs that can be executed by the first processor 11. When the program is executed, the multi-floor map creation method described above is executed through the first processor 11.

[0105] It should be noted that the first processor 11 is specifically implemented as a CPU (Central Processing Unit), MPU (Microprocessor Unit), DSP (Digital Signal Processor), or FPGA (Field Programmable Gate Array), etc.; the above data storage can be implemented by the first memory 14 on the handling equipment.

[0106] In practical applications, the first memory 14 can be volatile memory, such as random-access memory (RAM); or non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); or a combination of the above types of memory, and provide instructions and data to the first processor 11.

[0107] This application also provides a computer-readable storage medium storing a computer program that, when executed by a computer, implements the multi-floor map creation method performed in a transport device as described in this application. The computer program can be a high-level language program or an executable object program.

[0108] The computer-readable storage medium is, for example, a first memory 14. The first memory 14 can be volatile memory or non-volatile memory, or it can include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Electrically Connected DRAM (SLDRAM), and Direct Rambus RAM (DRRAM).

[0109] like Figure 3 As shown, this application embodiment also provides a computer program product, which includes a computer program 16 or computer-executable instructions 17. When executed by the first processor 11, the computer program product implements the multi-floor map creation method executed in the handling equipment in this application. The computer program product can be stored in the first memory 14, for example, it is a program. The program is finally converted into an executable object file that can be executed by the first processor 11 after processing such as preprocessing, compilation, assembly and linking.

[0110] Understandably, the transport equipment uses the first receiving component to receive the current floor map obtained by the cleaning equipment in mapping the current floor. The transport component then transports the cleaning equipment to at least one target floor in a multi-floor system, allowing the cleaning equipment to create at least one target floor map corresponding to the at least one target floor. The first receiving component then receives the at least one target floor map sent by the cleaning equipment. Finally, the first processor uses the current floor map and the at least one target floor map to create a multi-floor map corresponding to the multi-floor system. This eliminates the need for manual transport of the cleaning equipment to each floor in the multi-floor system. The transport equipment can directly transport the cleaning equipment to each floor in the multi-floor system, allowing the cleaning equipment to create a map on each floor. Finally, the transport equipment creates a multi-floor map based on the maps created by the cleaning equipment on each floor, thus improving the efficiency of creating a multi-floor map.

[0111] This application provides a cleaning device. Figure 4 This is a schematic diagram of the composition structure of a cleaning device provided in an embodiment of this application, as shown below. Figure 4 As shown, the cleaning equipment includes:

[0112] Second processor 21;

[0113] The second processor 21 creates a map of the current floor; locates the transport equipment on the current floor; and, if the transport equipment transports the cleaning equipment to at least one target floor, creates at least one target floor map corresponding to the at least one target floor.

[0114] The mobile component 22 is communicatively connected to the second processor 21. When the mobile component 22 locates the conveying device, it moves to the target location of the conveying device.

[0115] The sending component 23 is communicatively connected to the second processor 21. The sending component 23 sends the current layer map to the handling equipment and sends the at least one target layer map to the handling equipment, so that the handling equipment can establish a multi-floor map corresponding to multiple floors based on the current layer map and the at least one target layer map.

[0116] The cleaning equipment provided in this application embodiment can operate in scenarios where multiple floors are cleaned or multiple floor maps are created.

[0117] In the embodiments of this application, the cleaning equipment can be implemented in various forms. For example, the cleaning equipment described in this application may include devices such as sweepers and vacuum cleaners that have cleaning functions and can communicate and interact with handling equipment. The specific cleaning equipment can be determined according to the actual situation, and the embodiments of this application do not limit it.

[0118] It should be noted that the handling equipment can be a robot, a transport device, a stair climber, or other equipment with the function of handling cleaning equipment. The specific handling equipment can be determined according to the actual situation, and this application embodiment does not limit it.

[0119] In this embodiment of the application, the cleaning equipment can map the current floor. The method of obtaining the map of the current floor can be determined according to the actual situation, and this embodiment of the application does not limit it.

[0120] In this embodiment, the cleaning equipment can create a map of the current floor upon receiving a mapping instruction; or it can create a map of the current floor when the mapping cycle time point is reached. The specific preconditions for the cleaning equipment to create a map of the current floor can be determined according to the actual situation, and this embodiment does not limit this.

[0121] It should be noted that the target part refers to the position of the cleaning equipment within the handling equipment during the handling process.

[0122] In this embodiment, the cleaning equipment can locate the transport equipment by infrared signal sensing; the cleaning equipment can also locate the transport equipment by image model recognition algorithm; the cleaning equipment can also locate the transport equipment by combining infrared signal sensing with image model recognition algorithm; the cleaning equipment can also locate the transport equipment by other methods. The specific method of the cleaning equipment locating the transport equipment can be determined according to the actual situation, and this embodiment does not limit it.

[0123] It should be noted that at least one target floor and at least one target floor location Figure 1 One-to-one correspondence, meaning one target floor corresponds to one target floor map.

[0124] In this embodiment, the transport device will transport the cleaning device to each of the at least one target floor. The cleaning device will create a target floor map corresponding to each floor and send the target floor map corresponding to the floor to the transport device, so that the transport device obtains at least one target floor map corresponding to at least one target floor.

[0125] In this embodiment of the application, the handling equipment can sort and organize the current layer map and at least one target layer map according to the floor height order of the multi-story building to obtain a multi-story map.

[0126] Optionally, if the sending component 23 does not find the handling device, it sends a search instruction to the handling device to find the cleaning device, so that the handling device can find the cleaning device according to the search instruction and move to the current floor;

[0127] When the mobile component 22 locates the cleaning equipment on the current floor, it moves to the target location of the transport equipment.

[0128] In this embodiment of the application, if the cleaning equipment cannot find the transport equipment or the cleaning equipment cannot move to the transport equipment due to external environment (such as the cleaning equipment and the transport equipment not being on the same floor), the cleaning equipment can send a search instruction to the transport equipment. Upon receiving the search instruction, the transport equipment will search for the cleaning equipment.

[0129] It should be noted that the handling equipment can locate the cleaning equipment by infrared signal sensing; the handling equipment can also locate the cleaning equipment by image model recognition algorithm; the handling equipment can also locate the cleaning equipment by combining infrared signal sensing with image model recognition algorithm; the handling equipment can also locate the cleaning equipment by other methods. The specific method of the handling equipment locating the cleaning equipment can be determined according to the actual situation, and this application embodiment does not limit it.

[0130] In this embodiment of the application, if the transport equipment is not found, after sending a search instruction to the transport equipment to find the cleaning equipment, the transport equipment will search for the cleaning equipment according to the search instruction and move to the current floor; if the cleaning equipment is found on the current floor, it will move to the target location of the transport equipment.

[0131] Optional, such as Figure 4 As shown, the cleaning equipment also includes:

[0132] The second receiving component 24 is communicatively connected to the second processor 21, and the second receiving component 24 receives cleaning instructions for multiple floors;

[0133] The cleaning component 25 is communicatively connected to the second processor 21. The cleaning component 25 cleans multiple floors to be cleaned in the multi-floor system according to the cleaning instructions. If the adjacent floor of any of the multiple floors to be cleaned is a new floor, the cleaning component 25 cleans the new floor.

[0134] The second processor 21 performs mapping on the new floor to obtain a new floor map; the new floor is a floor that did not exist or could not be entered for mapping when creating a multi-floor map;

[0135] When the sending component 23 is at the target location of the transport equipment, it sends the new floor map to the transport equipment so that the transport equipment can update the multi-floor map according to the new floor map and obtain the updated multi-floor map.

[0136] In this embodiment of the application, the method by which the cleaning equipment cleans a new floor can be determined according to the actual situation, and this embodiment of the application does not limit it.

[0137] For example, a villa has 10 floors. A transport device moves a cleaning machine to each of the 10 floors. On each floor, the cleaning machine maps the corresponding floor and sends the map to the transport device. The transport device can then create a multi-floor map based on the map sent by the cleaning machine. Later, two new floors (the 11th and 12th floors) are added to the villa. If the cleaning instructions include the 11th and 12th floors, the cleaning machine will clean the first new floor (e.g., the 11th floor). During the cleaning process, the cleaning machine will map the first new floor and send it to the transport device. Similarly, during the cleaning of the second new floor (e.g., the 12th floor), the cleaning machine will map the second new floor and send it to the transport device, which will then utilize both new floor maps.

