Cleaning device control method and device, medium and electronic device

Abstract

The present disclosure relates to a cleaning device control method, a cleaning device control device, a computer-readable storage medium, and an electronic device. The method includes a step of acquiring a laying direction of a floor covering material, The installation direction is the direction in which the longest axis of symmetry of the floor laying material is located, and the installation direction is the direction in which the longest axis of symmetry of the floor laying material is located. determining a cleaning direction of the cleaning device; and and controlling the cleaning device. The method includes: The direction can be set.

Description

[Technical Field]

[0001] (Related Applications) This application is filed on November 25, 2022 under Chinese Patent Application No. 202211493 No. 648.8, the entire contents of which are incorporated herein by reference. will be incorporated into

[0002] The present disclosure relates to the field of smart homes, and in particular to a cleaning device control method, a cleaning device control The present invention relates to an apparatus, a computer-readable storage medium and an electronic device. [Background technology]

[0003] In recent years, with the rapid development of computer technology and artificial intelligence science, intelligent robot technology has gradually It has gradually become a hot spot in the field of modern robotics research. Among them, cleaning robots are well known. As one of the most practical Noh robots, it has a certain degree of artificial intelligence and automatically moves the floor. It can complete the cleaning of the surface.

[0004] Currently, during the cleaning process of the cleaning robot, its main brush, mop cloth and other cleaning structures are laid on the floor. The joints of the material are easily touched, causing rattles, and in serious cases, the dirt that was cleaned may be removed by vibration. These will also fall and have a negative impact on the effectiveness of cleaning the floor. Summary of the Invention [Problem to be solved by the invention]

[0005] The object of the present disclosure is to provide a cleaning device that can set the cleaning direction according to the actual situation of floor coverings. A cleaning device control method, a cleaning device control device, a computer-readable storage medium, and an electronic device are provided. That is the thing. [Means for solving the problem]

[0006] According to a specific embodiment of the present disclosure, in a first aspect, the present disclosure provides a cleaning device control method The method includes a step of acquiring a laying direction of a floor laying material, The direction is the direction in which the longest symmetrical axis of the floor laying material is located, and the laying direction is determining a cleaning direction of the cleaning device based on the determined cleaning direction; and controlling the cleaning device to

[0007] In an exemplary embodiment of the present disclosure, the cleaning device may be configured to perform a cleaning operation based on the laying direction. In the step of determining the direction, if the laying direction is a single direction, the laying direction is determined as and setting the single direction as the cleaning direction of the floor covering material. This means that the laying directions of the cables are parallel to each other.

[0008] In an exemplary embodiment of the present disclosure, the cleaning device may be configured to perform a cleaning operation based on the laying direction. When the laying direction is two or more different directions, the step of determining the direction The method includes setting the direction as the long side direction of the area where the floor laying material is located.

[0009] In an exemplary embodiment of the present disclosure, the step of acquiring the laying direction of the floor laying material includes: identifying the type of the floor laying material; and determining whether to identify the laying direction of the floor laying material; and After determining, identifying the laying direction of the floor covering material.

[0010] In an exemplary embodiment of the present disclosure, the floor covering material is The determination of whether to identify the laying direction is based on whether the type of laying material is a tile or a carpet. If the floor is a floor covering, the laying direction of the floor covering material is not identified, and the type of the floor covering material is Flori. If the floor covering is a floor covering, it includes identifying the laying direction of the floor covering material.

[0011] In an exemplary embodiment of the present disclosure, the method further comprises: setting the cleaning direction as the long side direction of the area where the floor laying material is located when the cleaning direction is the long side direction of the area where the floor laying material is located; It further includes

[0012] In an exemplary embodiment of the present disclosure, the floor covering material is The determination of whether to identify the laying direction is based on whether the laying material type is rectangular or diamond. If so, the method includes identifying the laying direction of the flooring material.

[0013] In an exemplary embodiment of the present disclosure, identifying the laying direction of the floor covering material includes: acquiring a floor image corresponding to the floor covering material; processing the floor image; and determining the direction of laying the materials.

[0014] In an exemplary embodiment of the present disclosure, the floor image is processed to determine whether the floor covering material is being laid. Determining the direction includes extracting line information from the floor image, and and determining the laying direction of the floor laying material.

[0015] In an exemplary embodiment of the present disclosure, the step of acquiring the laying direction of the floor laying material comprises: The method includes determining the laying direction of the flooring material in accordance with the settings of the user.

[0016] In a second aspect, the present disclosure provides a cleaning device control device, the device comprising: The laying direction is determined by the longest axis of symmetry of the floor laying material. a laying direction determining module, which is a direction in which the cleaning device is located, and a cleaning direction determination module used to determine a cleaning direction; and a cleaning device control module used to control the cleaning device to clean; Prepare.

