Cleaning device, cleaning path, cleaning map generation method, and cleaning map generation system

Abstract

SOLUTION: A cleaning path acquisition method includes: generating a cleaning path of a cleaning device on the basis of a path of the cleaning device, a state mode of the cleaning device, and an amount of water consumed by the cleaning device, wherein the state modes of the cleaning device include one or more of a sweeping state mode, a mopping state mode, a sweeping and mopping state mode, and a sweeping and mopping idle state mode, and the cleaning path comprises one or more of a sweeping path, a mopping path, a sweeping and mopping path, and a sweeping and mopping idle path corresponding to the state modes of the cleaning device.EFFECT: The cleaning paths in different cleaning state modes are acquired by means of the cleaning device, and the cleaning paths are distinguished and displayed in an environment map, so that a user conveniently observes and compares the actual cleaning effects, and the user can more clearly see where a cleaning robot works and what cleaning is separately performed, and thus, the user conveniently knows whether there are missing sweeping, missing mopping, wrong sweeping, and wrong mopping.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] (Related Application)

[0002] This application claims the priority of Chinese Patent Application No. 202110641810.5 filed on June 9, 2021, and all the contents of the Chinese patent application are incorporated herein by reference.

[0003] The present disclosure relates to the technical field of cleaning paths of cleaning devices, and particularly to cleaning devices, cleaning paths, and methods and systems for generating cleaning maps.

Background Art

[0004] Currently, a sweeping robot can display the path of cleaning on the generated map. However, with the diversification of the functions of sweeping robots and the emergence of robots that integrate sweeping and mopping, it is necessary to differentiate the cleaning path from the mopping path on the map display, and there is a need to develop a cleaning device, a cleaning path, and a method and system for generating a cleaning map that can provide a differentiated cleaning path.

Summary of the Invention

[0005] (1) Object of the Invention

[0006] The object of the present disclosure is to provide a cleaning device, a cleaning path, and a method and system for generating a cleaning map that can obtain a differentiated cleaning path.

[0007] (2) Technical Solution

[0008] To solve the above problems, a first aspect of the embodiments of the present disclosure provides a method for generating a cleaning path of a cleaning device, the method including determining a moving path of the cleaning device, determining a state mode of the cleaning device, determining a water consumption of the cleaning device, and generating a cleaning path of the cleaning device based on the moving path of the cleaning device, the state mode of the cleaning device, and the water consumption of the cleaning device, wherein the state mode of the cleaning device includes one or more of a sweeping state mode, a mopping state mode, a sweeping and mopping state mode, and a sweeping and mopping idle state mode, and the cleaning path includes one or more of a sweeping path, a mopping path, a sweeping and mopping path, and a sweeping and mopping idle path corresponding to the state mode of the cleaning device.

[0009] In some embodiments, determining the moving path of the cleaning device includes generating an environmental map based on the acquired environmental data, and generating a moving path of the cleaning device based on moving data from one coordinate point to the next coordinate point of the environmental map.

[0010] In some embodiments, determining the state mode of the cleaning device includes determining that the cleaning device is in a sweeping state mode based on the fact that the sweeping module of the cleaning device is in an operating state and the mopping module of the cleaning device is in an idle state.

[0011] In some embodiments, determining the operating mode of the cleaning device includes determining that the cleaning device is in a mopping state mode based on the fact that the mopping module of the cleaning device is in an operating state and the sweeping module of the cleaning device is in an idle state.

[0012] In some embodiments, determining the operating mode of the cleaning device includes determining that the cleaning device is in a sweeping and mopping state mode based on the fact that the sweeping module and the mopping module are in operating states.

[0013] In some embodiments, based on the sweeping module and the mopping module being in an idle state, the cleaning device determines that it is in the sweeping and mopping idle state mode.

[0014] In some embodiments, determining the water consumption of the cleaning device includes determining the water consumption of the cleaning device based on the cleaning device being in the sweeping state mode, and / or determining the water consumption of the cleaning device based on the cleaning device being in the mopping state mode, and / or determining the water consumption of the cleaning device based on the cleaning device being in the sweeping and mopping state mode, and / or determining the water consumption of the cleaning device based on the cleaning device being in the sweeping and mopping idle state mode.