[0138] Optionally, the second processor 21 determines whether the current floor is the first cleaning floor according to the cleaning instruction; the first cleaning floor is the first floor to be cleaned indicated by the cleaning instruction; if the first cleaning floor is cleaned, the transport device is located; so that if the transport device is located and is at the target location of the transport device, the transport device transports the cleaning device to the next floor to be cleaned and executes the cleaning program, until the transport device transports the cleaning device to each of the multiple floors to be cleaned, and executes the corresponding cleaning program on each of the multiple floors to be cleaned.

[0139] The cleaning component 25 cleans the first cleaning floor when the current floor is the first cleaning floor.

[0140] In this embodiment, the cleaning instruction includes the cleaning sequence for multiple floors. The cleaning equipment will clean the floors to be cleaned sequentially according to this cleaning sequence.

[0141] For example, in a villa with 10 floors, the cleaning order is: first floor, second floor, third floor, ... tenth floor. If the cleaning equipment is not on the first floor, a transport device is located and used to move the cleaning equipment to the first floor to perform the cleaning task. If the cleaning task is completed on the first floor, the cleaning equipment is located and the transport device is used to move the cleaning equipment to the second floor to perform the cleaning task. If the cleaning task is completed on the second floor, the cleaning equipment is located and the transport device is used to move the cleaning equipment to the third floor to perform the cleaning task. ... If the cleaning task is completed on the ninth floor, the transport device is located and used to move the cleaning equipment to the tenth floor to perform the cleaning task.

[0142] This application also provides a cleaning device, such as... Figure 5 As shown, the cleaning device includes: a second processor 21, a second memory 26, and a second communication bus 27. The second memory 26 communicates with the second processor 21 through the second communication bus 27. The second memory 26 stores programs executable by the second processor 21. When the program is executed, the multi-floor map creation method described above is executed through the second processor 21.

[0143] It should be noted that the aforementioned second processor 21 is specifically implemented as a CPU (Central Processing Unit), MPU (Microprocessor Unit), DSP (Digital Signal Processor), or FPGA (Field Programmable Gate Array), etc.; the aforementioned data storage can be implemented by the second memory 26 on the cleaning device.

[0144] In practical applications, the second memory 26 can be volatile memory, such as random-access memory (RAM); or non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); or a combination of the above types of memory, and provide instructions and data to the second processor 21.

[0145] This application also provides a computer-readable storage medium storing a computer program that, when executed by a computer, implements the multi-floor map creation method for cleaning equipment as described in this application. The computer program can be a high-level language program or an executable object program.

[0146] The computer-readable storage medium is, for example, a second memory 26. The second memory 26 can be volatile memory or non-volatile memory, or it can include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Electrically Connected DRAM (SLDRAM), and Direct Rambus RAM (DRRAM).

[0147] like Figure 6 As shown, this application embodiment also provides a computer program product, which includes a computer program 28 or computer-executable instructions 29. When executed by the second processor 21, the computer program product implements the multi-floor map creation method executed in the cleaning equipment in this application. The computer program product can be stored in the second memory 26, for example, it is a program. The program is finally converted into an executable object file that can be executed by the second processor 21 after processing such as preprocessing, compilation, assembly and linking.

[0148] Understandably, the cleaning equipment uses a second processor to create a map of the current floor and sends this map to the transport equipment via a sending component. It then locates the transport equipment. Once located, the cleaning equipment moves to the target location using a moving component, allowing the transport equipment to move the cleaning equipment to at least one target floor. The cleaning equipment then creates at least one target floor map on that floor and sends it to the transport equipment via the sending component. This allows the transport equipment to create a multi-floor map based on the current floor map and the at least one target floor map, eliminating the need for manual transport of the cleaning equipment to each floor. The transport equipment can automatically move the cleaning equipment to each floor, allowing it to create a map on each floor. Finally, the transport equipment creates a multi-floor map based on the cleaning equipment's mapping on each floor, thus improving the efficiency of creating multi-floor maps.

[0149] This application provides a method for creating a multi-story map, which can be executed using handling equipment. Figure 7 A method flow for creating a multi-story map provided in this application embodiment Figure 1 ,like Figure 7 As shown, methods for creating multi-story maps may include:

[0150] S101, Receive the current floor map created in the current floor from the cleaning equipment.

[0151] The multi-floor map creation method provided in this application embodiment is executed in a scenario where cleaning equipment and handling equipment are used to create a multi-floor map corresponding to multiple floors.

[0152] In the embodiments of this application, the handling equipment can be implemented in various forms. For example, the handling equipment described in this application may include devices such as robots, transport equipment, stair climbers, etc., which have the function of handling cleaning equipment and can communicate and interact with the cleaning equipment. The specific handling equipment can be determined according to the actual situation, and the embodiments of this application do not limit it.

[0153] It should be noted that the current floor map is the map created by the cleaning equipment on the current floor.

[0154] It should be noted that the cleaning equipment can be a sweeper, vacuum cleaner, or other equipment with cleaning functions. The specific cleaning equipment can be determined according to the actual situation, and this application embodiment does not limit it.

[0155] In this embodiment of the application, the cleaning equipment and the handling equipment are always in a communication state, and in this communication state, the cleaning equipment can communicate with the handling equipment.

[0156] In this embodiment, the cleaning device can interact directly with the handling device, or the cleaning device can send information to a first base station corresponding to the cleaning device, the first base station forwards the information to a second base station corresponding to the handling device, and then the second base station sends the information to the handling device. The specific interaction method between the cleaning device and the handling device can be determined according to the actual situation, and this embodiment does not limit it.

[0157] In this embodiment of the application, before the handling equipment receives the current layer map sent by the cleaning equipment, it also receives a search instruction sent by the cleaning equipment to find the cleaning equipment; the cleaning equipment is searched according to the search instruction; correspondingly, the process of receiving the current layer map sent by the cleaning equipment includes: if the cleaning equipment is found, receiving the current layer map sent by the cleaning equipment.

[0158] It should be noted that the handling equipment can locate the cleaning equipment by infrared signal sensing; the handling equipment can also locate the cleaning equipment by image model recognition algorithm; the handling equipment can also locate the cleaning equipment by combining infrared signal sensing with image model recognition algorithm; the handling equipment can also locate the cleaning equipment by other methods. The specific method of the handling equipment locating the cleaning equipment can be determined according to the actual situation, and this application embodiment does not limit it.

[0159] It should be noted that the cleaning equipment can locate the handling equipment by infrared signal sensing; the cleaning equipment can also locate the handling equipment by image model recognition algorithm; the cleaning equipment can also locate the handling equipment by combining infrared signal sensing with image model recognition algorithm; the cleaning equipment can also locate the handling equipment by other methods. The specific method of the cleaning equipment locating the handling equipment can be determined according to the actual situation, and this application embodiment does not limit it.

[0160] In this embodiment of the application, if the cleaning equipment cannot find the transport equipment or the cleaning equipment cannot move to the transport equipment due to external environment (such as the cleaning equipment and the transport equipment not being on the same floor), the cleaning equipment can send a search instruction to the transport equipment. Upon receiving the search instruction, the transport equipment will search for the cleaning equipment.

[0161] In this embodiment, the cleaning equipment can send the current floor map to the transport equipment after creating the current floor map, and the transport equipment can simultaneously receive the current floor map. Alternatively, the cleaning equipment can send the current floor map to the transport equipment while it is already at the target location of the transport equipment, and the transport equipment can simultaneously receive the current floor map. The specific timing for receiving the current floor map sent by the cleaning equipment can be determined according to the actual situation, and this embodiment does not limit this.

[0162] In this embodiment of the application, the cleaning equipment can map the current floor. The method of obtaining the map of the current floor can be determined according to the actual situation, and this embodiment of the application does not limit it.

[0163] It should be noted that the current floor map may include information such as the layout information inside the current floor. The specific current floor map can be determined according to the actual situation, and this application embodiment does not limit it.

[0164] It should be noted that the current floor can be any floor among multiple floors. Specifically, the current floor refers to the floor where the cleaning equipment is located at the current point in time.

[0165] Understandably, when the moving equipment receives a search instruction from the cleaning equipment, it can directly search for the cleaning equipment. This allows the cleaning equipment to search for the moving equipment even if it cannot find it. Once the moving equipment finds the cleaning equipment, it can move it to any floor, thus improving the efficiency of the cleaning equipment in finding the moving equipment.

[0166] S102. When the cleaning equipment is at the target location of the transport equipment, the cleaning equipment is transported to at least one target floor so that the cleaning equipment can establish at least one target floor map on the corresponding target floor.