[0017] In a third aspect, the present disclosure provides a computer-readable medium having a computer program stored thereon. a storage medium, the computer program being executed by a processor; The cleaning device control method is carried out.

[0018] In a fourth aspect, the present disclosure provides an electronic device, comprising: a processor; and a memory for storing executable instructions, wherein the processor The above cleaning device control method is implemented by executing the command.

[0019] The cleaning device control method provided by the exemplary embodiment of the present disclosure is By acquiring the direction, the cleaning direction of the cleaning device is set according to the laying direction of the laying material, and the cleaning The cleaning direction of the sweeper is related to the laying direction of the floor covering material, and the laying direction is the longest symmetrical part of the floor covering material. Since this is the direction in which the shaft is located, the laying direction is set as the cleaning direction, and the cleaning device moves in the laying direction. By cleaning along the joints, the number of times you come into contact with the joints of the paving material during the cleaning process is reduced, Reduces noise from the cleaning mechanism and the occurrence of cleaned dirt falling off, improving floor cleaning efficiency It can be done. [Brief explanation of the drawings]

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification and are consistent with the present disclosure, are provided herein. Examples are shown and, together with the specification, are used to interpret the principles of the present disclosure. In addition, the accompanying drawings in the following description are merely some examples of the present disclosure, and those skilled in the art will appreciate that Other drawings can be derived based on these accompanying drawings without any creative work. Cut. [Figure 1] 1 shows a flowchart of a cleaning device control method provided by an exemplary embodiment of the present disclosure. [Figure 2] 1 shows a schematic diagram of a section of an area to be cleaned provided by an exemplary embodiment of the present disclosure; [Figure 3] 1 shows a schematic diagram of the laying direction provided by an exemplary embodiment of the present disclosure; [Figure 4] 10A-10C show schematic diagrams of alternative laying directions provided by exemplary embodiments of the present disclosure. [Figure 5] 1 shows a schematic diagram of striation information extracted from a floor image of a section provided by an exemplary embodiment of the present disclosure; [Figure 6] 10 shows a schematic diagram of striation information extracted from a floor image of another section provided by an exemplary embodiment of the present disclosure; [Figure 7] 10A and 10B are schematic diagrams illustrating a case where a cleaning device provided according to an exemplary embodiment of the present disclosure cleans along the laying direction of the laying material. [Figure 8] 10 shows a path diagram of a cleaning device provided according to an exemplary embodiment of the present disclosure when cleaning on a vertically laid material. [Figure 9] 10 shows a path diagram of a cleaning device provided according to an exemplary embodiment of the present disclosure when cleaning on a laying material whose laying direction is horizontal. [Figure 10] 1 shows a schematic diagram of a cleaning operation interface on the user side of a cleaning device provided by an exemplary embodiment of the present disclosure; [Figure 11]10 shows a schematic diagram of a user-side cleaning direction setting interface in an exemplary embodiment of the present disclosure; [Figure 12] 1 shows a flowchart of an operational procedure for a cleaning device control method provided by an exemplary embodiment of the present disclosure. [Figure 13] FIG. 1 shows a block diagram of a cleaning device controller according to one embodiment of the present disclosure. [Figure 14] 1 shows a module schematic diagram of an electronic device according to one embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0021] To make the objectives, technical solutions and advantages of the present disclosure clearer, please refer to the accompanying drawings as follows: The present disclosure will now be described in more detail in light of the above, but it is apparent that the described embodiments may be modified in accordance with certain aspects of the present disclosure. These are merely examples and are not exhaustive. Based on the examples of the present disclosure, one skilled in the art will be able to inventively Any other embodiments obtained without any additional effort are included in the scope of protection of the present disclosure.

[0022] The terms used in the embodiments of the present disclosure are used only to describe specific embodiments and are not intended to be limiting of the present disclosure. The examples of the present disclosure and the appended claims are not intended to limit the scope of the present disclosure. As used herein, the singular forms "a," "the," and "the" include the plural. It is also intended that "plurality" generally means "at least" unless the context clearly indicates otherwise. Contains at least two.

[0023] It should be noted that, as used herein, the term "and / or" refers to the relationship of related objects. This is only a description, there are three relationships, e.g., A and / or B, where A exists alone, A and B may exist simultaneously, and B may exist independently. " generally indicates that the related objects before and after are in an "or" relationship.

[0024] In the embodiments of the present disclosure, terms such as first, second, and third are used to describe... It should be understood that the terms may be used in conjunction with, but should not be limited to, these terms. These terms are used only to distinguish between... For example, Unless otherwise specified, the first ... may also be called the second ..., and similarly the second ... may also be called the first .... may also be called.

