Cleaning method, apparatus, computer equipment and storage medium for a robot

Abstract

The invention discloses a robot cleaning method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring detection information obtained by detecting a living object in a target area through a millimeter wave radar; when it is determined that the living object leaves the target area, generating a cleaning strategy for the target area according to the detection information; and controlling the robot to clean the target area based on the cleaning strategy. By adopting the method, the cleaning efficiency of the robot can be improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511902436.4 (22) Application Date 2023.04.13 (62) Divisional Application Data 202310395137.0 2023.04.13 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Sun Jiajia, Luo Shaohan, Xu Yinbo, Yu Hao (74) Patent Agency: Huajin United Patent & Trademark Agency Co., Ltd. 44224 Patent Attorney: Xiao Ruyun (51) Int.Cl. A47L 11 / 24 (2006.01) A47L 11 / 28 (2006.01) A47L 11 / 40 (2006.01) (54) Invention Title: Cleaning Method, Apparatus, Computer Equipment, and Storage Medium for Robots (57) Abstract: This invention discloses a cleaning method, apparatus, computer equipment, storage medium, and computer program product for robots. The method includes: acquiring detection information obtained by detecting a living object in a target area using millimeter-wave radar; generating a cleaning strategy for the target area based on the detection information when it is determined that the living object has left the target area; and controlling the robot to clean the target area based on the cleaning strategy. This method can improve the cleaning efficiency of robots. Claims 2 pages, Description 15 pages, Drawings 8 pages, CN 121694610 A 2026.03.20 CN 1 21 69 46 10 A 1. A cleaning method for a robot, characterized in that the method comprises: transmitting electromagnetic waves to a target area via an antenna of a millimeter-wave radar, the electromagnetic waves being reflected by a living object within the target area to generate a reflected echo; detecting the movement trajectory of the living object based on the echo intensity of the reflected echo to obtain detection information; when it is determined that the living object has left the target area, determining the movement trajectory of the living object in the target area and the dwell time at each trajectory point in the movement trajectory based on the detection information, and determining the trajectory area of ​​the living object in the target area based on the movement trajectory; if the trajectory area satisfies the trajectory condition and / or the dwell time satisfies the duration condition, then the robot determines to clean the target area. 2. The method according to claim 1, characterized in that the method further comprises: tracking the living object using the millimeter-wave radar to locate the position coordinates of the living object; and determining whether the living object has left the target area based on the position coordinates of the living object. 3. The method according to claim 1, characterized in that the method further comprises:In the target area, sub-regions corresponding to each trajectory point in the movement trajectory are determined; cleaning parameters corresponding to each sub-region are determined based on the dwell time; a cleaning strategy for the target area is generated based on the cleaning parameters; and the target area is cleaned based on the cleaning strategy. 4. The method according to claim 3, wherein the method further comprises: determining a cleaning sequence number corresponding to each sub-region based on the area position coordinates corresponding to each sub-region and the current position coordinates of the robot; the step of generating a cleaning strategy for the target area based on the cleaning parameters comprises: generating a cleaning strategy for the target area based on the cleaning parameters and the cleaning sequence number. 5. The method according to claim 1, wherein the trajectory condition is that the area of ​​the trajectory region reaches a preset value, or the trajectory region contains a pre-configured specific area; the duration condition is that the sum of the dwell times corresponding to each trajectory point reaches a preset value, or the dwell times corresponding to each trajectory point are all greater than the preset value; after the robot determines to clean the target area if the trajectory region satisfies the trajectory condition and / or the dwell time satisfies the duration condition, the method further includes: if the trajectory region contains a target indoor space object, determining a cleaning area based on the position coordinates of the target indoor space object, and controlling the robot to perform cleaning operations on the cleaning area. 6. The method according to claim 1, wherein determining the trajectory region of a living object in the target area based on the movement trajectory includes: determining the trajectory region as a circular area centered on multiple trajectory points of the movement trajectory; or, determining the trajectory region as an area whose distance from the movement trajectory is within a preset range. 7. A cleaning device for a robot, characterized in that the device comprises: an acquisition module, configured to transmit electromagnetic waves to a target area via an antenna of a millimeter-wave radar, wherein the electromagnetic waves are reflected by a living object within the target area to generate a reflected echo; and to detect the movement trajectory of the living object based on the echo intensity of the reflected echo to obtain detection information; a generation module, configured to, when determining that the living object has left the target area, determine the movement trajectory of the living object in the target area and the dwell time at each trajectory point in the movement trajectory based on the detection information, and determine the trajectory area of ​​the living object in the target area based on the movement trajectory; and a cleaning module, configured to, if the trajectory area satisfies a trajectory condition and / or the dwell time satisfies a duration condition, then the robot determines to clean the target area. 8. A computer device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.9. A computer-readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6. 10. A computer program product comprising a computer program, characterized in that, when the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6. Claims 2 / 2 Page 3 CN 121694610 A Cleaning Method, Apparatus, Computer Equipment and Storage Medium for Robots Technical Field

[0001] This application is a divisional application filed with the Chinese Patent Office on April 13, 2023, with application number 202310395137.0, entitled "Cleaning Method, Apparatus, Computer Equipment and Storage Medium for Robots", the entire contents of which are incorporated herein by reference. Background Art

[0002] With the development of artificial intelligence technology, robots are widely used in the field of smart homes. In traditional technology, robots pre-plan cleaning routes and clean according to the planned cleaning routes. However, since the indoor environment may change, the method of cleaning according to a fixed cleaning route by the robot has poor flexibility and low cleaning efficiency.

[0003] Therefore, the technical problem to be solved by the present invention is how to improve the efficiency of a robot performing cleaning operations.

[0004] To solve the above-mentioned technical problem, the present invention provides a robot cleaning method, apparatus, computer device, computer-readable storage medium, and computer program product.

[0005] In a first aspect, the present invention provides a robot cleaning method. The method includes:

[0006] acquiring detection information obtained by detecting a living object in a target area using millimeter-wave radar;

[0007] when it is determined that the living object has left the target area, generating a cleaning strategy for the target area based on the detection information;

[0008] controlling the robot to clean the target area based on the cleaning strategy.

[0009] In a second aspect, the present invention also provides a cleaning device for a robot, the device comprising:

[0010] an acquisition module, configured to acquire detection information obtained by detecting a living object within a target area using millimeter-wave radar;

[0011] a generation module, configured to generate a cleaning strategy for the target area based on the detection information when it is determined that the living object has left the target area;

[0012] a cleaning module, configured to control the robot to clean the target area based on the cleaning strategy.