[0167] In this embodiment of the application, after the transport equipment receives the current layer map sent by the cleaning equipment, if the cleaning equipment is at the target location of the transport equipment, the transport equipment transports the cleaning equipment to at least one target floor so that the cleaning equipment can establish at least one target layer map on the at least one target floor.

[0168] It should be noted that the target location refers to the position of the cleaning equipment within the transport equipment during the handling process. This includes at least one target floor and at least one target floor level. Figure 1 One-to-one correspondence, specifically, one target floor corresponds to one target floor map.

[0169] In this embodiment of the application, at least one target floor can be a portion of multiple floors excluding the current floor. Multiple floors can be the interior floors of a building, such as a villa with 10 floors, in which case the multiple floors are the 10 floors within the villa.

[0170] In this embodiment of the application, the process of transporting cleaning equipment to at least one target floor so that the cleaning equipment can establish at least one target floor map corresponding to the at least one target floor includes: transporting the cleaning equipment to a first type of target floor among the at least one target floors, and unloading the cleaning equipment at each entrance corresponding to each target floor among the first type of target floors so that the cleaning equipment can establish each corresponding first type of target floor map in each target floor; if there is a second type of target floor among the at least one target floor, transporting the cleaning equipment to each entrance corresponding to each target floor among the second type of target floors, and unloading the cleaning equipment so that the cleaning equipment can establish each corresponding second type of target floor map in each target floor.

[0171] It should be noted that the first type of target floor is either the floor above the current floor or the floor below the current floor.

[0172] It should be noted that the second type of target floor is the floor in the opposite direction to the first type of target floor. Specifically, if the first type of target floor is the floor above the current floor, then the second type of target floor is the floor below the current floor; if the first type of target floor is the floor below the current floor, then the second type of target floor is the floor above the current floor.

[0173] It should be noted that at least one target layer map includes each first-class target layer map and each second-class target layer map.

[0174] In this embodiment of the application, if the multi-story building is a 10-story villa, the current floor is the first floor, and the first type of target floor is the floor above the current floor, then at least one target floor does not contain a second type of target floor (i.e., there is no floor below the current floor); if the multi-story building is a 10-story villa, the current floor is the tenth floor, and the first type of target floor is the floor below the current floor, then at least one target floor does not contain a second type of target floor (i.e., there is no floor above the current floor); if the multi-story building is a 10-story villa, the current floor is the fifth floor, and the first type of target floor is the floor below the current floor, then at least one target floor contains a second type of target floor (i.e., there is a floor above the current floor).

[0175] Understandably, by classifying multiple floors, the handling equipment obtains the floors above and below the current floor, i.e., the first type of target floor and the second type of floor. This allows the handling equipment to first go upstairs to create a map of each floor above the current floor when moving cleaning equipment to each floor in the multi-story building, and then go downstairs to create a map of each floor below the current floor, or vice versa. This avoids repeatedly climbing stairs between the floors above and below the current floor when creating a map for each floor in the multi-story building, thus improving the efficiency of creating at least one target floor map corresponding to at least one target floor.

[0176] In this embodiment of the application, the process of transporting the cleaning equipment to a first type of target floor in at least one target floor, and unloading the cleaning equipment at each entrance of each target floor in the first type of target floor, so that the cleaning equipment can establish a corresponding first type of target floor map in each target floor, includes: moving from the exit of the current floor to the entrance of the first target floor in the first type of target floor; determining that the plane where the horizontal platform is located is the plane where the first target floor is located when it is determined that a horizontal platform exists during the movement and the length of the horizontal platform is greater than a preset length threshold; unloading the cleaning equipment at the entrance of the first target floor to establish a first type of target floor map for the first target floor using the cleaning equipment, and receiving the first type of target floor map transmitted by the cleaning equipment; and continuing to move the transporting cleaning equipment to the first remaining floor in the first type of target floor until each type of target floor map transmitted by the cleaning equipment is received.

[0177] It should be noted that the first target floor is the floor closest to the current floor among the first type of target floors. For example, if the building is a 10-story building and the current floor is the 5th floor, the first target floor is the floor above the current floor, which could be the 6th floor.

[0178] It should be noted that the first remaining floors refer to the floors in the first category of target floors other than the first target floor.

[0179] In this embodiment, the preset length threshold can be a threshold configured in the handling equipment, a threshold transmitted from other equipment to the handling equipment, or a threshold obtained by the handling equipment through other means. The specific way the handling equipment obtains the preset length threshold can be determined according to the actual situation, and this embodiment does not limit it.

[0180] For example, the preset length threshold can be 4 meters, or it can be 5 meters, or it can be other lengths. The specific value of the preset length threshold can be determined according to the actual situation, and this application embodiment does not limit it.

[0181] Understandably, when moving cleaning equipment up or down stairs, the handling equipment can detect the length of the horizontal platform during the movement to identify whether the horizontal platform is a target floor. This avoids misidentifying the target floor when the floor heights are inconsistent in multiple floors, thus improving the accuracy of the handling equipment in identifying the target floor.

[0182] In this embodiment, after the transport equipment moves from the exit of the current floor to the entrance of the first target floor in the first type of target floors, at the entrance of the first target floor, the cleaning equipment is unloaded. Before the cleaning equipment is used to create a first type of target floor map for the first target floor, if it is determined during the movement that a horizontal platform exists and the length of the horizontal platform is less than or equal to a preset length threshold, the transport equipment will determine that the plane where the horizontal platform is located is not the plane where the first target floor is located. If it is determined that no mapping is needed for the horizontal platform, the transport equipment continues to move towards the entrance of the first target floor until it reaches the entrance of the first target floor. Alternatively, if it is determined that mapping of the horizontal platform is needed, the cleaning equipment is unloaded so that the cleaning equipment can create a corresponding horizontal platform layer map for the horizontal platform. Upon receiving the horizontal platform layer map sent by the cleaning equipment, the transport equipment continues to move towards the entrance of the first target floor until it reaches the entrance of the first target floor.

[0183] In this embodiment, if the first target floor is the floor above the current floor, the transport equipment ascends the stairs at the exit of the current floor. If it reaches a horizontal platform whose length exceeds a preset length threshold, the horizontal platform is identified as the first target floor. The cleaning equipment is then unloaded at the entrance of the first target floor to create a first-type target floor map. If it reaches a horizontal platform whose length is less than or equal to the preset length threshold, the horizontal platform is not identified as the first target floor. If no mapping is created for the horizontal platform, the equipment continues ascending until it encounters a horizontal platform whose length exceeds the preset length threshold, and this horizontal platform is identified as the first target floor. Alternatively, if mapping of the horizontal platform is determined, the transport equipment unloads the cleaning equipment so that the cleaning equipment can create a corresponding horizontal platform layer map. Upon receiving the horizontal platform layer map from the cleaning equipment, the transport equipment continues transporting the cleaning equipment upstairs until it encounters a horizontal platform whose length exceeds the preset length threshold, and this horizontal platform is identified as the first target floor.

[0184] It should be noted that if a corresponding horizontal platform layer map is created for a horizontal platform, then each first-class target layer map includes the horizontal platform layer map.

[0185] In this embodiment, if the first target floor is a floor above the current floor, the transport device, upon receiving a map of the first target floor created by the cleaning device, will transport the cleaning device upstairs to the floor above the first target floor (e.g., the first floor, i.e., the floor above the first target floor). The transport device can determine the first floor in the same way as determining the first target floor, unload the cleaning device at the entrance of the first floor, and use the cleaning device to create a map of the first floor to obtain a second first target floor map. It will then receive the second first target floor map sent by the cleaning device. Finally, the transport device will continue transporting the cleaning device upstairs to the first floor. The cleaning equipment is located on the floor above the first floor (e.g., the second floor, which is the floor above the first floor). The moving equipment can determine the second floor in the same way as the first target floor. The cleaning equipment is unloaded at the entrance of the second floor, and the second floor is mapped using the cleaning equipment to obtain a third first-class target floor map. The third first-class target floor map sent by the cleaning equipment is received. Then the moving equipment continues to move the cleaning equipment upstairs to the floor above the second floor, ... until the moving equipment moves the cleaning equipment to each floor of the first-class target floors. The cleaning equipment is used to map each floor of the first-class target floors to obtain a first-class target floor map, and each first-class target floor map is received.