[0015] In some embodiments, determining the cleaning path of the cleaning device based on the moving path of the cleaning device, the state mode of the cleaning device, and the water consumption of the cleaning device includes when the cleaning device is in the sweeping state mode, determining the sweeping path based on the moving path of the cleaning device in the sweeping state mode and the water consumption of the cleaning device in the sweeping state mode, and / or when the cleaning device is in the mopping state mode, determining the mopping path based on the moving path of the cleaning device in the mopping state mode and the water consumption of the cleaning device in the mopping state mode, and / or when the cleaning device is in the sweeping and mopping state mode, determining the sweeping and mopping path based on the moving path of the cleaning device in the sweeping and mopping state mode and the water consumption of the cleaning device in the sweeping and mopping state mode, and / or The cleaning device is in the mopping idle state mode, and determining the mopping idle path based on the movement path of the cleaning device in the mopping idle state mode and the water consumption of the cleaning device in the mopping idle state mode.

[0016] A second aspect of the embodiments of the present disclosure provides a method for generating a cleaning map of a cleaning device. This method includes determining a cleaning path using any one of the cleaning path generation methods of the cleaning devices provided by the first aspect of the embodiments of the present disclosure, obtaining an environmental map, and generating a cleaning map by superimposing the environmental map and the cleaning path.

[0017] A third aspect of the embodiments of the present disclosure provides a cleaning device, which generates a cleaning map using the cleaning map generation method of the cleaning device provided by the second aspect of the embodiments of the present disclosure.

[0018] A fourth aspect of the embodiments of the present disclosure provides a cleaning map generation system for a cleaning device, including the cleaning device provided by the third aspect of the embodiments of the present disclosure, a terminal for displaying the cleaning map generated by the cleaning device, and a server that is signal-connected to the cleaning device and the terminal so as to be capable of transmitting and receiving signals, receiving and storing the cleaning map transmitted from the cleaning device, and transmitting the cleaning map to the terminal.

[0019] In some embodiments, the mopping path in the cleaning map displayed on the terminal is linear.

[0020] In some embodiments, the mopping path in the cleaning map displayed on the terminal is sheet-shaped.

[0021] (III) Beneficial Effects

[0022] The above technical solutions of the present disclosure have the following beneficial technical effects.

[0023] By obtaining the cleaning routes in different cleaning state modes with a cleaning device and differentiating and displaying the cleaning routes on an environmental map, the user can easily observe and compare the actual cleaning effects. The user can easily know where the sweeping robot is working, what kind of cleaning has been done respectively, and whether there are missed sweeps, missed moppings, incorrect sweeps, and incorrect moppings.

Brief Description of the Drawings

[0024]

Figure 1

Figure 2

Figure 3

Figure 4

Description of the Symbols

[0025] 100 Moving platform 101 Front part 102 Rear part 110 Sensing system 111 Positioning device 112 Buffer 120 Driving system 130 Energy system 140 Man-machine interaction system 150 Sweeping module 160 Mopping module 161 Cleaning head 1611 Fixed area 1612 Operating area

Modes for Carrying Out the Invention

[0026] To make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be described in more detail below with reference to the accompanying drawings. It is obvious that the described embodiments are only some embodiments of the present disclosure, not all embodiments. Based on the embodiments of the present disclosure, other embodiments obtained by those skilled in the art without creative labor are all included in the protection scope of the present disclosure.

[0027] The terms used in the embodiments of the present disclosure are only used for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms of "one", "the" and "said" used in the embodiments of the present disclosure and the appended claims are also intended to include the plural forms unless explicitly stated otherwise in the context. "Plural" generally includes at least two.

[0028] It should be noted that the term "and / or" used in this specification is only for explaining the relevant relationship of the relevant objects. For example, it should be understood that A and / or B has three possibilities: A alone, both A and B, and B alone. Furthermore, in this specification, " / " generally indicates that the relevant objects before and after are in an "or" relationship.