[0013] In one embodiment, the generation module is further configured to:

[0014] when it is determined that the living object has left the target area, determine the movement trajectory of the living object in the target area and the dwell time of each trajectory point in the movement trajectory based on the detection information;

[0015] If cleaning of the target area is determined based on the movement trajectory and the dwell time, a cleaning strategy for the target area is generated based on the detection information.

[0016] In one embodiment, the generation module is further configured to:

[0017] determine the movement trajectory of the living object in the target area and the dwell time of each trajectory point in the movement trajectory based on the detection information;

[0018] generate a cleaning strategy for the target area based on the movement trajectory and the dwell time.

[0019] In one embodiment, the generation module is further configured to:

[0020] determine the sub-regions corresponding to each trajectory point in the movement trajectory in the target area;

[0021] determine the cleaning parameters corresponding to each sub-region based on the dwell time;

[0022] generate a cleaning strategy for the target area based on the cleaning parameters.

[0023] In one embodiment, the device further includes:

[0024] a determining module, configured to determine a cleaning sequence number corresponding to each of the sub-regions based on the region position coordinates corresponding to each of the sub-regions and the current position coordinates of the robot;

[0025] the generating module is further configured to generate a cleaning strategy for the target region based on the cleaning parameters and the cleaning sequence number.

[0026] In one embodiment, the generating module is further configured to:

[0027] when it is determined that the living object leaves the target region, determine the movement trajectory of the living object in the target region based on the detection information;

[0028] determine the trajectory region corresponding to the movement trajectory;

[0029] if the trajectory region contains a target indoor space object, determine the cleaning region based on the position coordinates of the target indoor space object, and control the robot to perform cleaning operations on the cleaning region.

[0030] In one embodiment, the generation module is further configured to:

[0031] extract first cleaning information corresponding to the target indoor space object; the first cleaning information includes at least one of cleaning intensity, cleaning mode, and cleaning duration;

[0032] control the robot to perform cleaning operations on the cleaning area according to the first cleaning information.

[0033] In one embodiment, the detection information includes the action information of the living object, and the target area is a first area of ​​the indoor environment; the determining module is further configured to:

[0034] determine the historical actions issued by the living object during a historical period within the target area based on the action information;

[0035] if the historical actions include a target action, determine the position information of the living object when it issued the target action, and determine a second area in the indoor environment according to the position information;

[0036] The robot is controlled to perform a cleaning operation on the second area.

[0037] In one embodiment, the determining module is further configured to:

[0038] extract second cleaning information corresponding to the target action; the second cleaning information includes at least one of cleaning intensity, cleaning mode and cleaning duration;

[0039] perform a cleaning operation on the second area according to the second cleaning information.

[0040] In one embodiment, the detection information includes vital sign information; the device further includes:

[0041] a sending module, configured to send a prompt message to the client indicating that the living object is in a preset state if the vital sign information indicates that the living object is in a preset state;

[0042] a collection module, configured to collect new detection information through the millimeter-wave radar;

[0043] the generating module is further configured to generate a cleaning strategy for the target area according to the detection information and the new detection information if the new detection information indicates that the living object has left the target area.

[0044] In one embodiment, the device further includes:

[0045] the determining module, further configured to, in response to a summoning command issued by the living object, determine the location information corresponding to the living object based on the detection information;

[0046] the cleaning module, further configured to, determine a cleaning area based on the location information, and control the robot to perform a cleaning operation on the cleaning area. Specification 2 / 15 pages 5 CN 121694610 A

[0047] In a third aspect, the present invention also provides a computer device, the computer device including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the following steps:

[0048] acquiring detection information obtained by detecting a living object in a target area through millimeter-wave radar;

[0049] when it is determined that the living object has left the target area, generating a cleaning strategy for the target area based on the detection information;

[0050] controlling the robot to clean the target area based on the cleaning strategy.

[0051] In a fourth aspect, the present invention also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0052] acquiring detection information obtained by detecting a live object within a target area using millimeter-wave radar;

[0053] when it is determined that the live object has left the target area, generating a cleaning strategy for the target area based on the detection information;

[0054] controlling the robot to clean the target area based on the cleaning strategy.

[0055] In a fifth aspect, the present invention also provides a computer program product. The computer program product includes a computer.The program, when executed by a processor, performs the following steps:

[0056] acquiring detection information obtained from detecting a living object within a target area using millimeter-wave radar;

[0057] when determining that the living object has left the target area, generating a cleaning strategy for the target area based on the detection information;

[0058] controlling the robot to clean the target area based on the cleaning strategy.

[0059] The above-mentioned robot cleaning method, apparatus, computer equipment, storage medium, and computer program product acquire detection information obtained from detecting a living object within a target area using millimeter-wave radar. Millimeter-wave radar is a radar operating in the millimeter-wave band, which has high detection accuracy for living objects. The detection information obtained by millimeter-wave radar can accurately reflect the movement and vital signs of the living object. When determining that the living object has left the target area, a cleaning strategy for the target area is generated based on the detection information, enabling the robot to generate a cleaning strategy based on the detection information of the living object. The generated cleaning strategy takes into account the movement and vital signs of the living object, thus allowing for flexible cleaning of the target area based on the cleaning strategy, improving cleaning efficiency.

[0060] Brief Description of the Drawings: In order to more clearly illustrate the technical solutions in the specific embodiments of the present invention or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 is an application environment diagram of the robot cleaning method in one embodiment;

[0062] Figure 2 is a flowchart of the robot cleaning method in one embodiment;

[0063] Figure 3a is a schematic diagram of the trajectory area in one embodiment;

[0064] Figure 3b is a schematic diagram of the trajectory area in another embodiment;

[0065] Figure 4 is a flowchart of the cleaning strategy generation method in one embodiment;

[0066] Figure 5 is a schematic diagram of the trajectory in one embodiment;

[0067] Figure 6 is a flowchart of the cleaning strategy generation method in another embodiment;

[0068] Figure 7 is a flowchart of the cleaning area determination method in one embodiment; Specification 3 / 15 pages 6 CN 121694610 A

[0069] Figure 8 is a schematic diagram of the trajectory area in yet another embodiment;

[0070] Figure 9 is a flowchart of the robot cleaning method in another embodiment;

[0071] Figure 10a is a flowchart of the cleaning strategy generation method in yet another embodiment;

[0072] Figure 10b is a schematic diagram of a target area including a sleeping infant in one embodiment;

[0073] Figure 11 is a flowchart of a robot cleaning method in another embodiment;

[0074] Figure 12 is a structural block diagram of the robot's cleaning device in one embodiment;

[0075] Figure 13 is a structural block diagram of the robot's cleaning device in another embodiment;

[0076] Figure 14 is an internal structural diagram of a computer device in one embodiment. Detailed Description

[0077] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0078] It should be noted that the terms "first," "second," etc., in the specification, claims, and the above-mentioned drawings of the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0079] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the directions shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational directions of the components themselves; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours relative to the components themselves, but the above directional terms are not intended to limit this invention.