[0186] For example, a villa has ten floors. The current floor is the fifth floor, and the first type of target floor is the floor above the current floor. When the transport equipment receives the current floor map sent by the cleaning equipment, and the cleaning equipment is at the target location of the transport equipment, the transport equipment carries the cleaning equipment upstairs. When the transport equipment moves to a horizontal platform, and the length of the horizontal platform is greater than a preset length threshold, the plane where the horizontal platform is located is determined to be the plane where the first target floor (sixth floor) of the first type of target floors is located. At the entrance of the first target floor, the transport equipment unloads the cleaning equipment and uses the cleaning equipment to create the first type of target floor map for the first target floor. When the transport equipment receives the first type of target floor map sent by the cleaning equipment, it carries the cleaning equipment upstairs to the floor above the first target floor (e.g., the first floor, i.e., the floor above the first target floor). The transport equipment can determine the first floor (seventh floor) in the same way as determining the first target floor. The cleaning equipment is unloaded at the entrance, and used to map the first floor, resulting in a second first-class target floor map. The second first-class target floor map sent by the cleaning equipment is received. Then, the transport equipment continues to move the cleaning equipment upstairs to the floor above the first floor (e.g., the second floor, i.e., the floor above the first floor). The transport equipment can determine the second floor (eighth floor) in the same way as determining the first target floor. The cleaning equipment is unloaded at the entrance of the second floor, and used to map the second floor, resulting in a third first-class target floor map. The third first-class target floor map sent by the cleaning equipment is received. The transport equipment continues to move the cleaning equipment upstairs to the floor above the second floor, and so on, until the transport equipment moves the cleaning equipment to each of the first-class target floors (i.e., the sixth, seventh, eighth, ninth, and tenth floors). The cleaning equipment is used to map each of the first-class target floors, resulting in a first-class target floor map, and each first-class target floor map is received.

[0187] In this embodiment, the process of the transport device moving the cleaning device to each entrance of each target floor in the second type of target floors, unloading the cleaning device so that the cleaning device can establish a corresponding second type of target floor map in each target floor includes: moving from the exit of the current floor to the entrance of the second target floor in the second type of target floors; during the movement, if it is determined that there is a horizontal platform and the length of the horizontal platform is greater than a preset length threshold, determining that the plane where the horizontal platform is located is the plane where the second target floor is located; unloading the cleaning device at the entrance of the second target floor, so as to use the cleaning device to establish a first second type of target floor map for the second target floor, and receiving the first second type of target floor map transmitted by the cleaning device; the transport device continues to move to the second remaining floor in the second type of target floors until it receives each second type of target floor map transmitted by the cleaning device.

[0188] It should be noted that the second remaining floor refers to all floors in the second category of target floors except for the second target floor. The second target floor is the floor in the second category of target floors that is closest to the current floor.

[0189] In this embodiment of the application, if the first type of target floor is the floor above the current floor, and there is a second type of target floor among at least one target floor, after the transport equipment receives the map of each first type of target floor transmitted by the cleaning equipment, it transports the cleaning equipment downstairs to the exit of the current floor, and moves from the exit of the current floor to the entrance of the second target floor among the second type of target floors.

[0190] In this embodiment of the application, if the first type of target floor is the floor below the current floor, and there is a second type of target floor among at least one target floor, after the transport equipment receives the map of each first type of target floor transmitted by the cleaning equipment, it transports the cleaning equipment upstairs to the exit of the current floor, and moves from the exit of the current floor to the entrance of the second target floor among the second type of target floors.

[0191] In this embodiment, after the transport equipment moves from the exit of the current floor to the entrance of the second target floor in the second type of target floors, the cleaning equipment is unloaded at the entrance of the second target floor. Before using the cleaning equipment to create the first second type of target floor map for the second target floor, if it is determined during the movement that a horizontal platform exists and the length of the horizontal platform is less than or equal to a preset length threshold, it will be determined that the plane where the horizontal platform is located is not the plane where the second target floor is located. If it is determined that no mapping is needed for the horizontal platform, the equipment continues to move towards the entrance of the second target floor until it reaches the entrance of the second target floor. Alternatively, if it is determined that mapping of the horizontal platform is needed, the cleaning equipment is unloaded so that the cleaning equipment can create a corresponding horizontal platform layer map for the horizontal platform. If the horizontal platform layer map sent by the cleaning equipment is received, the equipment continues to move towards the entrance of the second target floor until it reaches the entrance of the second target floor.

[0192] In this embodiment, if the second target floor is a floor below the current floor, the transport equipment descends the stairs at the exit of the current floor. If it reaches a horizontal platform whose length is greater than a preset length threshold, the horizontal platform is identified as the second target floor. Then, at the entrance of the second target floor, the cleaning equipment is unloaded to create a first second-type target floor map. If it reaches a horizontal platform whose length is less than or equal to the preset length threshold, the horizontal platform is not identified as the second target floor. If no mapping is created for the horizontal platform, the equipment continues descending until it encounters a horizontal platform whose length is greater than the preset length threshold, and this horizontal platform is identified as the second target floor. Alternatively, if mapping of the horizontal platform is determined to be necessary, the cleaning equipment is unloaded so that it can create a corresponding horizontal platform layer map. Upon receiving the horizontal platform layer map from the cleaning equipment, the equipment continues descending until it encounters a horizontal platform whose length is greater than the preset length threshold, and this horizontal platform is identified as the second target floor.

[0193] It should be noted that if a corresponding horizontal platform layer map is created for the horizontal platform, then the second type of target layer map will include the horizontal platform layer map.

[0194] In this embodiment, if the second target floor is a floor below the current floor, the transport device, upon receiving a map of the second target floor created by the cleaning device, transports the cleaning device downstairs to the floor below the second target floor (e.g., the first basement level, i.e., the floor below the second target floor). The transport device can determine the first basement level in the same way as determining the second target floor, unload the cleaning device at the entrance of the first basement level, and use the cleaning device to create a map of the first basement level to obtain the second target floor map. It then receives the second target floor map sent by the cleaning device. Finally, the transport device continues to transport the cleaning device downstairs to the first basement level. The cleaning equipment is located at the floor below the first basement level (e.g., the second basement level, which is the floor below the first basement level). The moving equipment can determine the second basement level in the same way as determining the second target floor. The cleaning equipment is unloaded at the entrance of the second basement level, and the cleaning equipment is used to map the second basement level to obtain a third second-class target floor map. The third second-class target floor map sent by the cleaning equipment is received. Then the moving equipment continues to move the cleaning equipment downstairs to the floor below the second basement level, ... until the moving equipment moves the cleaning equipment to each floor of the second-class target floor. The cleaning equipment is used to map each floor of the second-class target floor to obtain a second-class target floor map, and each second-class target floor map is received.

[0195] For example, a villa has ten floors. The current floor is the fifth floor, and the second target floor is the floor below the current floor. When the transport equipment receives each first target floor map sent by the cleaning equipment, and the cleaning equipment is at the target location of the transport equipment, the transport equipment carries the cleaning equipment downstairs to the exit of the current floor. From the exit of the current floor, it continues to carry the cleaning equipment downstairs along the direction of the second target floor. When the transport equipment reaches a horizontal platform, and the length of the horizontal platform is greater than a preset length threshold, the plane where the horizontal platform is located is determined to be the plane where the second target floor (fourth floor) is located in the second target floor. At the entrance of the second target floor, the transport equipment unloads the cleaning equipment and uses the cleaning equipment to create the first second target floor map for the second target floor. When the transport equipment receives the first second target floor map sent by the cleaning equipment, it carries the cleaning equipment downstairs to the floor below the second target floor (such as the first basement floor, i.e., the floor below the second target floor). The transport equipment can proceed according to the determined second target floor... The process involves determining the first basement level (third floor) using a specific method. The cleaning equipment is unloaded at the entrance of the first basement level, and a map of that level is created using the cleaning equipment to obtain a second target floor map. The second target floor map sent by the cleaning equipment is then received. The transport equipment then continues to move the cleaning equipment downstairs to the floor below the first basement level (e.g., the second basement level, which is the floor immediately below the first basement level). The transport equipment can determine the second basement level (second floor) using the same method as determining the second target floor. The cleaning equipment is unloaded at the entrance of the second basement level, and a map of that level is created using the cleaning equipment to obtain a third target floor map. The third target floor map sent by the cleaning equipment is then received. This process continues until the transport equipment has moved the cleaning equipment to each of the target floors (i.e., the fourth, third, second, and first floors). A map of each target floor is created using the cleaning equipment, and each target floor map is received.