[0025] Depending on the context, the terms "if" and "then" as used herein may be interpreted as "when" or or "when" or "responsive to determining" or "responsive to detecting." Similarly, depending on the context, you might say "(the condition or event of the description) is determined" or "(the condition or event of the description) is determined." "When it is determined that" or "in response to a determination" or "a case or event is detected" means "when it is determined that" or "in response to a determination ... "When (the described condition or event) is detected" or "When (the described condition or event) is detected" This is interpreted as "responding to something that has been issued."

[0026] It is to be noted that the terms "include," "comprise," or any other variant thereof, cover a non-exclusive inclusion. A product or device that contains a set of elements is not just intended to contain those elements; , including other elements specifically listed or inherent in these products or devices. Please note that unless further limited, elements defined by the phrase "comprises" include the preceding It does not exclude the presence of other identical elements in a product or apparatus containing the element.

[0027] An exemplary embodiment of the present disclosure provides a cleaning device control method applicable to a cleaning robot, comprising: The method comprises the steps of: Referring to FIG. 1, a cleaning device provided by an exemplary embodiment of the present disclosure may be 1 shows a flowchart of a cleaning device control method, which includes the following steps S110, S111 120 and S130.

[0028] Step S110: obtaining the laying direction of the floor laying material; This is the direction in which the longest axis of symmetry is located.

[0029] Step S120: Determine the cleaning direction of the cleaning device based on the laying direction.

[0030] Step S130: Control the cleaning device to clean along the cleaning direction.

[0031] The cleaning device control method provided by the exemplary embodiment of the present disclosure is By acquiring the direction, the cleaning direction of the cleaning device is set according to the laying direction of the laying material, and the cleaning The cleaning direction of the sweeper is related to the laying direction of the floor covering material, and the laying direction is the longest symmetrical part of the floor covering material. Since this is the direction in which the shaft is located, if the laying direction is set as the cleaning direction, the cleaning device will Cleaning along the direction of the paving material reduces the number of times the paving material joints are touched during the cleaning process. This reduces the occurrence of abnormal noise from the cleaning mechanism and the falling of cleaned dirt, improving the cleaning effect on the floor. It can be raised.

[0032] The cleaning device provided by the exemplary embodiment of the present disclosure will be described below with reference to specific embodiments. Each step of the control method will now be described in detail.

[0033] In step S110, the laying direction of the floor laying material is obtained, where the laying direction is the floor This is the direction in which the longest axis of symmetry of the laying material is located.

[0034] Typically, during the actual cleaning process of the cleaning device, the area to be cleaned is divided into several different sections. Then clean each section separately. Different sections have different cleaning directions during the cleaning process. There is a possibility.

[0035] Referring to FIG. 2, the division of the area to be cleaned provided by an exemplary embodiment of the present disclosure. In FIG. 2, the entire area to be cleaned is divided into six sections, namely, section 1 to section 2. It is divided into compartments 6, each of which may be a room area.

[0036] In practical applications, the partitioning of the area to be cleaned is done according to the natural division of the area to be cleaned. For example, the area to be cleaned may be divided according to the rooms of the entire area to be cleaned. The area may be divided according to the shape of the area. For example, a rectangular area may be used as one area. The triangular area is determined as one section, and so on.

[0037] In an exemplary embodiment of the present disclosure, the area to be cleaned is divided according to the material of the floor covering. For example, in one area, the area where flooring is laid can be considered as one section. The area where the tiles are laid is determined as one section, and the area where the carpet is laid is determined as one section. The area is determined as one section. In other words, even in one room, multiple sections may be created depending on the materials used. It may be divided into several compartments.

[0038] Specifically, during the process of dividing the area to be cleaned, the cleaning device acquires a room map. It is also possible to segment the image directly and store the segmentation results in the room map.

[0039] In addition to the above-mentioned division method, during the process of dividing the area to be cleaned, the user can The cleaning device may directly divide the area to be cleaned. The application program APP is sent to the user, and the user can edit the partitions through the APP. The edit page allows the user to directly edit the displayed room map section. It can be divided into two parts.

[0040] In an exemplary embodiment of the present disclosure, after dividing the area to be cleaned into sections, The laying direction of the flooring material can be set.

[0041] Specifically, in the process of setting the laying direction of the flooring materials for each section, the laying direction of the flooring materials is first set as In other words, it is necessary to identify the laying direction of the floor covering material. In this situation, even if it is not necessary to identify the laying direction of floor materials, it is necessary to first identify the laying direction. Only when it is determined that the laying direction can be identified in the section, Identify the direction of the floor covering material that corresponds to the area where the identification of the floor covering direction is not required, or In areas where it is not possible to identify the laying direction, unnecessary identification is not performed. This reduces the number of operational steps required.

[0042] In an exemplary embodiment of the present disclosure, whether it is necessary to identify the laying direction of floor covering material in a compartment is determined. To determine this, first identify the type of floor covering material in each section, where There are various different division methods depending on the type, for example, the type of material used for laying, such as tiles. , carpet, flooring, etc., and the type of shape of the laying material, e.g. It may be divided into rectangles, squares, diamonds, etc.