[0080] The robot cleaning method provided in this application embodiment can be applied to the application environment shown in FIG1. ​​The robot 102 acquires detection information obtained by detecting living objects within a target area using millimeter-wave radar; when it is determined that a living object has left the target area, it generates a cleaning strategy for the target area based on the detection information; and controls the robot to clean the target area based on the cleaning strategy.

[0081] The robot 102 is any robot capable of performing cleaning tasks, including sweeping robots, mopping robots, or sweeping and mopping robots. The robot 102 is equipped with millimeter-wave radar, which can detect living objects.

[0082] In one embodiment, as shown in FIG2, a robot cleaning method is provided. Taking the application of this method to the robot in FIG1 as an example, the method includes the following steps:

[0083] S202, acquiring detection information obtained by detecting live objects in the target area through millimeter-wave radar.

[0084] Wherein, millimeter-wave radar is a radar that operates in the millimeter-wave band (frequency of 30-300GHz, wavelength of 1-10mm), and has the characteristics of wide bandwidth, short wavelength, light weight, strong resolution and strong penetration. Millimeter-wave radar emits electromagnetic waves through an antenna. The emitted electromagnetic waves are reflected by objects in space, generating reflected echoes. The objects can be detected based on the intensity of the reflected echoes, including liveness detection, liveness recognition, vital sign detection or movement trajectory detection, etc.The detection information refers to information obtained through millimeter-wave radar detection, including spatial location information, motion information, action information, or vital sign information of the living object. Spatial location information indicates the position of the living object in three-dimensional space, including the distance or direction between the living object and the robot. Motion information indicates the movement of the living object, including its speed and direction of movement. Action information indicates the posture of the living object, including the type of action (e.g., falling, jumping, throwing, or standing), the amplitude of the action, the direction of the action, and the type of gesture (e.g., fist, confirmation, left finger, or number). Vital sign information indicates the vital signs of the living object, including the liveness detection result, heart rate, or respiratory rate. In one embodiment, the millimeter-wave radar can be deployed on the robot. When the robot is charging at a charging station, the millimeter-wave radar can detect target areas where the distance to the charging station is less than a preset value. Alternatively, when the robot moves to the target point, the target area around the target point can also be detected by millimeter-wave radar.

[0085] The target area is a region in three-dimensional space, which can be a region in an indoor space or an outdoor space. In one embodiment, the target area can include the entire indoor space or a region formed by inherent boundaries in the indoor space (e.g., walls, doors, or steps). For example, the target area can be a bedroom, living room, dining room, or bathroom. In another embodiment, the target area can also be a region divided in space, for example, a specific area pre-divided near charging stations, furniture, or home appliances. In one embodiment, the target area can also be a specific work area for the robot. For example, the target area can be a kitchen, dining room, living room, or pet activity area that the robot needs to focus on cleaning. For example, the target area can also be a work area where the robot needs to reduce noise, such as a bedroom or study. Living objects include people or animals, for example, living objects can be adults, children, or pets at home. In another embodiment, the target area can be the detection area of ​​millimeter-wave radar. For example, when millimeter-wave radar is deployed on a robot or charging station, the target area can be the detection area of ​​the millimeter-wave radar on the robot or charging station.

[0086] S204, when it is determined that a living object has left the target area, a cleaning strategy for the target area is generated based on the detection information.

[0087] Wherein, the cleaning strategy is a set of cleaning steps, cleaning parameters or cleaning modes, etc., used to achieve the cleaning target, including the location of each area to be cleaned, the cleaning sequence corresponding to each area, and the cleaning intensity corresponding to each area (which can be...).(Indicated by suction power), cleaning mode (sweeping mode or mopping mode, etc.), or cleaning duration, etc. For example, as shown in Table 1, the cleaning strategy includes cleaning ranges of sub-areas 1, 2, and 3 in the target area, and the cleaning order is sub-area 1, sub-area 2, and sub-area 3. The cleaning duration corresponding to sub-area 1 is 3 minutes, and the suction power is 1600Pa; the cleaning duration corresponding to sub-area 2 is 4 minutes, and the suction power is 1800Pa; the cleaning duration corresponding to sub-area 3 is 5 minutes, and the suction power is 2200Pa.

[0088] Table 1

[0089] Cleaning order Cleaning duration (minutes) Suction power (Pa) Sub-area 1 3 1600 Sub-area 2 4 1800 Sub-area 3 5 2200

[0090] In one embodiment, S204 specifically includes: the robot can determine whether a living object has left the target area by using the detection information obtained by millimeter-wave radar. Specifically, the robot can determine whether a living object exists in the target area based on the vital signs information in the detection information. When a living object is present in the target area, the robot can track the target object using millimeter-wave radar, locate the position coordinates of the living object, and determine whether the living object has left the target area based on the position coordinates of the living object.

[0091] In one embodiment, S204 specifically includes: when it is determined that the living object has left the target area, if it is determined that the target area should be cleaned based on the detection information, a cleaning strategy for the target area is generated based on the detection information.

[0092] In one embodiment, S204 specifically includes: when it is determined that the living object has left the target area, the robot determines the movement trajectory of the living object in the target area and the dwell time of each trajectory point in the movement trajectory based on the detection information; if it is determined that the target area should be cleaned based on the movement trajectory and the dwell time, a cleaning strategy for the target area is generated based on the detection information. The robot can determine the movement trajectory of the living object in the target area and the dwell time of each trajectory point in the movement trajectory based on the detection information, and then determine the trajectory area of ​​the living object in the target area based on the movement trajectory. For example, the robot can determine the area around each trajectory point in the movement trajectory as the trajectory area. For example, as shown in Figure 3a, if a living object moves from point A to point B, and then from point B to point C, the movement trajectory includes trajectory points A, B, and C. The robot can define the circular area centered on trajectory points A, B, and C as the trajectory area. Alternatively, as shown in Figure 3b, the robot can also define the area within a preset range from the movement trajectory as the trajectory area. If the trajectory area meets the trajectory conditions and / or the dwell time meets the duration conditions, the robot determines to clean the target area. Trajectory conditions may include, for example, the area of ​​the trajectory area reaching a preset value, or the trajectory area containing a pre-configured specific area. Duration conditions may include, for example, various...The total dwell time corresponding to each trajectory point reaches a preset value, or the dwell time corresponding to each trajectory point is greater than the preset value, etc.