[0029] It should be noted that in the embodiments of the present disclosure, terms such as the first, the second, and the third are used for description, but it should be understood that they should not be limited to these terms. These terms are only used for distinction. For example, without departing from the scope of the embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0030] It should be noted that the term "including", "comprising" or any other variation is intended to cover non-exclusive inclusion. A commodity or device including a series of elements includes not only those elements but also other elements not explicitly listed, or elements specific to such a commodity or device. Without further limitation, the fact that it is defined by the expression "including one~" does not exclude the existence of other elements of the same kind in the commodity or device of the said element.

[0031] FIG. 1 is a schematic flowchart of a cleaning path generation method for a cleaning device according to an embodiment of the present disclosure.

[0032] In the first embodiment of the present disclosure, a cleaning path generation method for a cleaning device is provided, where the cleaning device may be a vacuum cleaning robot, a mopping / sweeping robot, a window climbing robot, etc. For the sake of pure illustration, in this embodiment, a cleaning robot with sweeping and mopping functions will be taken as an example for the following description.

[0033] As shown in FIG. 1, the cleaning path generation method for the cleaning device mainly includes the following.

[0034] Step S101, determine the movement path of the cleaning device.

[0035] In some embodiments, an environmental map is generated based on the acquired environmental data, and based on the movement data from one coordinate point to the next coordinate point in the environmental map, the movement path of the cleaning device is generated.

[0036] In some embodiments, the control system of the cleaning device acquires environmental data through the sensing system 110 of the cleaning device, and the environmental data includes at least the cleaning range and the cleaning environment. The cleaning environment includes at least cleaning surface data (e.g., whether there is a carpet) and obstacles or reference objects in the cleaning environment (e.g., whether there is a sofa, a refrigerator, etc. in the cleaning area). Based on the obstacles or reference objects in the cleaning environment, a plurality of coordinate points are determined. For example, a plurality of coordinate points between a sofa (the first reference object) and a seat (the second reference object) are determined, and the cleaning device starts from the sofa and moves to the seat according to the plurality of coordinate points between the sofa and the seat, and generates the movement path of the cleaning device based on the movement data from one coordinate point to the next coordinate point, where the movement data includes at least the movement distance and direction.

[0037] After the cleaning device first enters the cleaning environment, it acquires corresponding environmental data to generate an environmental map. Then, every time the cleaning device executes a cleaning task, the cleaning device acquires environmental data and updates the environmental map based on the acquired environmental data. The movement path of the cleaning device is generated based on the latest environmental map.

[0038] Step S102: Determine the state mode of the cleaning device.

[0039] In some embodiments, the control system of the cleaning device determines the overall state mode of the cleaning device based on the operating states or operating data of each component of the cleaning device. The state mode of the cleaning device includes one or more of a sweeping state mode, a mopping state mode, a sweeping and mopping state mode, and a sweeping and mopping idle state mode. Here, the control system of the cleaning device determines that the sweeping module 150 of the cleaning device is in an operating state and the mopping module 160 of the cleaning device is in an idle state, thereby determining that the cleaning device is in the sweeping state mode. The control system of the cleaning device determines that the mopping module 160 of the cleaning device is in an operating state and the sweeping module 150 of the cleaning device is in an idle state, thereby determining that the cleaning device is in the mopping state mode. The control system of the cleaning device determines that the sweeping module 150 and the mopping module 160 are in an operating state, thereby determining that the cleaning device is in the sweeping and mopping state mode. The control system of the cleaning device determines that the sweeping module 150 and the mopping module 160 are in an idle state, thereby determining that the cleaning device is in the sweeping and mopping idle state.

[0040] Step S101 and step S102 may be executed simultaneously or sequentially, and the execution order of step S101 and step S102 is not limited.

[0041] Step S103: Determine the water consumption of the cleaning device.