[0043] In practical application, deep learning image recognition is used in the process of identifying the type of paving material in the area. Various methods may be employed, such as first acquiring an image of the laying material in the section, The data is input to a trained deep learning model to identify the type of material being laid, and the data is used to The learning model may be a model pre-trained by image training, and such The deep learning image recognition method is mainly used to identify the material type of paving materials. Typically, the type of paving material can be identified by acquiring an image of the paving material from the section. .

[0044] The type of floor covering material may be identified using a specific sensor. For example, a carpet sensor may be used to identify the carpet. In this embodiment, the method for identifying the specific type of laying material is not particularly limited.

[0045] To identify the shape type of floor covering material, first obtain the shape of a single covering material area in the section. ,Since it is usually difficult to acquire an image of a single laid material area, after acquiring an image of a relatively large area, Extracting line information from the image and determining the shape of a single laying material region based on the line information. In addition to the above two methods for identifying the type of laying material in the sections, the present disclosure also provides methods for identifying other laying materials. The type identification method may be used by way of example and not limitation.

[0046] Depending on the type of laying material, the exemplary embodiment of the present disclosure provides two different embodiments, Determine whether identification of the laying direction of the laying material of the image is necessary.

[0047] Embodiment 1 When the type of laying material is the type of material of the floor laying material, the determination result differs depending on the type of material. Specifically, when the type of floor covering material is tile or carpet, i.e., the covering material If the type is tile or carpet, do not identify the laying direction of the floor covering material, If the type of material is flooring, the laying direction of the flooring material is identified.

[0048] This embodiment 1 can be applied to a situation where the shape of the tile is usually square, and the material of the floor covering material After the type of flooring is determined to be tile, the direction of the flooring material in the section must be identified. This eliminates unnecessary subsequent steps.

[0049] Embodiment 2 Identify the type of floor covering material in situations where tiles may be rectangular or diamond shaped. The shape type of the flooring material may be identified without performing the above steps. If the type of floor covering is rectangular or diamond shaped, Identify the laying direction of the flooring material, and if the shape type of the flooring material is other shapes such as square, The laying direction of surface laying materials is not identified.

[0050] In practical applications, either of the above two embodiments may be selected. First, the floor covering material Identify the material type, then identify whether the material type is tile or flooring, and then identify the shape type. After determining that the shape of the tile or flooring is rectangular or diamond, , it is determined that it is necessary to identify the laying direction of the floor covering material in the section.

[0051] After it has been determined that the direction of laying of flooring materials needs to be identified, laying of flooring materials in the section Able to identify direction.

[0052] In an exemplary embodiment of the present disclosure, during the process of identifying the laying direction of the floor covering material, first Floor images may be collected and then processed to determine the orientation of floor covering materials.

[0053] Specifically, the timing of collecting floor images of the compartments is determined based on the time it takes to build a room map. The cleaning device may collect the dust particles as it completes a thorough cleaning. During the map building or cleaning process, the device collects floor images at different sampling points. At the same time, the coordinate positions of the collected floor images are recorded.

[0054] After collecting the floor images, the collected useful floor images can be processed and the blank or low Specifically, in the process of processing the floor image, the floor image can be first discarded. Linear information may be extracted from the surface image, and there are various specific methods for extracting linear information from the image. But I won't repeat it here.

[0055] Next, the laying direction of the flooring material can be determined based on the extracted line information. Specifically, it is determined according to the distribution of the lines in the line information. is the direction in which the longest axis of symmetry of the floor covering material is located. The following shows the laying directions for rectangular and diamond shaped flooring materials, respectively. The dotted line in the figure indicates the direction of extension of the floor laying material, i.e., the longest direction of the rectangle and diamond. This is the direction in which the axis of symmetry is located.

[0056] Referring to Figs. 5 and 6, line information extracted from floor images of different sections was In FIG. 5, the direction in which the longest symmetry axis of the floor laying material is located has the same direction. That is, the laying direction is single, and the direction shown in the figure is vertical, so the corresponding section The direction of the materials laid inside the room is determined to be vertical, and the result of this determination is displayed in the section of the room map in Figure 2. For example, the laying direction of the materials in sections 3 and 4 in Figure 2 is vertical. The laying direction of the materials in Section 1 and Section 2 is horizontal.

[0057] In Figure 6, the direction of the longest symmetry axis of the determined floor laying material does not match. First, the laying direction of the flooring material is not single, that is, the laying direction of the flooring material is two or more. It can be said that these are different directions.