[0093] The detection information includes the position and direction of the living object, etc. The activity of the living object can be determined according to the detection information. Since the activity of the living object in the target area may generate some garbage, this garbage may fall into the trajectory area of ​​the living object's movement trajectory. Therefore, the trajectory area corresponding to the living object's movement trajectory may need to be cleaned, while other areas in the target area not involved by the living object may not need to be cleaned. The robot generates a cleaning strategy for the target area according to the detection information, so that the generated cleaning strategy takes into account the activity of the living object and improves the flexibility of generating the cleaning strategy.

[0094] S206, control the robot to clean the target area based on the cleaning strategy.

[0095] The robot cleans the target area according to the cleaning strategy. For example, the robot can determine the sub-areas that need to be cleaned in the target area according to the cleaning strategy, as well as the cleaning mode and cleaning time corresponding to each sub-area. For example, the robot cleans sub-area 1 in sweeping mode for three minutes and sub-area 2 in mopping mode for five minutes according to the cleaning strategy.

[0096] In the above embodiments, detection information obtained by detecting a living object in the target area through millimeter-wave radar is acquired. Millimeter-wave radar is a radar that operates in the millimeter-wave band and has high detection accuracy for living objects. The detection information obtained by millimeter-wave radar can accurately reflect the movement and vital signs of the living object. When it is determined that the living object has left the target area, a cleaning strategy for the target area is generated based on the detection information. This allows the robot to generate a cleaning strategy based on the detection information of the living object. The generated cleaning strategy takes into account the movement and vital signs of the living object, so that the target area can be cleaned flexibly according to the cleaning strategy, thereby improving cleaning efficiency.

[0097] In one embodiment, as shown in FIG4, S204 specifically includes the following steps:

[0098] S402, determine the movement trajectory of the living object in the target area and the dwell time of each trajectory point in the movement trajectory based on the detection information.

[0099] Wherein, the movement trajectory is composed of the trajectory points passed by the living object. For example, as shown in Figure 5, a living object moves from a dining chair to a toilet, and then from a toilet to a sofa. The trajectory points traversed by the living object during its movement constitute the movement trajectory of the living object. The dwell time is the duration for which the living object stays at a trajectory point. For example, if the living object stays at trajectory point A for three minutes, the dwell time corresponding to trajectory point A is three minutes.

[0100] In one embodiment, S402 specifically includes: determining the distance and direction between the living object and the robot at each time point based on the detection information, and determining the position of the living object at each time point based on the distance, direction, and the robot's position coordinates.Position coordinates: Generate the movement trajectory of the living object in the target area based on the position coordinates of the living object, and determine the dwell time of the living object at each trajectory point.

[0101] S404: Generate a cleaning strategy for the target area based on the movement trajectory and dwell time.

[0102] Since the living object may generate garbage on the movement trajectory, and the longer the dwell time of the living object at the trajectory point, the greater the possibility of garbage being generated, the robot can flexibly clean the target area according to the movement trajectory and dwell time, and customize the cleaning strategy for the target area.

[0103] In the above embodiment, the robot determines the movement trajectory of the living object in the target area and the dwell time at each trajectory point in the movement trajectory based on the detection information, and generates a cleaning strategy for the target area based on the movement trajectory and dwell time. Thus, the cleaning strategy can be customized according to the movement trajectory and dwell time of the living object in the target area, improving the flexibility of robot cleaning, and the robot can clean in a targeted manner according to the activity of the living object, improving cleaning efficiency.

[0104] In one embodiment, as shown in FIG6, S404 specifically includes the following steps:

[0105] S602, in the target area, determine the sub-regions corresponding to each trajectory point in the movement trajectory.

[0106] Wherein, the sub-region is a part of the target area, which can be a region of various geometric shapes or irregular shapes. For example, the sub-region is a circular region, a rectangular region, or a triangular region centered on the trajectory point. In one embodiment, the sub-regions corresponding to each trajectory point can form the target area. In another embodiment, all the sub-regions corresponding to each trajectory point are only a part of the target area, and the target area also includes the remaining area outside the sub-regions corresponding to each trajectory point.

[0107] In one embodiment, the sub-region corresponding to the trajectory point can contain the trajectory point, for example, the trajectory point is the center point or boundary point of the corresponding sub-region. In another embodiment, the trajectory point may not be contained in the corresponding sub-region. For example, the sub-region corresponding to the trajectory point can be a preset area on one side of the trajectory point.

[0108] S604, determine the cleaning parameters corresponding to each sub-region according to the dwell time.

[0109] The cleaning parameters are parameters used to represent the robot's cleaning ability, including rotation speed, suction power, or cleaning duration. For example, the cleaning parameter can be a suction power of 1900 Pa. Another example is a rotation speed of 2000 rpm. Yet another example is a cleaning duration of 5 minutes.

[0110] To improve the cleaning effect, the robot can intensify cleaning at trajectory points where the living object remains for a longer period. In one embodiment, the cleaning duration, suction power, and rotation speed determined by the robot can be proportional to the dwell time.

[0111] S606, Based on cleaning parameters, generate a cleaning strategy for the target area.

[0112] The robot determines the sub-area to be cleaned in the target area according to the movement trajectory of the living object, determines the cleaning parameters corresponding to each sub-area, and then generates a cleaning strategy for cleaning each sub-area based on the cleaning parameters. For example, the generated cleaning strategy includes three cleaning steps: Cleaning step 1: Cleaning sub-area 1, cleaning parameters are: wiping motor speed: 2000 rpm, cleaning time: 3 minutes, suction power 1900Pa; Cleaning step 2: Cleaning sub-area 2, cleaning parameters are: wiping motor speed: 2200 rpm, cleaning time: 5 minutes, suction power 2300Pa; Cleaning step 3: Cleaning sub-area 3, cleaning parameters are: wiping motor speed: 2500 rpm, cleaning time: 6 minutes, suction power 2500Pa.

[0113] In one embodiment, before S606, the robot further includes: determining the cleaning sequence number corresponding to each sub-area according to the area position coordinates corresponding to each sub-area and the robot's current position coordinates. S606 specifically includes: generating a cleaning strategy for the target area based on cleaning parameters and cleaning sequence numbers.