[0042] In some embodiments, the control system of the cleaning device determines the water consumption of the cleaning device based on the cleaning device being in the sweeping mode, and / or determines the water consumption of the cleaning device based on the cleaning device being in the mopping mode, and / or determines the water consumption of the cleaning device based on the cleaning device being in the sweeping and mopping mode, and / or determines the water consumption of the cleaning device based on the cleaning device being in the sweeping and mopping idle mode. The water consumption of the cleaning device in the sweeping mode and the sweeping and mopping idle mode is 0, and the water consumption of the cleaning device in the mopping mode and the sweeping and mopping mode is determined by a water level sensor or a preset water consumption command.

[0043] Step S104: Generate a cleaning path of the cleaning device based on the moving path of the cleaning device, the state mode of the cleaning device, and the water consumption of the cleaning device.

[0044] In some embodiments, the cleaning path of the cleaning device includes a plurality of cleaning information such as moving path information, water consumption information, and cleaning mode information. The cleaning path includes one or more of a sweeping path, a mopping path, a sweeping and mopping path, and a sweeping and mopping idle path corresponding to the state mode of the cleaning device. The control system of the cleaning device determines the sweeping path based on the cleaning device being in the sweeping mode, the moving path of the cleaning device in the sweeping mode, and the water consumption of the cleaning device in the sweeping mode, and / or determines the mopping path based on the cleaning device being in the mopping mode, the moving path of the cleaning device in the mopping mode, and the water consumption of the cleaning device in the mopping mode, and / or determines the sweeping and mopping path based on the cleaning device being in the sweeping and mopping mode, the moving path of the cleaning device in the sweeping and mopping mode, and the water consumption of the cleaning device in the sweeping and mopping mode, and / or determines the sweeping and mopping idle path based on the cleaning device being in the sweeping and mopping idle mode, the moving path of the cleaning device in the sweeping and mopping idle mode, and the water consumption of the cleaning device in the sweeping and mopping idle mode.

[0045] In the second embodiment of the present disclosure, a method for generating a cleaning map of a cleaning device is provided, mainly including the following steps.

[0046] Step S201: Determine a cleaning path using any one of the cleaning path generation methods provided by the first aspect of the embodiments of the present disclosure. Thereby, it is set to accurately reflect the workload of the current cleaning of the cleaning device.

[0047] In some embodiments, the cleaning path is obtained and generated by a cleaning device that executes a cleaning task.

[0048] Step S202: Obtain an environmental map.

[0049] In some embodiments, the environmental map is an environmental map generated or updated based on environmental data when the cleaning device executes a cleaning task. Thereby, the scope of the current cleaning of the cleaning device can be accurately reflected. For example, when a door of a certain room in a house is closed, the cleaning device cannot enter the closed room, and the closed room has not been cleaned, and the user can intuitively know which places have been cleaned and which places have not been cleaned.

[0050] Step S203: Generate a cleaning map by overlaying the environmental map and the cleaning path.

[0051] In some embodiments, the environmental map is used as the bottom layer, and the cleaning path is overlaid on the upper layer of the environmental map to generate a cleaning map.

[0052] FIG. 2 and FIG. 3 are schematic structural diagrams of a cleaning device in an embodiment of the present disclosure. In the third embodiment of the present disclosure, as shown in FIG. 2 and FIG. 3, a cleaning device is provided, and a cleaning map is generated using the cleaning map generation method of the cleaning device provided by the second aspect of the embodiments of the present disclosure.

[0053] In some embodiments, the cleaning device includes a moving platform 100, a sensing system 110, a control system, a driving system 120, a cleaning module, an energy system 130, and a man-machine interaction system 140. The control system determines the state mode of the entire cleaning device by acquiring the operating states or operation data of the moving platform 100, the sensing system 110, the driving system 120, the cleaning module, the energy system 130, and the man-machine interaction system 140.

[0054] The moving platform 100 may be an autonomous moving platform or a non-autonomous moving platform. An autonomous moving platform means that the moving platform 100 itself automatically makes an adaptive operation decision in response to unexpected environmental inputs. A non-autonomous moving platform itself cannot make an adaptive operation decision in response to unexpected environmental inputs, but can operate according to a predetermined procedure or a certain logic. Therefore, when the moving platform 100 is an autonomous moving platform, the target direction may be autonomously determined by the automatic cleaning device. When the moving platform 100 is a non-autonomous moving platform, the target direction may be set by the system or manually. When the moving platform 100 is an autonomous moving platform, the moving platform 100 includes a front portion 101 and a rear portion 102.