[0058] In actual applications, the laying direction of the materials in the compartments can be determined by the user. In other words, the laying direction of the flooring material may be determined according to the user's settings. For example, as shown in Figure 2, the "Flooring" displayed on the user interface In the "Edit Tile" module, the user can edit the "Tiles" and "Floating" displayed below. Use the buttons such as "Flooring (horizontal)," "Flooring (vertical)," and "Other" to select the flooring direction. Here, "flooring (horizontal)" refers to the floor laid horizontally. "Vertical flooring" refers to flooring laid vertically, and Both laying directions are covered, and "tile" and "other" are shown in Section 5 and Section 6. , indicates no laying direction.

[0059] In step S120, the cleaning direction of the cleaning device is determined based on the laying direction.

[0060] In an exemplary embodiment of the present disclosure, after determining the laying direction of the floor laying material, The cleaning direction of the cleaning device can be set based on the above.

[0061] Specifically, when the laying direction is single-direction, such as the situation shown in FIG. 5, the laying direction is changed by the cleaning device. The cleaning direction can be set directly as the laying direction, and then during the cleaning process, the cleaning device will The cleaning device can clean in the direction of the floor surface laying material. During this process, the cleaning device will reduce the number of times it interferes with the joints of the laying material, reducing the probability of abnormal noise and preventing excessive contact. This prevents the dirt from falling off due to scrubbing, improving the effectiveness of floor cleaning. .

[0062] In an exemplary embodiment of the present disclosure, the single direction refers to a plurality of laying directions of the flooring material. This means that the longest axis of symmetry of the flooring material is parallel to each other. They are coincident, i.e. parallel to each other.

[0063] In practical applications, the laying direction of floor covering materials is not a single direction, i.e., two or more different directions. If the cleaning direction of the cleaning device is the same as the long side of the area where the floor covering material is located, as shown in Figure 6, This reduces the number of sweeps of the cleaning device during the entire cleaning process.

[0064] Furthermore, the type of floor covering material is tile or carpet, and the laying of the floor covering material If the direction is not identified, the cleaning direction may be set as the long side direction of the area where the floor laying material is located. .

[0065] In step S130, the cleaning device is controlled to clean along the cleaning direction.

[0066] In an exemplary embodiment of the present disclosure, after determining the cleaning direction of the cleaning device, 7 shows a control flow of the cleaning device to perform a cleaning task. 1 shows a schematic diagram of cleaning along the direction of the laying material joint. Reduced the number of times that the joints interfere with each other, reduced the probability of noise, and cleaned the joints by rubbing them together during the contact process. This prevents dirt from falling and improves the cleaning effect on the floor surface.

[0067] As shown in Figures 8 and 9, during the cleaning process of the cleaning device along the laying direction, However, it is also possible to clean using a "zigzag" type cleaning method. 9 shows a path diagram of cleaning on the laid material in the vertical direction, and FIG. 10 shows a path diagram of cleaning on the laid material in the vertical direction. This shows a path diagram for cleaning on laid material with the direction of rotation being horizontal.

[0068] Referring to FIG. 10, a schematic diagram of the cleaning operation interface of the cleaning device on the user side is shown. ,Here, the whole area (i.e. the whole house) is divided into sections according to rooms, where, Room 2~ The flooring direction is shown in room 5, that is, as shown in FIG. When you select one of the five rooms to clean, you can set the cleaning direction. FIG. 11 illustrates a user-side cleaning direction setting interface according to an exemplary embodiment of the present disclosure. A schematic diagram is shown, and when the user selects to clean according to the flooring laying direction, the cleaning During the cleaning process, the device cleans the corresponding room according to the cleaning path shown in FIG. 8 or FIG.

[0069] Referring to FIG. 12, a cleaning device control method provided by an exemplary embodiment of the present disclosure. In FIG. 12, the process first proceeds to step S1210. , the area to be cleaned is divided into sections, and then the process proceeds to step S1220, where the cleaning equipment in each section is During the process of identifying the material type and identifying the type of material laid in the section, proceed to step S1230; The type of material of the laying material may be identified, or the process proceeds to step S1240, and the shape of the laying material is identified. Alternatively, the type of the laying material may be identified, or the shape type of the laying material may be identified after the material type of the laying material is identified. That is, after step S1230, the process may proceed to step S1240. If the material type of the material is flooring or the shape type of the laying material is rectangular, step S125 0 to identify the laying direction of the laying material, and then proceed to step S1260 to determine the laying direction. is set as the cleaning direction, and finally, the process proceeds to step S1270, and the cleaning is performed according to the cleaning direction. do.

[0070] The cleaning device control method provided by the exemplary embodiment of the present disclosure is In the process of setting the direction, first identify the material type or shape type of the laying material, and then set the laying direction of the section. Decide whether to identify the flooring, and usually only if the flooring is flooring, rectangular or diamond shaped. The laying direction of the material is identified, but the laying direction is not identified in other cases, so unnecessary laying direction identification operations are eliminated. Furthermore, by setting the laying direction as the cleaning direction, cleaning can be performed more efficiently. This reduces the number of times the sweeper interferes with the joints of the laying material, reduces the probability of abnormal noise, and reduces friction during the contact process. This prevents the cleaned dirt from falling off due to dust, improving the cleaning effect on the floor surface.