[0114] The robot can determine the distance between each sub-area and the robot based on the area position coordinates corresponding to each sub-area and the robot's current position coordinates, and determine the cleaning sequence number corresponding to each sub-area based on the distance between each sub-area and the robot, so as to clean each sub-area in the order determined by the cleaning sequence number. For example, the robot can determine the cleaning sequence number corresponding to each sub-area in the order from near to far.

[0115] In the above embodiment, the robot determines the cleaning sequence number corresponding to each sub-area based on the area position coordinates corresponding to each sub-area and the robot's current position coordinates, and then generates a cleaning strategy for the target area based on cleaning parameters and cleaning sequence numbers. This allows the robot to clean the sub-areas in sequence, improving cleaning efficiency.

[0116] In one embodiment, as shown in FIG7, S204 specifically includes the following steps:

[0117] S702, when it is determined that the living object leaves the target area, the movement trajectory of the living object in the target area is determined according to the detection information.

[0118] S704, the trajectory area corresponding to the movement trajectory is determined.

[0119] S706, if the trajectory area contains the target indoor space object, the cleaning area is determined according to the position coordinates of the target indoor space object, and the robot is controlled to perform cleaning operations on the cleaning area.

[0120] Wherein, the trajectory area is the area containing the movement trajectory, which can be the area obtained by extending outward from the line connecting the movement trajectories. For example, as shown in FIG8, before the living object moves from the dining chair to the gas stove in the kitchen, the movement trajectory is from the dining chair to the gas stove in the kitchen.The trajectory from the chair to the gas stove is defined as the area extending to the left and right of the moving object's direction of movement, centered on the trajectory. The indoor space object refers to objects placed indoors, including various furniture and appliances, both movable and immovable. For example, an indoor space object could be a movable sofa, bed, refrigerator, or washing machine. Conversely, it could be a immovable cabinet, wardrobe, gas stove, or toilet. The target indoor space object can be one or more of these objects, and the robot can pre-set the target indoor space object. For instance, the target indoor space object set by the robot could be an indoor space object around which a living object frequently generates trash, such as a coffee table or gas stove. Since living objects often generate trash around certain indoor space objects—for example, people tend to drop trash near the gas stove or kitchen preparation area while cooking—if a person stays near the preparation area or gas stove, cleaning is required. Therefore, the robot can determine the cleaning area based on the position coordinates of the target indoor space object, defining the area around the target indoor space object as the cleaning area. For example, when the trajectory area corresponding to the movement trajectory of a living object includes a gas stove, the rectangular area in front of the gas stove is determined as the cleaning area.

[0121] In one embodiment, S706 specifically includes: extracting first cleaning information corresponding to the target indoor space object; the first cleaning information includes at least one of cleaning intensity, cleaning mode, and cleaning duration; and controlling the robot to perform cleaning operations on the cleaning area according to the first cleaning information.

[0122] Wherein, the first cleaning information is information used to instruct the robot to perform cleaning operations on the target indoor space object, including cleaning intensity, cleaning mode, or cleaning duration, etc. Cleaning intensity is used to indicate the strength of the robot's cleaning ability, which can be represented by suction. Cleaning mode is the mode adopted by the robot when performing cleaning operations, including sweeping mode or mopping mode, etc. The robot can preset the first cleaning information corresponding to each target indoor space object. For example, the robot can set the first cleaning information corresponding to the gas stove as "cleaning intensity: suction 3000Pa, cleaning mode: mopping mode, cleaning duration: 5 minutes". When the robot determines that the trajectory area corresponding to the movement trajectory includes the target indoor space object, it determines the first cleaning information corresponding to the target indoor space object. In one embodiment, the first cleaning information corresponding to each target indoor space object can be stored in a configuration file, and the robot determines the first cleaning information corresponding to the target indoor space objects contained in the trajectory area based on the configuration file.

[0123] The robot performs cleaning operations according to the first cleaning information corresponding to the target indoor space object. For example, the robot can increase the cleaning intensity and cleaning time for areas such as gas stoves that are prone to generating garbage and are not easy to clean; or, the robotHumans can also use a mopping mode to clean areas prone to water stains, such as coffee tables. The robot performs cleaning operations based on the first cleaning information, and can customize the cleaning area according to the characteristics of the target indoor space object, improving the robot's cleaning efficiency and ensuring the cleaning effect.

[0124] In the above embodiment, when the robot determines that the living object has left the target area, it determines the movement trajectory of the living object in the target area according to the detection information. If the trajectory area corresponding to the movement trajectory contains the target indoor space object, the cleaning area is determined according to the position coordinates of the target indoor space object, and the robot is controlled to perform cleaning operations on the cleaning area. This allows the robot to perform targeted cleaning operations on the cleaning area, improving cleaning efficiency. Furthermore, the robot can clean areas that may generate garbage in a timely manner according to the movement trajectory of the living object, improving the user experience and ensuring the cleaning effect.

[0125] In one embodiment, the detection information includes the motion information of the living object, and the target area is the first area of ​​the indoor environment; as shown in FIG9, after S202, the following steps are also included:

[0126] S902, determine the historical actions of the living object during the historical period when it is in the target area based on the motion information.

[0127] Wherein, the motion information is information used to describe the motion posture of the living object, including motion type, motion amplitude, motion direction, etc. The historical period is the time period during which the living object is in the target area. The robot can determine the historical period according to its own configured time system and detection information. For example, the historical period can be the period between 9:00 and 9:30. The historical action is the action performed by the living object during the historical period. For example, the historical action can be throwing garbage, pouring water, or trimming flowers and plants, etc.

[0128] S904, if the historical action includes a target action, determine the position information when the living object performs the target action, and determine the second area in the indoor environment according to the position information.

[0129] Wherein, the target action can be a pre-configured specific action. For example, the target action can be an action that the living object is prone to producing garbage. For example, the target action could be trimming flowers and wiping a table. If the target action is included in the historical actions of the living object, then garbage may be generated when the living object performs the target action, and the robot needs to clean the area where the living object is located when it performs the target action. The robot determines the position information of the living object when it performs the target action, and determines a second area in the indoor environment based on the position information. The determined second area can be a part of the target area, or it can be a part of the target area, or it can be an area outside the target area, etc.

[0130] S906, control the robot to perform a cleaning operation on the second area.

[0131] When the robot determines a second area that needs cleaning, it cleans the second area. When cleaning the second area, the robot can select a cleaning mode, for example, it can select a sweeping mode or a mopping mode.