[0055] The sensing system 110 includes a positioning device 111 located above the moving platform 100, a buffer 112 located in the front portion 101 of the moving platform 100, a cliff sensor and an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), an odometer (not shown), and other sensing devices located at the bottom of the moving platform 100, and provides each position information and motion state information of the device to the control system.

[0056] The positioning device 111 includes, but is not limited to, a camera and a laser distance measuring device (LDS).

[0057] Each assembly in the sensing system 110 can operate independently or together to achieve a more precisely intended function. The cliff sensor and the ultrasonic sensor can recognize the cleaning surface, determine the physical characteristics of the cleaning surface (including surface material, cleanliness, etc.), and make a more accurate determination in combination with a camera, a laser distance measuring device, etc.

[0058] The control system is provided on the circuit motherboard within the mobile platform 100 and includes a non - volatile memory, such as a hard disk, a flash memory, and an arithmetic processor that communicates with a random access memory, such as a central processing unit and an application processor. The application processor receives environmental information sensed by a plurality of sensors from the sensing system 110, obstacle information fed back from the laser distance measuring device, etc., uses a positioning algorithm, such as SLAM, to draw an immediate map of the environment where the automatic cleaning device is located, autonomously determines a driving route based on the environmental information and the environmental map, and then executes operations such as forward movement, backward movement, and / or steering of the drive system 120 based on the autonomously determined driving route. The control system determines whether to operate the cleaning module based on the environmental information and the environmental map to execute a cleaning operation.

[0059] A buffer 112 is provided in the front - facing portion 101 of the mobile platform 100. During the cleaning process, the buffer 112 detects one or more events (or objects) in the driving route of the automatic cleaning device through a sensor system, such as an infrared sensor. The automatic cleaning device controls the drive wheel assembly through the events (or objects) detected by the buffer 112, such as obstacles, walls, etc., and the automatic cleaning device responds to the events (or objects), for example, moves away from the obstacle.

[0060] The control system combines the distance information and speed information fed back from sensing devices such as buffer 112, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers, etc., to comprehensively determine the current operating state of the sweeper, such as crossing a threshold, getting on a carpet, being located on a cliff, being caught above or below, having a full dust box, being lifted, etc., or to provide specific next operation strategies according to different situations, so that the operation of the automatic cleaning device conforms to the requirements of the owner and a better user experience can be obtained. In some embodiments, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the instant map information depicted by SLAM, which can greatly improve the cleaning efficiency of the automatic cleaning device.

[0061] In some embodiments, an environmental map is generated based on the environmental data acquired by the cleaning device, and the cleaning device generates the movement path of the cleaning device based on the movement data from one coordinate point to the next coordinate point in the environmental map.

[0062] In some embodiments, the control system acquires environmental data through the sensing system 110, and the environmental data includes at least the cleaning range and the cleaning environment. The cleaning environment includes at least floor data (e.g., whether there is a carpet) and obstacles or reference objects within the cleaning environment (e.g., whether there is a sofa, refrigerator, etc. within the cleaning area). With reference to the obstacles or reference objects within the cleaning environment, a plurality of coordinate points are determined. For example, a plurality of coordinate points are determined between a sofa (the first reference object) and a seat (the second reference object). The cleaning device starts from the sofa and moves to the seat according to the plurality of coordinate points between the sofa and the seat, and generates the movement path of the cleaning device based on the movement data from one coordinate point to the next coordinate point, where the movement data includes at least the movement distance and direction.

[0063] After the cleaning device first enters the cleaning environment, it acquires corresponding environmental data to generate an environmental map. Subsequently, each time the cleaning device executes a cleaning task, the cleaning device acquires environmental data and updates the environmental map based on the acquired environmental data. The movement path of the cleaning device is generated based on the latest environmental map.