[0071] It should be noted that in the above detailed description, a number of modules or units of the execution device are Although mentioned, it should be noted that such a division is not required. According to the illustrated embodiment, the features and functions of two or more of the modules or units described above may be embodied in a single module or unit. The features and functionality of a module or unit are provided by multiple modules or units. It may be further divided as needed to achieve the desired implementation.

[0072] In an exemplary embodiment of the present disclosure, a cleaning device control device is further provided, as shown in FIG. The cleaning device control device 1300 includes a laying direction determination module 1310, a cleaning direction determination module 1311, and a The cleaning device includes a cleaning module 1320 and a cleaning device control module 1330.

[0073] The laying direction determination module 1310 is used to obtain the laying direction of the floor laying material. Here, the laying direction is the direction in which the longest axis of symmetry of the floor laying material is located.

[0074] The cleaning direction determination module 1320 determines the cleaning direction of the cleaning device based on the laying direction. Used to:

[0075] The cleaning device control module 1330 controls the cleaning device to clean along the cleaning direction. Used to:

[0076] In an exemplary embodiment of the present disclosure, the cleaning direction determination module 1320 determines whether the laying direction is a single If the direction is a direction, it is used to set the laying direction as the cleaning direction of the cleaning device, where Unidirectional means that the laying directions of the floor covering material are parallel to one another.

[0077] In an exemplary embodiment of the present disclosure, the cleaning direction determination module 1320 determines whether there are two laying directions. If the direction is different from the above, the cleaning direction is set as the long side direction of the area where the floor laying material is located. Used for:

[0078] In an exemplary embodiment of the present disclosure, the laying direction determination module 1310 determines the laying direction of the flooring material. Identifying the type of floor material, and determining whether to identify the laying direction of the floor material according to the type of floor material; After determining that the laying direction of the flooring material is to be identified, Used.

[0079] In an exemplary embodiment of the present disclosure, the laying direction determination module 1310 determines whether the type of laying material is If the floor is made of stone or carpet, the direction of the floor covering material is not identified and the type of covering material is If rolling, it is used to identify the laying direction of the floor covering material.

[0080] In an exemplary embodiment of the present disclosure, the cleaning direction determination module 1320 determines whether the type of laying material is If the floor is made of paper or carpet, set the cleaning direction as the long side of the area where the floor is covered. Used to:

[0081] In an exemplary embodiment of the present disclosure, the laying direction determination module 1310 determines whether the type of laying material is long or short. If it is square or diamond shaped, it is used to identify the laying direction of floor covering materials.

[0082] In an exemplary embodiment of the present disclosure, the laying direction determination module 1310 determines the laying direction of the flooring material. The floor images are collected and processed to determine the laying direction of the flooring material. It is used.

[0083] In an exemplary embodiment of the present disclosure, the laying direction determination module 1310 determines the laying direction of the line in the floor image. It is used to extract the line information and determine the laying direction of floor covering materials based on the line information. do.

[0084] In an exemplary embodiment of the present disclosure, the laying direction determination module 1310 determines the laying direction based on the user's settings. It is used to determine the laying direction of floor laying materials accordingly.

[0085] Specific details of each of the above cleaning device control device modules are described in the corresponding cleaning device control method. This has already been explained in detail in the previous section and will not be repeated here.

[0086] It should be noted that in the above detailed description, a number of modules or units of the execution device are Although mentioned, it should be noted that such a division is not required. According to the illustrated embodiment, the features and functions of two or more of the modules or units described above may be embodied in a single module or unit. The features and functionality of a module or unit are provided by multiple modules or units. It may be further divided as needed to achieve the desired implementation.

[0087] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is further provided, for example. The electronic device may be a cleaning device capable of implementing the method.

[0088] Those skilled in the art will appreciate that each aspect of the present disclosure may be realized as a system, a method, or a program product. It will be understood that each aspect of the present disclosure may be specifically incorporated herein by reference. Hardware implementation, fully software implementation (including firmware, microcode, etc.) ), or a combination of hardware and software implementation, These may be collectively referred to herein as "circuits," "modules," or "systems."

[0089] An electronic device 1400 according to such an embodiment of the present disclosure will now be described with reference to FIG. The electronic device 1400 shown in FIG. 14 is merely an example and does not necessarily represent the functionality and use of an embodiment of the present disclosure. No restrictions should be placed on the scope of use.