[0196] For example, a villa has ten floors. The current floor is the fifth floor. The cleaning equipment first creates a map on the fifth floor to obtain the map of the current floor. Then, the transport equipment moves the cleaning equipment to the first type of target floor (such as floors above the current floor, including the sixth, seventh, eighth, ninth, and tenth floors). For example, the cleaning equipment is first moved to the sixth floor and used to create a map on the sixth floor; then the cleaning equipment is moved to the seventh floor and used to create a map on the seventh floor; ... finally, the cleaning equipment is moved to the tenth floor and used to create a map on the tenth floor; the cleaning equipment is used on the sixth, seventh, eighth, ninth, and tenth floors. After maps are created on all ten floors, maps for each first-category target floor are obtained. Then, cleaning equipment is moved to second-category target floors (such as floors below the current floor, including the fourth, third, second, and first floors). For example, cleaning equipment is first moved to the fourth floor and used to create maps on that floor; then the cleaning equipment is moved to the third floor and used to create maps on that floor; ... finally, the cleaning equipment is moved to the first floor and used to create maps on that floor. After maps are created on the fourth, third, second, and first floors, maps for each second-category target floor are obtained.

[0197] S103. Receive at least one target floor map sent by the cleaning equipment, which corresponds to at least one target floor.

[0198] In this embodiment of the application, when the cleaning equipment is at the target location of the transport equipment, the transport equipment transports the cleaning equipment to at least one target floor so that the cleaning equipment can establish at least one target floor map corresponding to the at least one target floor. After that, the transport equipment receives the at least one target floor map established corresponding to the at least one target floor sent by the cleaning equipment.

[0199] S104. Based on the current layer map and at least one target layer map, create a multi-layer map corresponding to multiple layers.

[0200] In this embodiment of the application, after the handling device receives at least one target layer map and the current layer map, it can establish a multi-layer map corresponding to multiple layers based on the current layer map and at least one target layer map.

[0201] It should be noted that at least one target layer map is a map sent by the cleaning equipment.

[0202] In this embodiment of the application, the handling equipment can sort and organize the current layer map and at least one target layer map according to the floor height order of the multi-story building to obtain a multi-story map.

[0203] In this embodiment, after the handling equipment establishes a multi-floor map corresponding to multiple floors based on the current floor map and at least one target floor map, it also receives a new floor map sent by the cleaning equipment; determines the floor information of the new floor; and updates the multi-floor map based on the new floor map and the floor information to obtain the updated multi-floor map.

[0204] It should be noted that the new floor map is a map created by the cleaning equipment during the cleaning process; the new floor refers to the floor that did not exist or could not be entered for mapping when creating a multi-floor map.

[0205] In this embodiment of the application, the new floor information can be the floor number information of the new floor, such as the 11th floor.

[0206] It should be noted that the floor information of the new floor can be the floor information determined by the handling equipment, or the information determined by the handling equipment from the information sent by the cleaning equipment. The handling equipment can also determine the floor information of the new floor through other means. The specific method by which the handling equipment determines the floor information of the new floor can be determined according to the actual situation, and this application embodiment does not limit it.

[0207] In this embodiment of the application, the handling equipment can add new floor maps to the multi-floor map according to the floor information, thereby obtaining an updated multi-floor map.

[0208] Understandably, the handling equipment receives a new floor map sent by the cleaning equipment while performing cleaning tasks. It then uses the new floor map and the floor information of the new floors to update the multi-floor map. This allows the updated multi-floor map to be used to perform cleaning tasks on multiple floors later, avoiding the omission of cleaning new floors and improving the intelligence of cleaning when using the cleaning equipment.

[0209] For example, a villa has 10 floors. A transport device moves cleaning equipment to each of the 10 floors. On each floor, the cleaning equipment creates a map of that floor and sends it to the transport device. The transport device then uses this map to create a multi-floor map corresponding to each floor. Later, two new floors (the 11th and 12th floors) are added to the villa. When the transport device moves the cleaning equipment to the first new floor (e.g., the 11th floor) for cleaning, the cleaning equipment creates a map of that new floor during the cleaning process and sends it to the transport device. Similarly, when the transport device moves the cleaning equipment to the second new floor (e.g., the 12th floor) for cleaning, it creates a map of that new floor during the cleaning process and sends it to the transport device. The transport device then uses these two new floor maps and their floor information to update the multi-floor map, resulting in an updated multi-floor map.

[0210] Understandably, the transport equipment uses the first receiving component to receive the current floor map obtained by the cleaning equipment in mapping the current floor. The transport component then transports the cleaning equipment to at least one target floor in a multi-floor system, allowing the cleaning equipment to create at least one target floor map corresponding to the at least one target floor. The first receiving component then receives the at least one target floor map sent by the cleaning equipment. Finally, the first processor uses the current floor map and the at least one target floor map to create a multi-floor map corresponding to the multi-floor system. This eliminates the need for manual transport of the cleaning equipment to each floor in the multi-floor system. The transport equipment can directly transport the cleaning equipment to each floor in the multi-floor system, allowing the cleaning equipment to create a map on each floor. Finally, the transport equipment creates a multi-floor map based on the maps created by the cleaning equipment on each floor, thus improving the efficiency of creating a multi-floor map.

[0211] This application provides a method for creating a multi-story map, which can be performed using cleaning equipment. Figure 8 A method flow for creating a multi-story map provided in this application embodiment Figure 2 ,like Figure 8 As shown, methods for creating multi-story maps may include:

[0212] S201. Create a map of the current floor.

[0213] The multi-floor map creation method provided in this application embodiment is executed in a scenario where cleaning equipment and handling equipment are used to create a multi-floor map corresponding to multiple floors.

[0214] In the embodiments of this application, the cleaning equipment can be implemented in various forms. For example, the cleaning equipment described in this application may include devices such as sweepers and vacuum cleaners that have cleaning functions and can communicate and interact with handling equipment. The specific cleaning equipment can be determined according to the actual situation, and the embodiments of this application do not limit it.

[0215] It should be noted that the handling equipment can be a robot, a transport device, a stair climber, or other equipment with the function of handling cleaning equipment. The specific handling equipment can be determined according to the actual situation, and this application embodiment does not limit it.

[0216] In this embodiment of the application, the cleaning equipment can map the current floor. The method of obtaining the map of the current floor can be determined according to the actual situation, and this embodiment of the application does not limit it.

[0217] In this embodiment, the cleaning equipment can create a map of the current floor upon receiving a mapping instruction; or it can create a map of the current floor when the mapping cycle time point is reached. The specific preconditions for the cleaning equipment to create a map of the current floor can be determined according to the actual situation, and this embodiment does not limit this.

[0218] S202. Locate the moving equipment on the current floor, and if the moving equipment is found, move it to the target location of the moving equipment.

[0219] In this embodiment of the application, after the cleaning equipment creates a map of the current floor, it will search for the handling equipment on the current floor, and if the handling equipment is found, it will move to the target location of the handling equipment.

[0220] It should be noted that the target part refers to the position of the cleaning equipment within the handling equipment during the handling process.

[0221] In this embodiment, the cleaning equipment can locate the transport equipment by infrared signal sensing; the cleaning equipment can also locate the transport equipment by image model recognition algorithm; the cleaning equipment can also locate the transport equipment by combining infrared signal sensing with image model recognition algorithm; the cleaning equipment can also locate the transport equipment by other methods. The specific method of the cleaning equipment locating the transport equipment can be determined according to the actual situation, and this embodiment does not limit it.

[0222] S203. Send the current layer map to the handling equipment.

[0223] In this embodiment, the cleaning equipment can create a map of the current floor and then send the map to the transport equipment; the cleaning equipment can also locate the transport equipment on the current floor, and after finding the transport equipment, move to the target location of the transport equipment and then send the map to the transport equipment; the specifics can be determined according to the actual situation, and this embodiment does not limit this.

[0224] In this embodiment of the application, after the cleaning equipment locates the transport equipment on the current floor, before sending the current floor map to the transport equipment, if the transport equipment is not found, a search instruction to locate the cleaning equipment is sent to the transport equipment, so that the transport equipment can locate the cleaning equipment according to the search instruction and move to the current floor; if the cleaning equipment is found on the current floor, it moves to the target location of the transport equipment.

[0225] In this embodiment of the application, if the cleaning equipment cannot find the transport equipment or the cleaning equipment cannot move to the transport equipment due to external environment (such as the cleaning equipment and the transport equipment not being on the same floor), the cleaning equipment can send a search instruction to the transport equipment. Upon receiving the search instruction, the transport equipment will search for the cleaning equipment.