[0064] The cleaning module includes a sweeping module 150 and a mopping module 160. The sweeping module 150 includes a roller brush, a dust box, a blower, and an air outlet. The sweeping module 150 may include a side brush having a rotating shaft, the rotating shaft forming a certain angle with the floor surface, and the debris moving to the roller brush area of the cleaning module. The roller brush having a certain interference with the floor surface sweeps up the dust on the floor and rolls it to the front of the dust suction port between the roller brush and the dust box. Then, it is sucked into the dust box by the gas having a suction force passing through the dust box generated by the blower structure. The dust is isolated by the filter screen on the side close to the dust suction port inside the dust box. The filter screen completely isolates the dust suction port and the air outlet, and the filtered air enters the blower from the air outlet.

[0065] The sweeping module 150 is connected to a floating lifting structure, and the sweeping module 150 moves up and down passively with respect to the moving platform 100. In some embodiments, the floating lifting structure is a parallelogram four-link lifting structure, and under the action of an external force, the sweeping module 150 is passively switched between the rising state and the sinking state. By providing a four-link floating lifting structure for the sweeping module 150, the sweeping module 150 moves up and down passively with respect to the moving platform 100. The roller brush of the sweeping module 150 is separated from the cleaning surface, that is, the sweeping module 150 floats on the cleaning surface. At this time, the sweeping module 150 is in an idle state. When it is necessary to switch from the idle state to the operating state, the sweeping module 150 is lowered so that the roller brush of the sweeping module 150 interferes with the cleaning surface. When the cleaning device encounters an obstacle during the working process, it can easily cross the obstacle through the four-link floating lifting structure, avoiding damage to the cleaning device caused by the obstacle.

[0066] The mopping module 160 includes a cleaning head 161 and a driving unit. The cleaning head 161 is used to clean at least a part of the operation surface (for example, the floor surface), and the driving unit is used to drive the cleaning head 161 to substantially reciprocate along the target surface, and the target surface is a part of the operation surface. The cleaning head 161 reciprocates along the cleaning surface, and a cleaning cloth or a cleaning plate is provided on the contact surface between the cleaning head 161 and the cleaning surface, and high-frequency friction is generated between the cleaning surface and the cleaning head 161 by the reciprocating motion to remove dirt on the cleaning surface. In some embodiments, the cleaning head 161 includes a fixed area 1611 and an operating area 1612. Here, the fixed area 1611 is located at the bottom of the moving platform 100, and the operating area 1612 is used to reciprocate along the target surface to clean the target surface.

[0067] The mopping module 160 is movably connected to the moving platform 100 through a four-link lifting structure. Here, the four-link lifting structure is a parallelogram structure, and the mopping module 160 can be switched between the ascending state and the descending state. The ascending state means that the mopping module 160 is separated from the operation surface and the cleaning head 161 is separated from the cleaning surface, that is, the mopping module 160 floats above the cleaning surface. At this time, the mopping module 160 is in an idle state. When it is necessary to switch from the idle state to the operating state, the mopping module 160 is lowered to bring the mopping module 160 into contact with the floor surface. When the mopping task is completed, the mopping module 160 is lifted so that the mopping module 160 is separated from the floor surface, and the increase in resistance caused by the presence of the cleaning module is avoided when the cleaning device moves freely on the surface to be cleaned. Further, when the mopping module 160 is in contact with the cleaning surface but the driving unit of the mopping module 160 is not driving the operation of the cleaning head 161, the mopping module 160 is also in an idle state.

[0068] When the control system obtains that the sweeping module 150 is in the lowered state, that is, determines that the sweeping module 150 is in the operating state, and the mopping module 160 is in the lowered state and the drive unit is not driving the operation of the cleaning head 161, or determines that the mopping module 160 is in the raised state, that is, the mopping module 160 is in the idle state, the cleaning device determines that it is in the sweeping state mode.

[0069] When the control system obtains that the sweeping module 150 is in the lowered state, that is, determines that the sweeping module 150 is in the operating state, and the mopping module 160 is in the lowered state and the drive unit is driving the operation of the cleaning head 161, that is, determines that the mopping module 160 is in the operating state, the cleaning device determines that it is in the sweeping and mopping state mode.