[0090] As shown in FIG. 14, electronic equipment 1400 is in the form of a general-purpose computing device. The components of the electronic device 1400 include at least one processing unit 1410. , the at least one storage unit 1420, different system components (storage units a bus 1430 connecting the display unit 1420 and the processing unit 1410; 440, but is not limited to these.

[0091] Here, the storage unit 1420 stores a program code, and the program When executed by the processing unit 1410, the program code 0 represents each exemplary embodiment of the present disclosure described in the "Exemplary Methods" section herein. For example, the processing unit 1410 may perform the steps of Step S110 shows obtaining a laying direction of the floor laying material, where the laying direction is the floor laying direction. The direction in which the longest symmetry axis of the laying material is located. Step S120: Based on the laying direction determining a cleaning direction of the cleaning device; step S130; and controlling the cleaning device in this manner.

[0092] The storage unit 1420 may be a readable medium in the form of a volatile storage unit, such as a random access memory (RAM). RAM 14201 and / or cache memory unit 1420 2 and may further include a read-only memory unit (ROM) 14203. stomach.

[0093] The storage unit 1420 includes a set of program modules 14205 (at least one ), and such programs / utilities 14204 The program module 14205 is responsible for the operation of the operating system, one or more applications, application programs, other program modules, and program data. Without being limited to these, each of these examples or some combination thereof may be used in a network environment. It may also include an implementation of

[0094] The bus 1430 may be one or more of several bus structures, and may include storage units. bus or storage unit controller, peripheral bus, graphics acceleration port Port, processing unit or local area bus using any of a number of bus structures may include:

[0095] The electronic device 1400 may be connected to one or more external devices 1470 (e.g., keyboard, The device may communicate with other devices (e.g., a Bluetooth device, a cellular phone, etc.) The electronic device 1400 may communicate with one or more devices that allow it to interact with the electronic device 1400. and / or the electronic device 1400 is connected to one or more other computing devices. Any device that allows communication with a network device (e.g., router, modem, etc.) Such communication may occur via an input / output (I / O) interface 1450. The electronic device 1400 may also communicate with the Multiple networks (e.g., local area network (LAN), wide area network (WLAN) public networks such as the wide area network (WAN) and / or the Internet As shown, the network adapter 1460 is connected to the bus 14 30 communicates with other modules of the electronic device 1400. , other hardware and / or software modules (microcode, device Drives, redundant processing units, external disk drive arrays, RAID systems, tapes Including, but not limited to, drives and data backup storage systems It should be understood that other devices (not shown) may be used in combination with the electronic device 1400.

[0096] As described above, the exemplary embodiment described herein is implemented by software. It may be realized by a combination of software and necessary hardware. It will be readily apparent to those skilled in the art that the present disclosure may be implemented in various ways. The technical solutions may be embodied in the form of a software product, which is non-volatile. Evolvable storage media (CD-ROM, USB flash drive, removable hard disk) ) or network, and may be stored on a computing device (personal a local computer, server, terminal device, or network device) It includes a number of instructions for carrying out the method of the embodiment.

[0097] An exemplary embodiment of the present disclosure further provides a computer-readable storage medium, A program product capable of implementing the above-described method is stored. In this embodiment, each aspect of the present disclosure may be realized in the form of a program product including program code. When the program product is executed on a terminal device, the program code The terminal device may be any of the exemplary embodiments of the present disclosure described in the "Exemplary Methods" section herein. It is used to execute steps according to the embodiment.

[0098] A program product for implementing the above method according to an embodiment of the present disclosure is a portable compact It may be a CD-ROM or a hard disk drive containing program code. It may be executed on a terminal device, such as a personal computer. The program product of the present disclosure is not limited thereto, and in this specification, a readable storage medium is referred to as a program. It may be any tangible medium that contains or stores a program, and this program executes instructions. The present invention may be used by or in conjunction with a communication system, apparatus, or device.

[0099] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. is, for example, an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device. A more specific example of a readable storage medium ( (non-exhaustive list) refers to electrical connections having one or more wires, portable disks, Hard disk, Random Access Memory (RAM), Read-Only Memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical Fiber, portable compact disc read-only memory (CD-ROM), optical storage devices The present invention may include a storage device, a magnetic storage device, or any suitable combination of the above.

[0100] The computer-readable signal medium may be a data signal propagated in baseband or a computer-readable processor. It may consist of a data signal propagated as part of a carrier carrying a program code. Such propagated data signals may be electromagnetic, optical, or any suitable combination of the above. The readable signal medium may take various forms, including but not limited to, an instruction carrying or used by an instruction execution system, apparatus, or device or a program for use with a device, It may be any readable medium other than the medium.

[0101] The program code contained in the readable medium may be transmitted over a wireless, wired, fiber optic cable, RF, or other communication line. or any suitable combination of the above. It can be transmitted using a medium.