[0226] It should be noted that the handling equipment can locate the cleaning equipment by infrared signal sensing; the handling equipment can also locate the cleaning equipment by image model recognition algorithm; the handling equipment can also locate the cleaning equipment by combining infrared signal sensing with image model recognition algorithm; the handling equipment can also locate the cleaning equipment by other methods. The specific method of the handling equipment locating the cleaning equipment can be determined according to the actual situation, and this application embodiment does not limit it.

[0227] In this embodiment of the application, if the transport equipment is not found, after sending a search instruction to the transport equipment to find the cleaning equipment, the transport equipment will search for the cleaning equipment according to the search instruction and move to the current floor; if the cleaning equipment is found on the current floor, it will move to the target location of the transport equipment.

[0228] S204. When the handling equipment moves the cleaning equipment to at least one target floor, at least one target floor map is created corresponding to the at least one target floor, and at least one target floor map is sent to the handling equipment so that the handling equipment can create a multi-floor map corresponding to multiple floors based on the current floor map and at least one target floor map.

[0229] In this embodiment of the application, after the cleaning device sends the current layer map to the transport device, if the transport device transports the cleaning device to at least one target floor, the cleaning device will create at least one target layer map corresponding to the at least one target floor and send the at least one target layer map to the transport device.

[0230] It should be noted that at least one target floor and at least one target floor location Figure 1 One-to-one correspondence, meaning one target floor corresponds to one target floor map.

[0231] In this embodiment, the transport device will transport the cleaning device to each of the at least one target floor. The cleaning device will create a target floor map corresponding to each floor and send the target floor map corresponding to the floor to the transport device, so that the transport device obtains at least one target floor map corresponding to at least one target floor.

[0232] In this embodiment of the application, the handling equipment can sort and organize the current layer map and at least one target layer map according to the floor height order of the multi-story building to obtain a multi-story map.

[0233] In this embodiment, when the cleaning equipment is transported to at least one target floor by the transport equipment, at least one target floor map is created corresponding to the at least one target floor, and after the at least one target floor map is sent to the transport equipment, the cleaning equipment also receives cleaning instructions for multiple floors; according to the cleaning instructions, multiple floors to be cleaned in the multiple floors are cleaned; if the adjacent floor of any of the multiple floors to be cleaned is a new floor, the new floor is cleaned and a map is created for the new floor; when the equipment is at the target location of the transport equipment, the new floor map is sent to the transport equipment so that the transport equipment can update the multi-floor map according to the new floor map to obtain the updated multi-floor map.

[0234] It should be noted that the new floor refers to the floor that did not exist or could not be accessed when creating a multi-floor map.

[0235] In this embodiment of the application, the method by which the cleaning equipment cleans a new floor can be determined according to the actual situation, and this embodiment of the application does not limit it.

[0236] For example, a villa has 10 floors. A transport device moves a cleaning machine to each of the 10 floors. On each floor, the cleaning machine maps the corresponding floor and sends the map to the transport device. The transport device can then create a multi-floor map based on the map sent by the cleaning machine. Later, two new floors (the 11th and 12th floors) are added to the villa. If the cleaning instructions include the 11th and 12th floors, the cleaning machine will clean the first new floor (e.g., the 11th floor). During the cleaning process, the cleaning machine will map the first new floor and send it to the transport device. Similarly, during the cleaning of the second new floor (e.g., the 12th floor), the cleaning machine will map the second new floor and send it to the transport device, which will then utilize both new floor maps.

[0237] In this embodiment, the process of cleaning multiple floors to be cleaned by the cleaning equipment according to the cleaning instruction includes: determining whether the current floor is the first floor to be cleaned according to the cleaning instruction; cleaning the first floor if the current floor is the first floor to be cleaned; locating the transport equipment after the first floor to be cleaned is cleaned; and transporting the cleaning equipment to the next floor to be cleaned and executing the cleaning procedure when the transport equipment is located and is at the target location of the transport equipment, until the corresponding cleaning procedure is completed on each of the multiple floors to be cleaned after the transport equipment has transported the cleaning equipment to each of the multiple floors to be cleaned.

[0238] It should be noted that the first floor to be cleaned is the first floor indicated by the cleaning instruction.

[0239] In this embodiment, the cleaning instruction includes the cleaning sequence for multiple floors. The cleaning equipment will clean the floors to be cleaned sequentially according to this cleaning sequence.

[0240] For example, in a villa with 10 floors, the cleaning order is: first floor, second floor, third floor, ... tenth floor. If the cleaning equipment is not on the first floor, a transport device is located and used to move the cleaning equipment to the first floor to perform the cleaning task. If the cleaning task is completed on the first floor, the cleaning equipment is located and the transport device is used to move the cleaning equipment to the second floor to perform the cleaning task. If the cleaning task is completed on the second floor, the cleaning equipment is located and the transport device is used to move the cleaning equipment to the third floor to perform the cleaning task. ... If the cleaning task is completed on the ninth floor, the transport device is located and used to move the cleaning equipment to the tenth floor to perform the cleaning task.

[0241] For example, such as Figure 9 As shown:

[0242] S01, The handling equipment receives the current layer map sent by the cleaning equipment.

[0243] It should be noted that the current floor map is the map created by the cleaning equipment on the current floor.

[0244] In this embodiment, the handling device can first receive a search instruction from the cleaning device to locate the cleaning device; locate the cleaning device according to the search instruction; and if the cleaning device is found, receive the current layer map from the cleaning device.

[0245] S02. When the cleaning equipment is at the target location of the handling equipment, the handling equipment moves from the exit of the current floor to the entrance of the first target floor in the first type of target floors.

[0246] It should be noted that the first target floor is the floor closest to the current floor among the first type of target floors. The target location is the position of the cleaning equipment within the moving equipment during transport.

[0247] S03. If the handling equipment determines that a horizontal platform exists during the movement process and the length of the horizontal platform is greater than a preset length threshold, the plane where the horizontal platform is located is determined to be the plane where the first target floor is located.

[0248] S04. If, during the movement of the handling equipment, it is determined that a horizontal platform exists and the length of the horizontal platform is less than or equal to a preset length threshold, the plane on which the horizontal platform is located is determined not to be the plane on which the first target floor is located. If it is determined that no mapping is to be created for the horizontal platform, the equipment continues to move toward the entrance of the first target floor until it reaches the entrance of the first target floor.

[0249] It should be noted that the handling equipment can also unload the cleaning equipment when it is determined that a mapping of the horizontal platform is required, so that the cleaning equipment can create a corresponding horizontal platform layer map for the horizontal platform; upon receiving the horizontal platform layer map sent by the cleaning equipment, it continues to move towards the entrance of the first target floor until it reaches the entrance of the first target floor.

[0250] S05. At the entrance of the first target floor, the transport equipment unloads the cleaning equipment to establish the first first-class target floor map of the first target floor using the cleaning equipment, and receives the first first-class target floor map transmitted by the cleaning equipment; the transport cleaning equipment continues to move to the first remaining floor in the first-class target floor until it receives each first-class target floor map transmitted by the cleaning equipment.

[0251] It should be noted that the first remaining floor refers to the floors in the first category of target floors excluding the first target floor; the first category of target floors refers to the floors above or below the current floor.

[0252] S06. If there is a second target floor among at least one target floor, the transport equipment moves from the exit of the current floor to the entrance of the second target floor among the second target floors.

[0253] It should be noted that the second target floor is the floor that is closest to the current floor among the second type of target floors.

[0254] S07. If, during the movement of the handling equipment, it is determined that a horizontal platform exists and the length of the horizontal platform is greater than a preset length threshold, the plane where the horizontal platform is located is determined to be the plane where the second target floor is located.

[0255] S08. If, during the movement of the transport equipment, it is determined that a horizontal platform exists and the length of the horizontal platform is less than or equal to a preset length threshold, the plane on which the horizontal platform is located is determined not to be the plane on which the second target floor is located. If it is determined that no mapping is to be created for the horizontal platform, the equipment continues to move toward the entrance of the second target floor until it reaches the entrance of the second target floor.

[0256] It should be noted that the handling equipment can also unload the cleaning equipment when it is determined that a mapping of the horizontal platform is required, so that the cleaning equipment can create a corresponding horizontal platform layer map for the horizontal platform; upon receiving the horizontal platform layer map sent by the cleaning equipment, it continues to move towards the entrance of the second target floor until it reaches the entrance of the second target floor.