[0070] In some embodiments, the cleaning device determines the water consumption of the cleaning device based on the cleaning device being in the sweeping state mode, and / or the cleaning device determines the water consumption of the cleaning device based on the cleaning device being in the mopping state mode, and / or the cleaning device determines the water consumption of the cleaning device based on the cleaning device being in the sweeping and mopping state mode, and / or the cleaning device determines the water consumption of the cleaning device based on the cleaning device being in the sweeping, mopping and idle state mode.

[0071] In some embodiments, the water consumption of the cleaning device is 0 in the sweeping mode and the sweeping, mopping and idle state mode, and the water consumption of the cleaning device in the mopping state mode and the sweeping and mopping state mode is determined by a water level sensor or a preset water consumption command.

[0072] In some embodiments, the cleaning device determines a sweeping path based on the movement path of the cleaning device in the sweeping state mode and the water consumption of the cleaning device in the sweeping state mode, and / or the cleaning device is in the mopping state mode, and the cleaning device determines a mopping path based on the movement path of the cleaning device in the mopping state mode and the water consumption of the cleaning device in the mopping state mode, and / or the cleaning device is in the sweeping and mopping state mode, and the cleaning device determines a sweeping and mopping path based on the movement path of the cleaning device in the sweeping and mopping state mode and the water consumption of the cleaning device in the sweeping and mopping state mode, and / or the cleaning device is in the sweeping and mopping idle state mode, and the cleaning device determines a sweeping and mopping idle path based on the movement path of the cleaning device in the sweeping and mopping idle state mode and the water consumption of the cleaning device in the sweeping and mopping idle state mode.

[0073] In the fourth embodiment of the present disclosure, a cleaning map generation system for a cleaning device is provided, mainly including a cleaning device provided by the third aspect of the embodiment of the present disclosure, and a terminal and a server for displaying the cleaning map generated by the cleaning device. The server is respectively connected to the cleaning device and the terminal in a signal transmission and reception capable manner, receives and stores the cleaning map transmitted by the cleaning device, and is used to transmit the cleaning map to the terminal.

[0074] In some embodiments, the cleaning device starts from the charging pile and moves to the initial cleaning point based on a preset cleaning command. While performing the cleaning task, the cleaning device acquires the surrounding cleaning environment through the sensing system 110, generates a cleaning map, and the cleaning device transfers the real-time generated cleaning map to a remote server. The remote server stores the cleaning map and transmits it to the terminal to display the cleaning map. Here, the terminal may be a mobile phone, a tablet, or a smart device.

[0075] FIG. 4 is a schematic diagram of a cleaning map in an embodiment of the present disclosure.

[0076] In some embodiments, as shown in FIG. 4, the cleaning path map includes one or more of a sweeping path, a mopping path, and a sweeping and mopping path.

[0077] In some embodiments, the sweeping path in the cleaning map displayed on the terminal is linear.

[0078] In some embodiments, the mopping path in the cleaning map displayed on the terminal is sheet-shaped.

[0079] In some embodiments, the mopping path has a shadow. The greater the mopping water consumption of the cleaning device, the darker the color of the shadow, and the smaller the mopping water consumption of the cleaning device, the lighter the color of the shadow.

[0080] The above embodiments are only used for the purpose of explaining the technical solutions of the present disclosure and are not restrictive. Although the present disclosure has been described in detail with reference to the above embodiments, those skilled in the art can modify the technical solutions described in each of the above embodiments or perform equivalent substitutions on some technical features. These modifications or substitutions do not deviate from the spirit and scope of the technical solutions of each embodiment of the present disclosure.

Claims

1. Determining a movement path of the cleaning device; Determining a state mode of the cleaning device; Determining a water consumption of the cleaning device; Generating a cleaning path of the cleaning device based on the movement path of the cleaning device, the state mode of the cleaning device, and the water consumption of the cleaning device, including: The state mode of the cleaning device includes one or more of a sweeping state mode, a mopping state mode, a sweeping and mopping state mode, and a sweeping and mopping idle state mode, and the cleaning path includes one or more of a sweeping path, a mopping path, a sweeping and mopping path, and a sweeping and mopping idle path corresponding to the state mode of the cleaning device. A method for generating a cleaning path of a cleaning device, characterized in that.