[0102] Program code for performing the operations of the present disclosure may include one or more programming It can be written in any combination of languages, including Java , object-oriented programming languages ​​such as C++, and "C" language or similar programming languages This includes conventional procedural programming languages ​​such as the The program may run entirely on the user's computing device or partially on the user's It may be run on the user device or as a standalone software package. It may be executed or partially executed on the user computing device. It may be executed partially on a remote computing device or entirely on a remote It may be executed on a remote computing device or a server. In situations involving a remote computing device, the remote computing device Any network including a local area network (LAN) or a wide area network (WAN) may be connected to user computing devices via any type of network. or (e.g., internet service provider to connect via the internet) may be connected to an external computing device (using a stomach.

[0103] Furthermore, the above-mentioned attached drawings are schematic diagrams of the processes involved in the method according to the exemplary embodiment of the present disclosure. The processes shown in the accompanying drawings are for illustration only and are not intended to be limiting. It will be readily understood that this does not imply or limit the chronological order of the processing. Additionally, processing may be performed synchronously or asynchronously in multiple modules, for example. It is also easy to understand that

[0104] Other embodiments of the present disclosure may be apparent from consideration of the specification and practice of the present disclosure. This application is in accordance with the general principles of the present disclosure and will be readily apparent to those skilled in the art. The present disclosure includes known or commonly used technical means in the art that are not disclosed in the present disclosure. It is intended to cover any modifications, uses, or adaptations of the present specification and practice. The examples should be considered as exemplary only, with the true scope and spirit of the present disclosure being limited only by the claims. is indicated by a circle.

[0105] The present disclosure is not limited to the exact constructions described above and illustrated in the accompanying drawings. It should be understood that various modifications and changes may be made without departing from the scope of the present invention. The scope of the present disclosure is intended to be limited only by the appended claims.

Claims

1. A step of acquiring a laying direction of a floor laying material, the laying direction being the laying direction of the floor laying material a step in the direction in which the longest axis of symmetry is located; determining a cleaning direction of the cleaning device based on the laying direction; and controlling the cleaning device to clean along the cleaning direction. Sweeping equipment control method.

2. The step of determining a cleaning direction of the cleaning device based on the laying direction includes: When the laying direction is a single direction, the laying direction is set as the cleaning direction of the cleaning device. The single direction means that the laying directions of the floor laying materials are parallel to each other. The method of claim 1 , wherein

3. The step of determining a cleaning direction of the cleaning device based on the laying direction includes: When the laying direction is two or more different directions, the cleaning direction is determined based on the presence of the floor laying material.

3. The method of claim 1, further comprising: setting the direction of the long side of the area in question.

4. The step of acquiring the laying direction of the floor laying material includes: Identifying the type of floor laying material; Determine whether to identify the laying direction of the floor laying material based on the type of the laying material. And, After determining to identify the laying direction of the flooring material, The method of any one of claims 1 to 3, comprising:

5. Determine whether to identify the laying direction of the floor laying material based on the type of the laying material. That is, If the type of floor covering material is a tile or carpet, the laying direction of the floor covering material is identified. Not to separate, If the type of flooring is flooring, identify the laying direction of the flooring material. The method of claim 4, comprising:

6. The method comprises: If the type of floor covering is a tile or carpet, the cleaning direction is The method according to claim 5 , further comprising the step of setting the direction of the long side of the area in which 。

7. Determine whether to identify the laying direction of the floor laying material based on the type of the laying material. That is, If the type of floor covering material is rectangular or diamond, identify the laying direction of the floor covering material. The method according to any one of claims 4 to 6, comprising:

8. Identifying the laying direction of the floor laying material includes: collecting floor images corresponding to the floor covering material; and processing the floor image to determine the laying direction of the floor covering material. Item 9. The method according to any one of Items 4 to 8.

9. Processing the floor image to determine the laying direction of the floor laying material includes: extracting line information from the floor surface image; determining a laying direction of the floor laying material based on the line information. Item 9. The method according to item 8.

10. Obtaining the laying direction of the floor laying material includes: The method of claim 1 to claim 2 further comprising determining the laying direction of the flooring material according to a setting by a user.

10. The method according to any one of claims 9 to 9.

11. It is used to obtain the laying direction of the floor laying material, and said laying direction is the most a laying direction determining module, which is the direction in which the longest axis of symmetry is located; A cleaning direction determination device is provided based on the laying direction. a constant module; a cleaning device configured to control the cleaning device to clean along the cleaning direction; and a cleaning device control module.

12. A computer program is stored in the computer, and the computer program is When the cleaning device control method according to any one of claims 1 to 10 is executed by A computer-readable storage medium.

13. a processor; a memory for storing executable instructions for said processor; The processor executes the executable instructions to perform any one of the functions described in claims 1 to 10.

10. An electronic device configured to implement the cleaning device control method according to claim 1.

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