[0132] In one embodiment, S908 specifically includes: extracting second cleaning information corresponding to the target action; the second cleaning information includes at least one of cleaning intensity, cleaning mode, and cleaning duration; and performing a cleaning operation on the second area according to the second cleaning information.

[0133] Wherein, the second cleaning information is information used to instruct the robot to perform a cleaning operation for the target action, including cleaning intensity, cleaning mode, or cleaning duration. The robot can pre-set the second cleaning information corresponding to each target action. For example, the robot can set the first cleaning information corresponding to the target action of trimming flowers and plants as "cleaning intensity: suction 3200Pa, cleaning mode: sweeping mode, cleaning duration: 10 minutes". When the robot determines that the historical actions contain the target action, it determines the second cleaning information corresponding to the target action. In one embodiment, the second cleaning information corresponding to each target action can be stored in a configuration file, and the robot determines the second cleaning information corresponding to the target action contained in the historical actions based on the configuration file.

[0134] The robot performs cleaning operations based on the second cleaning information corresponding to the target action. For example, the robot can increase the cleaning intensity and duration for areas that are prone to generating garbage and are difficult to clean, such as trimming flowers and plants; or, the robot can use a mopping mode to clean actions that are prone to generating water stains, such as pouring water. The robot performs cleaning operations based on the second cleaning information, and can flexibly clean the second area according to the characteristics of the target action, improving the flexibility and efficiency of robot cleaning and ensuring the cleaning effect.

[0135] In the above embodiment, the robot determines the historical actions of the living object within the target area during a historical period based on the action information. If the historical actions include the target action, the robot determines the position information of the living object when it performs the target action, and determines the second area in the indoor environment based on the position information and controls the robot to perform cleaning operations on the second area. This allows the robot to perform cleaning operations in a targeted manner based on the actions of the living object, improving the flexibility and efficiency of cleaning operations.

[0136] In one embodiment, the detection information includes vital sign information; as shown in FIG10a, S202 is followed by S1002a-S1004a, and S204 specifically includes S1006a:

[0137] S1002a, if it is determined based on the vital sign information that the living object is in a preset state, then a prompt message for indicating that the living object is in the preset state is sent to the client.

[0138] Wherein, the vital sign information is information used to describe the vital signs of the living object, including the liveness detection result, heart rate, and other vital signs.Rate or respiratory rate, etc. The preset state is a specific physiological state of the living object, such as a sleep state, a waking state, or a movement state. The prompt information is information used to prompt the state of the living object, and can be various types of information such as text, voice, or video.

[0139] When the living object in the target area is in certain states (e.g., a sleep state), the robot's cleaning operation may interfere with the living object. At this time, the robot can temporarily refrain from cleaning the target area and continue to detect the living object. When the robot detects that the living object is in a preset state (e.g., a waking state), it can send a prompt information to the client to assist the client in monitoring the living object (e.g., the living object is an elderly person or an infant). When the user sees the prompt information sent by the robot to the client, it can assist the living object in the target area to leave the target area. For example, as shown in Figure 10b, when the baby in the target area wakes up, the robot sends a prompt message to the client. The user takes the baby away from the target area according to the robot's prompt message. If the robot detects that the baby has left the target area, it cleans the target area. This avoids the robot's cleaning operation from affecting the baby's sleep and also helps the user monitor the baby.

[0140] S1004a, new detection information is collected by millimeter-wave radar.

[0141] After sending the prompt message to the client, the robot continues to detect the target area to determine whether the living object has left the target area. The new detection information is the information detected by the robot through millimeter-wave radar after sending the prompt message, including the living object's vital signs, motion information, spatial location information, or action information.

[0142] S1006a, if it is determined that the living object has left the target area based on the new detection information, a cleaning strategy for the target area is generated according to the detection information and the new detection information.

[0143] If the robot determines that a living object has left the target area based on new detection information, the cleaning operation on the living object will not interfere with the living object, and the robot can begin cleaning the target area. The robot generates a cleaning strategy for the target area based on the detection information and the new detection information, taking into account the activity of the living object in the target area when generating the cleaning strategy, and strengthening the cleaning of areas where the living object stays for a longer period of time.

[0144] In one embodiment, when the robot moves to the target area, it performs vital sign detection on the target area using millimeter-wave radar to obtain vital sign information. When it detects that a living object (e.g., an infant, pet, elderly person, or adult) is awake, it sends a prompt message to the client. Then it continues to perform vital sign detection on the target area to obtain new vital sign information. When it is determined that the living object has left the target area based on the new vital sign information, the target area is cleaned. (Page 10 / 15 of the specification, 13)CN 121694610 A

[0145] In the above embodiment, if the robot determines that the living object is in a preset state based on vital sign information, it sends a prompt message to the client to indicate that the living object is in the preset state. New detection information is collected by millimeter-wave radar; when it is determined that the living object has left the target area, the cleaning strategy for the target area is generated based on the detection information, including: if it is determined that the living object has left the target area based on new detection information, a cleaning strategy for the target area is generated based on the detection information and the new detection information. This can avoid the cleaning operation from interfering with the living object, improve cleaning efficiency, and assist the user in monitoring the living object in the target area.

[0146] In one embodiment, after S202, it further includes: responding to the summoning command issued by the living object, determining the location information corresponding to the living object based on the detection information; determining the cleaning area based on the location information, and controlling the robot to perform cleaning operations on the cleaning area.

[0147] Wherein, the summoning command is an instruction to summon the robot to a specific location, including voice commands or gesture commands, etc. The location information is information used to indicate the location of the living object, which can be the location coordinates of the living object. The robot can determine the cleaning area based on the position information of the living object when it issues a summoning command. In one embodiment, the position information can be position coordinates. The robot determines the area whose distance from the position coordinates meets the distance condition as the cleaning area and performs cleaning operations on the cleaning area. The distance condition can be, for example, a distance less than a preset value; or the distance condition can be a distance within a preset value range, etc.

[0148] In one embodiment, the robot responds to the summoning command issued by the living object, determines the distance and angle between the robot and the living object based on detection information, and then determines the position information of the living object based on the distance and angle.

[0149] In one embodiment, the summoning command is a gesture command. The robot responds to the gesture command issued by the living object, determines the direction based on the gesture command, determines the cleaning area based on the position information and direction of the living object, and controls the robot to perform cleaning operations on the cleaning area. The gesture command is a command used to indicate the direction of the cleaning area through gestures. For example, the gesture command can be a command pointing to the left area. The robot determines a specific area to the left of the living object as the cleaning area based on the gesture command.