[0257] S09. At the entrance of the second target floor, the transport equipment unloads the cleaning equipment to establish a first second-class target floor map of the second target floor using the cleaning equipment, and receives the first second-class target floor map transmitted by the cleaning equipment; the transport cleaning equipment continues to move to the second remaining floor in the second-class target floor until it receives each second-class target floor map transmitted by the cleaning equipment; at least one target floor map includes each first-class target floor map and each second-class target floor map.

[0258] It should be noted that the second remaining floor refers to the floors in the second category of target floors excluding the second target floor; the second category of target floors refers to the floors in the opposite direction to the first category of target floors; at least one target floor and at least one target layer... Figure 1 One-to-one correspondence.

[0259] S10. The handling equipment creates a multi-floor map corresponding to multiple floors based on the current floor map and at least one target floor map; the at least one target floor map is a map sent by the cleaning equipment.

[0260] For example, such as Figure 10 As shown:

[0261] S21. The cleaning equipment creates a map of the current floor.

[0262] S22. The cleaning equipment locates the moving equipment on the current floor, and if the moving equipment is found, moves to the target location of the moving equipment.

[0263] In this embodiment of the application, the target part is the position of the cleaning equipment in the transport equipment when the transport equipment is transporting the cleaning equipment.

[0264] It should be noted that if the moving equipment is not found, a search command for the cleaning equipment is sent to the moving equipment so that the moving equipment can locate the cleaning equipment according to the search command and move to the current floor; if the cleaning equipment is found on the current floor, it moves to the target location of the moving equipment.

[0265] S23, The cleaning equipment sends the current layer map to the handling equipment.

[0266] S24. When the cleaning equipment is transported to at least one target floor by the transport equipment, at least one target floor map is created corresponding to the at least one target floor, and at least one target floor map is sent to the transport equipment so that the transport equipment can create a multi-floor map corresponding to multiple floors based on the current floor map and at least one target floor map.

[0267] It should be noted that at least one target floor and at least one target floor location Figure 1 One-to-one correspondence.

[0268] S25. The cleaning equipment receives cleaning instructions for multiple floors; based on the cleaning instructions, it determines whether the current floor is the first floor to be cleaned.

[0269] It should be noted that the first floor to be cleaned is the first floor indicated by the cleaning instruction.

[0270] S26. When the current floor is the first cleaning floor, the cleaning equipment cleans the first cleaning floor.

[0271] S27. After the cleaning equipment has finished cleaning the first floor, it locates the transport equipment. Once the transport equipment is located and the equipment is at its target location, the cleaning equipment is transported to the next floor to be cleaned and the cleaning procedure is executed. This process continues until the cleaning equipment has been transported to each of the multiple floors to be cleaned, and the corresponding cleaning procedure is completed on each of the multiple floors to be cleaned.

[0272] S28. When the adjacent floor of any of the multiple floors to be cleaned is a new floor, the cleaning equipment cleans the new floor and creates a map of the new floor.

[0273] It should be noted that the new floor refers to the floor that did not exist or could not be accessed when creating a multi-floor map.

[0274] S29. When the cleaning equipment is at the target location of the handling equipment, it sends a new floor map to the handling equipment so that the handling equipment can update the multi-floor map according to the new floor map and obtain the updated multi-floor map.

[0275] In this embodiment, after the cleaning equipment sends a new floor map to the handling equipment, the handling equipment receives the new floor map sent by the cleaning equipment and determines the floor information of the new floor; then, it updates the multi-floor map according to the new floor map and the floor information to obtain the updated multi-floor map. The new floor map is the map obtained by the cleaning equipment during the cleaning process; the new floor is a floor that did not exist or could not be entered for mapping when the multi-floor map was created.

[0276] Understandably, the cleaning equipment uses a second processor to create a map of the current floor and sends this map to the transport equipment via a sending component. It then locates the transport equipment. Once located, the cleaning equipment moves to the target location using a moving component, allowing the transport equipment to move the cleaning equipment to at least one target floor. The cleaning equipment then creates at least one target floor map on that floor and sends it to the transport equipment via the sending component. This allows the transport equipment to create a multi-floor map based on the current floor map and the at least one target floor map, eliminating the need for manual transport of the cleaning equipment to each floor. The transport equipment can automatically move the cleaning equipment to each floor, allowing it to create a map on each floor. Finally, the transport equipment creates a multi-floor map based on the cleaning equipment's mapping on each floor, thus improving the efficiency of creating multi-floor maps.

[0277] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0278] 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 will 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 a machine implementable in the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0279] These 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 function 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 function specified in one or more boxes.

[0280] These computer program instructions can also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that can be implemented in a process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0281] The above description is merely a preferred embodiment of this application and does not limit the scope of protection of this application.

Claims

1. A handling device, characterized in that The conveying equipment includes: First processor; A first receiving component is communicatively connected to the first processor. The first receiving component receives a current floor map and at least one target floor map corresponding to at least one target floor sent by the cleaning equipment. A transport component, communicatively connected to the first processor, transports the cleaning equipment to at least one target floor when the cleaning equipment is at its target location, so that the cleaning equipment can create a map of the at least one target floor. The first processor establishes a multi-floor map corresponding to multiple floors based on the current layer map and the at least one target layer map.

2. The handling equipment according to claim 1, characterized in that, The transport component transports the cleaning equipment to a first type of target floor in at least one target floor, and unloads the cleaning equipment at each entrance of each target floor in the first type of target floor, so that the cleaning equipment can establish a map of each first type of target floor in each target floor; the first type of target floor is the floor above the current floor or the floor below the current floor; In the case where there is a second type of target floor in at least one target floor, the cleaning equipment is moved to each entrance of each target floor in the second type of target floor, and the cleaning equipment is unloaded so that the cleaning equipment can create a corresponding second type of target floor map in each target floor; the second type of target floor is a floor in the opposite direction to the first type of target floor; the at least one target floor map includes each first type of target floor map and each second type of target floor map.

3. The handling equipment according to claim 2, characterized in that, The transport component moves from the exit of the current floor to the entrance of the first target floor in the first type of target floors; the first target floor is the floor in the first type of target floors that is closest to the current floor; At the entrance of the first target floor, the cleaning equipment is unloaded to create a first type of target floor map for the first target floor, and the first type of target floor map transmitted by the cleaning equipment is received; the cleaning equipment is then moved to the first remaining floor in the first type of target floor until each of the first type of target floor maps transmitted by the cleaning equipment is received; the first remaining floor is the floor in the first type of target floor excluding the first target floor; If the first processor determines that a horizontal platform exists during the movement and that the length of the horizontal platform is greater than a preset length threshold, then the plane where the horizontal platform is located is determined to be the plane where the first target floor is located.

4. The handling equipment according to claim 3, characterized in that, If the first processor determines during the movement that a horizontal platform exists and the length of the horizontal platform is less than or equal to the preset length threshold, then the processor determines that the plane where the horizontal platform is located is not the plane where the first target floor is located. If the transport component determines that it will not map the horizontal platform, it continues to move toward the entrance of the first target floor until it reaches the entrance of the first target floor. Alternatively, if it is determined that mapping of the horizontal platform is required, the cleaning equipment can be removed so that the cleaning equipment can create a corresponding horizontal platform layer map of the horizontal platform. Upon receiving the horizontal platform layer map sent by the cleaning equipment, continue moving towards the entrance of the first target floor until the entrance of the first target floor is reached.

5. The handling equipment according to claim 2, characterized in that, The transport component moves from the exit of the current floor to the entrance of the second target floor in the second category of target floors; the second target floor is the floor in the second category of target floors that is closest to the current floor; at the entrance of the second target floor, the cleaning equipment is unloaded to create a first second-category target floor map for the second target floor using the cleaning equipment, and the first second-category target floor map transmitted by the cleaning equipment is received; the transport component continues to move the cleaning equipment to the second remaining floors in the second category of target floors until each of the second-category target floor maps transmitted by the cleaning equipment is received; the second remaining floors are the floors in the second category of target floors other than the second target floor; If, during the movement, the first processor determines that a horizontal platform exists and the length of the horizontal platform is greater than a preset length threshold, then the plane where the horizontal platform is located is determined to be the plane where the second target floor is located.