2. Determining the movement path of the cleaning device includes: Generating an environmental map based on the acquired environmental data; Generating a movement path of the cleaning device based on movement data from one coordinate point to the next coordinate point on the environmental map. The method according to claim 1, characterized in that.

3. Determining the state mode of the cleaning device includes: Determining that the cleaning device is in a sweeping state mode based on the fact that the sweeping module of the cleaning device is in an operating state and the mopping module of the cleaning device is in an idle state. The method according to claim 1, characterized in that.

4. Determining the operating mode of the cleaning device includes: Determining that the cleaning device is in a mopping state mode based on the fact that the mopping module of the cleaning device is in an operating state and the sweeping module of the cleaning device is in an idle state. The method according to claim 1, characterized in that.

5. Determining the operating mode of the cleaning device includes: Determining that the cleaning device is in a sweeping and mopping state mode based on the fact that the sweeping module and the mopping module are in an operating state. The method according to claim 1, characterized in that.

6. Determining that the cleaning device is in a sweeping and mopping idle state mode based on the fact that the sweeping module and the mopping module are in an idle state. The method according to claim 1, characterized in that.

7. Determining the water consumption of the cleaning device includes: Determining the water consumption of the cleaning device based on the cleaning device being in the sweeping state mode, and / or Determining the water consumption of the cleaning device based on the cleaning device being in the mopping state mode, and / or Determining the water consumption of the cleaning device based on the cleaning device being in the sweeping and mopping state mode, and / or Determining the water consumption of the cleaning device based on the cleaning device being in the sweeping and mopping idle state mode, the method according to claim 1, characterized in that it comprises.

8. Determining the cleaning path of the cleaning device based on the movement path of the cleaning device, the state mode of the cleaning device, and the water consumption of the cleaning device, When the cleaning device is in the sweeping state mode, determining the sweeping path based on the movement path of the cleaning device in the sweeping state mode and the water consumption of the cleaning device in the sweeping state mode, and / or When the cleaning device is in the mopping state mode, determining the mopping path based on the movement path of the cleaning device in the mopping state mode and the water consumption of the cleaning device in the mopping state mode, and / or When the cleaning device is in the sweeping and mopping state mode, determining the sweeping and mopping path based on the movement path of the cleaning device in the sweeping and mopping state mode and the water consumption of the cleaning device in the sweeping and mopping state mode, and / or When the cleaning device is in the sweeping and mopping idle state mode, determining the sweeping and mopping idle path based on the movement path of the cleaning device in the sweeping and mopping idle state mode and the water consumption of the cleaning device in the sweeping and mopping idle state mode, the method according to claim 1, characterized in that it comprises.

9. Determining a cleaning path using the cleaning path generation method of the cleaning device according to any one of claims 1 to 8, Obtaining an environmental map, Generating a cleaning map by superimposing the environmental map and the cleaning path, the cleaning map generation method of the cleaning device, characterized in that it comprises.

10. Comprising a processor and a memory, The cleaning device is characterized in that the processor is used to generate a cleaning map by executing executable instructions stored in the memory and implementing the cleaning map generation method of the cleaning device according to claim 9.

11. The cleaning device according to claim 10, a terminal for displaying a cleaning map generated by the cleaning device, and a server that is connected to the cleaning device and the terminal so as to be capable of transmitting and receiving signals, receives and stores the cleaning map transmitted from the cleaning device, and is used to transmit the cleaning map to the terminal. A cleaning map generation system for a cleaning device, characterized by comprising:

12. The cleaning map generation system for a cleaning device according to claim 11, wherein the cleaning path in the cleaning map displayed on the terminal is linear.

13. The cleaning map generation system for a cleaning device according to claim 11, wherein the mopping path in the cleaning map displayed on the terminal is sheet-shaped.

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