[0150] In the above embodiments, the robot responds to a summoning command issued by a living object, determines the location information corresponding to the living object based on detection information, determines the cleaning area based on the location information, and controls the robot to perform cleaning operations on the cleaning area. Thus, the detection information from millimeter-wave radar can assist the robot in moving to a specific area around the living object that issued the summoning command to perform cleaning operations, improving the flexibility of the cleaning operation.

[0151] In one embodiment, as shown in FIG11, the robot's cleaning method includes the following steps:

[0152] S1102, Obtain detection information obtained by detecting live objects within the target area using millimeter-wave radar.

[0153] S1104, When it is determined that a live object has left the target area, determine the movement trajectory of the live object in the target area and the dwell time of each trajectory point in the movement trajectory based on the detection information.

[0154] S1106, If it is determined that the target area should be cleaned based on the movement trajectory and dwell time, then determine the movement trajectory of the live object in the target area and the dwell time of each trajectory point in the movement trajectory based on the detection information.

[0155] S1108, In the target area, determine the sub-regions corresponding to each trajectory point in the movement trajectory; determine the cleaning parameters corresponding to each sub-region based on the dwell time; generate a cleaning strategy for the target area based on the cleaning parameters.

[0156] S1110, when the detected information is vital sign information, if it is determined that the living object is in a preset state based on the vital sign information, a prompt message is sent to the client to indicate that the living object is in the preset state; new detection information is collected by millimeter-wave radar; if it is determined that the living object has left the target area based on the new detection information, a cleaning strategy for the target area is generated according to the detection information and the new detection information.

[0157] S1112, when the living object issues a summoning command, in response to the summoning command issued by the living object, the location information corresponding to the living object is determined according to the information on page 11 / 15 of the detection manual, CN 121694610 A; the cleaning area is determined according to the location information, and the robot is controlled to perform cleaning operations on the cleaning area.

[0158] The specific content of S1102 to S1112 above can be referred to the specific implementation process described above.

[0159] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown sequentially according to the arrow indications, these steps are not necessarily executed sequentially according to the order indicated by the arrows. Unless otherwise expressly stated herein, there is no strict order restriction on the execution of these steps, and these steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0160] Based on the same inventive concept, the embodiments of this application also provide a robot cleaning device for implementing the robot cleaning method involved above. The solution to the problem provided by this device is similar to the solution described in the above method. Therefore, the specific limitations in one or more robot cleaning device embodiments provided below may vary.As the limitations of the robot cleaning method mentioned above are not repeated here.

[0161] In one embodiment, as shown in FIG12, a robot cleaning device is provided, including: an acquisition module 1202, a generation module 1204 and a cleaning module 1206, wherein:

[0162] The acquisition module 1202 is used to acquire detection information obtained by detecting a living object in a target area through millimeter-wave radar;

[0163] The generation module 1204 is used to generate a cleaning strategy for the target area based on the detection information when it is determined that the living object has left the target area;

[0164] The cleaning module 1206 is used to control the robot to clean the target area based on the cleaning strategy.

[0165] In one embodiment, the generation module 1204 is further configured to:

[0166] When it is determined that a living object leaves the target area, determine the movement trajectory of the living object in the target area and the dwell time of each trajectory point in the movement trajectory according to the detection information;

[0167] If it is determined that the target area should be cleaned according to the movement trajectory and the dwell time, generate a cleaning strategy for the target area according to the detection information.

[0168] In one embodiment, the generation module 1204 is further configured to:

[0169] Determine the movement trajectory of the living object in the target area and the dwell time of each trajectory point in the movement trajectory according to the detection information;

[0170] Generate a cleaning strategy for the target area based on the movement trajectory and the dwell time.

[0171] In one embodiment, the generation module 1204 is further configured to:

[0172] In the target area, determine the sub-regions corresponding to each trajectory point in the movement trajectory;

[0173] Determine the cleaning parameters corresponding to each sub-region according to the dwell time;

[0174] Generate a cleaning strategy for the target area based on the cleaning parameters.

[0175] In one embodiment, as shown in FIG13, the device further includes:

[0176] a determining module 1208, configured to determine the cleaning sequence number corresponding to each sub-region based on the region position coordinates corresponding to each sub-region and the current position coordinates of the robot;

[0177] a generating module 1204, further configured to generate a cleaning strategy for the target area based on cleaning parameters and the cleaning sequence number. Specification 12 / 15 pages 15 CN 121694610 A

[0178] In one embodiment, the generating module 1204 is further configured to:

[0179] when it is determined that a living object leaves the target area, determine the movement trajectory of the living object in the target area based on the detection information;

[0180] determine the trajectory area corresponding to the movement trajectory;

[0181] if the trajectory area contains a target indoor space object, determine the cleaning area based on the position coordinates of the target indoor space object, and control the robot to perform cleaning operations on the cleaning area.

[0182] In one embodiment, the generating module 1204 is further configured to:

[0183] Extract first cleaning information corresponding to the target indoor space object; the first cleaning information includes at least one of cleaning intensity, cleaning mode and cleaning duration;

[0184] Control the robot to perform cleaning operation on the cleaning area according to the first cleaning information.

[0185] In one embodiment, the detection information includes the motion information of the living object, and the target area is the first area of ​​the indoor environment; the determining module 1208 is further configured to:

[0186] Determine the historical actions of the living object during the historical period when it is in the target area based on the motion information;

[0187] If the historical actions include the target action, determine the position information of the living object when it performs the target action, and determine the second area in the indoor environment according to the position information;

[0188] Control the robot to perform cleaning operation on the second area.

[0189] In one embodiment, the determining module 1208 is further configured to:

[0190] Extract second cleaning information corresponding to the target action; the second cleaning information includes at least one of cleaning intensity, cleaning mode and cleaning duration;

[0191] Perform cleaning operation on the second area according to the second cleaning information.

[0192] In one embodiment, the detection information includes vital sign information; the device further includes:

[0193] a sending module 1210, configured to send a prompt message to the client indicating that the living object is in a preset state if it is determined based on the vital sign information;

[0194] a collection module 1212, configured to collect new detection information via millimeter-wave radar;

[0195] a generation module 1204, further configured to generate a cleaning strategy for the target area based on the detection information and the new detection information if it is determined based on the new detection information that the living object has left the target area.

[0196] In one embodiment, the device further includes:

[0197] a determining module 1208, further configured to determine the location information corresponding to the living object based on the detection information in response to a summoning command issued by the living object;

[0198] a cleaning module 1206, further configured to determine the cleaning area based on the location information and control the robot to perform cleaning operations on the cleaning area.