6. The handling equipment according to claim 5, characterized in that, If the first processor determines during the movement that a horizontal platform exists and the length of the horizontal platform is less than or equal to the preset length threshold, then the processor determines that the plane where the horizontal platform is located is not the plane where the second target floor is located. If the transport component determines that mapping of the horizontal platform is not required, it continues to move towards the entrance of the second target floor until it reaches the entrance of the second target floor; or, if it determines that mapping of the horizontal platform is required, it detaches the cleaning equipment so that the cleaning equipment can create a corresponding horizontal platform layer map of the horizontal platform; upon receiving the horizontal platform layer map sent by the cleaning equipment, it continues to move towards the entrance of the second target floor until it reaches the entrance of the second target floor.

7. The handling equipment according to claim 1, characterized in that, The first receiving component receives a new floor map sent by the cleaning equipment; the new floor map is a map obtained by the cleaning equipment during the cleaning process; the new floor is a floor that did not exist or could not be entered for mapping when creating a multi-floor map; The first processor determines the floor information of the new floor; The multi-floor map is updated based on the new floor map and the floor information to obtain the updated multi-floor map.

8. The handling equipment according to claim 1, characterized in that, The first receiving component receives a search instruction sent by the cleaning device to locate the cleaning device; The first processor locates the cleaning device according to the search instruction; Accordingly, when the cleaning device is located, the first receiving component receives the current layer map sent by the cleaning device.

9. A cleaning apparatus, characterized by The cleaning equipment includes: Second processor; The second processor creates a map of the current floor; locates a transport device on the current floor; and, if the transport device transports the cleaning equipment to at least one target floor, creates a map of at least one target floor corresponding to that target floor. A mobile component, communicatively connected to the second processor, moves to the target location of the transport device upon locating the transport device; A sending component, communicatively connected to the second processor, sends the current layer map to the handling device; and sends the at least one target layer map to the handling device, so that the handling device can establish a multi-floor map corresponding to multiple floors based on the current layer map and the at least one target layer map.

10. The cleaning equipment according to claim 9, characterized in that, If the sending component does not find the transport equipment, it sends a search instruction to the transport equipment to locate the cleaning equipment, so that the transport equipment can locate the cleaning equipment according to the search instruction and move to the current floor; When the mobile component locates the cleaning equipment on the current floor, it moves to the target location of the transport equipment.

11. The cleaning apparatus of claim 9, wherein, The cleaning equipment also includes: The second receiving component is communicatively connected to the second processor, and the second receiving component receives cleaning instructions for multiple floors; The cleaning component is communicatively connected to the second processor. The cleaning component cleans multiple floors to be cleaned in the multi-floor system according to the cleaning instructions. If the adjacent floor of any of the multiple floors to be cleaned is a new floor, the cleaning component cleans the new floor. The second processor creates a map of the new floor; the new floor is a floor that did not exist or could not be entered for mapping when creating a multi-floor map. When the sending component is at the target location of the transport equipment, it sends the new floor map to the transport equipment so that the transport equipment can update the multi-floor map according to the new floor map and obtain the updated multi-floor map.

12. The cleaning equipment according to claim 11, characterized in that, The second processor determines whether the current floor is the first floor to be cleaned based on the cleaning instruction; the first floor to be cleaned is the first floor indicated by the cleaning instruction. After cleaning the first floor, locate the transport equipment; So that when the transport equipment is located and is at the target location of the transport equipment, the transport equipment transports the cleaning equipment to the next floor to be cleaned and performs the cleaning procedure, until the transport equipment transports the cleaning equipment to each of the multiple floors to be cleaned, and performs the corresponding cleaning procedure on each of the multiple floors to be cleaned. The cleaning component cleans the first cleaning floor when the current floor is the first cleaning floor.

13. A multi-floor map creating method characterized by comprising: The method includes: Receive the current floor map created on the current floor from the cleaning equipment; When the cleaning equipment is at the target location of the transport equipment, the cleaning equipment is transported to at least one target floor so that the cleaning equipment can create at least one target floor map corresponding to the at least one target floor; Receive at least one target floor map corresponding to at least one target floor sent by the cleaning equipment; Based on the current layer map and the at least one target layer map, a multi-layer map corresponding to multiple layers is created.

14. The method of claim 13, wherein, The process of moving the cleaning equipment to at least one target floor, so that the cleaning equipment can create at least one target floor map corresponding to the at least one target floor, includes: The cleaning equipment is transported to a first type of target floor in at least one target floor, and the cleaning equipment is unloaded at each entrance of each target floor in the first type of target floor, so that the cleaning equipment can create a map of each first type of target floor in each target floor; the first type of target floor is the floor above the current floor or the floor below the current floor; In the case where there is a second type of target floor in at least one target floor, the cleaning equipment is moved to each entrance of each target floor in the second type of target floor, and the cleaning equipment is unloaded so that the cleaning equipment can create a corresponding second type of target floor map in each target floor; the second type of target floor is a floor in the opposite direction to the first type of target floor; the at least one target floor map includes each first type of target floor map and each second type of target floor map.

15. The method of claim 13, wherein, After establishing a multi-floor map corresponding to multiple floors based on the current layer map and the at least one target layer map, the method further includes: Receive a new floor map sent by the cleaning equipment; the new floor map is a map obtained by the cleaning equipment during the cleaning process; the new floor is a floor that did not exist or could not be entered for mapping when creating a multi-floor map; Determine the floor information of the new floor; The multi-floor map is updated based on the new floor map and the floor information to obtain the updated multi-floor map.

16. The method of claim 13, wherein, Before receiving the current layer map sent by the cleaning device, the method further includes: Receive the search command sent by the cleaning device to locate the cleaning device; Locate the cleaning equipment according to the search instruction; Accordingly, the current layer map sent by the receiving cleaning device includes: If the cleaning device is located, the current layer map sent by the cleaning device is received.

17. A multi-floor map creating method characterized by comprising: The method includes: Create a map of the current floor; Locate the handling equipment on the current floor, and if the handling equipment is found, move it to the target location of the handling equipment; Send the current layer map to the transport equipment; When the transport equipment transports the cleaning equipment to at least one target floor, at least one target floor map is created corresponding to the at least one target floor, and the at least one target floor map is sent to the transport equipment so that the transport equipment can create a multi-floor map corresponding to multiple floors based on the current floor map and the at least one target floor map.

18. The method of claim 17, wherein, After locating the handling equipment on the current floor and before sending the current floor map to the handling equipment, the method further includes: If the transport equipment is not found, a search command to locate the cleaning equipment is sent to the transport equipment, so that the transport equipment can locate the cleaning equipment according to the search command and move to the current floor; If the cleaning equipment is located on the current floor, move it to the target location of the transport equipment.

19. The method of claim 17, wherein, When the transport equipment transports the cleaning equipment to at least one target floor, after establishing at least one target floor map corresponding to the at least one target floor and sending the at least one target floor map to the transport equipment, the method further includes: Receive cleaning instructions for multiple floors; Clean multiple floors to be cleaned in the multi-floor system according to the cleaning instructions; If any of the multiple floors to be cleaned is adjacent to a new floor, clean the new floor and create a map of the new floor; the new floor is a floor that did not exist or could not be entered for mapping when creating the multi-floor map. When the location is at the target location of the transport equipment, the new floor map is sent to the transport equipment so that the transport equipment can update the multi-floor map according to the new floor map to obtain the updated multi-floor map.

20. A handling apparatus, characterised in that, The conveying equipment includes: The system comprises a first memory, a first processor, and a first communication bus. The first memory communicates with the first processor via the first communication bus. The first memory stores a multi-floor map creation program executable by the first processor. When the multi-floor map creation program is executed, the method described in any one of claims 13 to 16 is performed by the first processor.

21. A cleaning apparatus, characterized by The cleaning equipment includes: A second memory, a second processor, and a second communication bus are provided. The second memory communicates with the second processor via the second communication bus. The second memory stores a multi-floor map creation program executable by the second processor. When the multi-floor map creation program is executed, the method described in any one of claims 17 to 19 is performed by the second processor.

22. A computer-readable storage medium storing computer-executable instructions which, when executed by a processor, perform steps comprising: When the computer-executable instructions are executed by a first processor, they implement the method according to any one of claims 13 to 16; when the computer-executable instructions are executed by a second processor, they implement the method according to any one of claims 17 to 19.

23. A computer program product comprising computer-executable instructions or a computer program, characterized in that, When the computer-executable instructions or computer program are executed by the first processor, they implement the method according to any one of claims 13 to 16; when the computer-executable instructions or computer program are executed by the second processor, they implement the method according to any one of claims 17 to 19.

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