[0199] Each module in the above-mentioned robot cleaning device can be implemented entirely or partially through software, hardware, or a combination thereof. The above modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0200] In one embodiment, a computer device is provided, which can be a robot, and its internal structure diagram can be as shown in Figure 14. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, memory, and input / output interface are connected through a system bus, and the communication interface, display unit, and input device are connected through a system bus.The display unit and input devices are connected to the system bus via input / output interfaces. The processor of this computer device provides computing and control capabilities. The memory of this computer device includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface of this computer device is used for exchanging information between the processor and external devices. The communication interface of this computer device is used for wired or wireless communication with external terminals; wireless communication can be achieved through WIFI, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a cleaning method for a robot. The display unit of this computer device is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink display screen. The input devices of this computer device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device casing, or an external keyboard, touchpad, or mouse, etc.

[0201] Those skilled in the art will understand that the structure shown in FIG14 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. A specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0202] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0203] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps in the above-described method embodiments.

[0204] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps in the above-described method embodiments.

[0205] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions.

[0206] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware, and the computer program can be stored in a non-volatile computer.When executed, the computer program, stored in a readable storage medium, may include the processes described in the embodiments of the methods above. Any references to memory, databases, or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may take many forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the various embodiments provided in this application may include at least one of relational databases and non-relational databases. Non-relational databases may include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the various embodiments provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited thereto.

[0207] The technical features of the above embodiments can be combined arbitrarily. In order to simplify the description, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, they should be considered to be within the scope of this specification. Specification 14 / 15 pages 17 CN 121694610 A

[0208] The above embodiments only express several implementation methods of this application. The descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent of this application. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims. Instruction manual, 15 / 15 pages, 18 CN 121694610 A, Figure 1, Figure 2, Figure 3a; Instruction manual drawings, 1 / 8 pages, 19 CN 121694610 A, Figure 3bFigure 4 Figure 5 Appendix to the Instruction Manual, Page 2 / 8, 20 CN 121694610 A Figure 6 Figure 7 Appendix to the Instruction Manual, Page 3 / 8, 21 CN 121694610 A Figure 8 Figure 9 Appendix to the Instruction Manual, Page 4 / 8, 22 CN 121694610 A Figure 10a Figure 10b Appendix to the Instruction Manual, Page 5 / 8, 23 CN 121694610 A Figure 11 Appendix to the Instruction Manual, Page 6 / 8, 24 CN 121694610 A Figure 12 Figure 13 Appendix to the Instruction Manual, Page 7 / 8, 25 CN 121694610 A Figure 14 Appendix to the Instruction Manual, Page 8 / 8, 26 CN 121694610 A CLEANING METHOD, APPARATUS, COMPUTER EQUIPMENT AND STORAGE MEDIUM FOR A ROBOT Abstract The present invention discloses a cleaning method and apparatus for a robot, a computer device, a storage medium, and a computer program product. The method includes: acquiring detection information obtained by detecting a living object in a target area through a millimeter-wave radar; generating a cleaning strategy for the target area according to the detection information when it is determined that the living object has left the target area; and controlling the robot to clean the target area based on the cleaning strategy. Adoption of the method can improve the cleaning efficiency of the robot.

Claims

1. A cleaning method for a robot, characterized in that, The method includes: The antenna of the millimeter-wave radar emits electromagnetic waves to the target area, and the electromagnetic waves are reflected by living objects in the target area to generate reflected echoes. The movement trajectory of the living object is detected based on the echo intensity of the reflected echo to obtain detection information; When it is determined that a live object has left the target area, the movement trajectory of the live object in the target area and the dwell time of each trajectory point in the movement trajectory are determined according to the detection information, and the trajectory area of ​​the live object in the target area is determined based on the movement trajectory. If the trajectory area meets the trajectory conditions and / or the dwell time meets the duration conditions, the robot determines to clean the target area.

2. The method according to claim 1, characterized in that, The method further includes: The millimeter-wave radar is used to track the living object and locate its position coordinates. Determine whether the living object has left the target area based on its position coordinates.

3. The method according to claim 1, characterized in that, The method further includes: Within the target area, determine the sub-regions corresponding to each trajectory point in the movement trajectory; The cleaning parameters corresponding to each sub-region are determined based on the dwell time. Based on the cleaning parameters, a cleaning strategy is generated for the target area; The target area is cleaned based on the cleaning strategy described above.

4. The method according to claim 3, characterized in that, The method further includes: Based on the area location coordinates corresponding to each sub-area and the current position coordinates of the robot, the cleaning sequence number corresponding to each sub-area is determined; The step of generating a cleaning strategy for the target area based on the cleaning parameters includes: Based on the cleaning parameters and the cleaning sequence number, a cleaning strategy is generated for the target area.

5. The method according to claim 1, characterized in that, The trajectory condition is that the area of ​​the trajectory region reaches a preset value, or the trajectory region contains a pre-configured specific area; the duration condition is that the sum of the dwell times corresponding to each trajectory point reaches a preset value, or the dwell times corresponding to each trajectory point are all greater than the preset value; after the robot determines to clean the target area if the trajectory region meets the trajectory condition and / or the dwell time meets the duration condition, the method further includes: If the trajectory area contains a target indoor space object, the cleaning area is determined based on the position coordinates of the target indoor space object, and the robot is controlled to perform cleaning operations on the cleaning area.

6. The method according to claim 1, characterized in that, Determining the trajectory region of a living object in the target area based on the movement trajectory includes: The trajectory region is determined by a circular region centered on multiple trajectory points of the movement trajectory; Alternatively, the region whose distance from the movement trajectory is within a preset range can be defined as the trajectory region.

7. A cleaning device for a robot, characterized in that, The device includes: The acquisition module is used to transmit electromagnetic waves to a target area through the antenna of a millimeter-wave radar. The electromagnetic waves are reflected by a living object in the target area, generating a reflected echo. The movement trajectory of the living object is detected based on the echo intensity of the reflected echo to obtain detection information. The generation module is used to determine the movement trajectory of the live object in the target area and the dwell time of each trajectory point in the movement trajectory based on the detection information when it is determined that the live object has left the target area, and to determine the trajectory area of ​​the live object in the target area based on the movement trajectory. The cleaning module is used to determine whether to clean the target area if the trajectory area meets the trajectory conditions and / or the dwell time meets the duration conditions.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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