Data processing method, device, storage medium and cleaning device for cleaning devices

Abstract

This specification discloses a data processing method, device, storage medium and cleaning device for a cleaning device, the method including the steps of obtaining a total cleaning area of ​​at least one area to be cleaned, obtaining an actual cleaning area searched when the cleaning device performs a cleaning operation in the at least one area to be cleaned, updating the total cleaning area based on the actual cleaning area, and calculating a first remaining cleaning area where the cleaning operation has not been performed in the at least one area to be cleaned by the cleaning device from the updated total cleaning area.

Description

Related Applications

[0001] This application claims priority to a Chinese patent application with application number 202211740267.5, filed on December 30, 2022, the entire contents of which are incorporated herein by reference. [Technical Field]

[0002] The present disclosure relates to the technical field of data processing, and particularly to a data processing method, device, storage medium, and cleaning device for a cleaning device. [Background technology]

[0003] Currently, a cleaning device automatically moves to a charging pile for charging after its power has decreased to a set value. In the charging scenario, the cleaning device automatically calculates the current remaining cleaning area based on its past cleaning record and calculates the power required for return charging based on the remaining cleaning area. After the cleaning device returns and charges up to the required power, the cleaning device returns to the stopping position and cleans, significantly improving overall cleaning efficiency. However, because past cleaning records are fixed, if the power required for charging is still estimated using the past cleaning record even when a user's home environment changes relatively significantly, the deviation from the actual scenario becomes large, resulting in inaccurate calculated power required for return charging and a poor user experience. Based on this, how to improve the accuracy of calculating the remaining cleaning area of ​​a cleaning device has become a technical challenge to be solved. Summary of the Invention

[0004] The embodiments of the present disclosure provide a data processing method, device, storage medium and cleaning device for a cleaning device, which can further improve the calculation accuracy of the remaining area to be cleaned by the cleaning device to a certain extent, improve the intelligence of the cleaning device, and improve the user's experience of using the cleaning device.

[0005] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0006] According to a first aspect of the present disclosure, there is provided a data processing method for a cleaning device, the method including the steps of obtaining a total cleaning area of ​​at least one area to be cleaned, obtaining an actual cleaning area searched when the cleaning device performs a cleaning operation in the at least one area to be cleaned, updating the total cleaning area based on the actual cleaning area, and calculating a first remaining cleaning area where the cleaning operation has not yet been performed in the at least one area to be cleaned by the cleaning device from the updated total cleaning area.

[0007] According to a second aspect of the present disclosure, there is provided a data processing device for a cleaning device, the device comprising: a first acquisition unit used to acquire a total cleaning area of ​​at least one area to be cleaned; a second acquisition unit used to acquire an actual cleaning area searched when a cleaning operation is performed by the cleaning device in the at least one area to be cleaned; an update unit used to update the total cleaning area based on the actual cleaning area; and a calculation unit used to calculate a first remaining cleaning area where a cleaning operation has not been performed by the cleaning device in the at least one area to be cleaned from the updated total cleaning area.

[0008] According to a third aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer program instructions that, when loaded and executed by a processor, cause the processor to perform the operations performed by the method of any one of the first aspects above.

[0009] According to a fourth aspect of the present disclosure, there is provided a cleaning device comprising a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and wherein execution of the computer program instructions by the processor causes the device to perform the operations performed by the method of any one of the first aspect above.

[0010] It should be noted that the foregoing general description and the following detailed description are merely exemplary and explanatory and are not restrictive of the present disclosure. [Brief explanation of the drawings]

[0011] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the specification, are used to interpret the principles of the present disclosure. Obviously, the accompanying drawings described below are merely some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these accompanying drawings without creative work. In the accompanying drawings, [Figure 1] 1 illustrates a flowchart of a data processing method for a cleaning device according to some embodiments of the present disclosure. [Figure 2] FIG. 2 shows a scene schematic of the area to be cleaned in FIG. [Figure 3] FIG. 1 illustrates a block diagram of a data processing unit of a cleaning device according to some embodiments of the present disclosure. [Figure 4] 1 shows a schematic structural diagram of a computer system of a cleaning device according to some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, exemplary embodiments will be described in more detail with reference to the accompanying drawings. However, exemplary embodiments can be implemented in various forms and should not be construed as being limited to the examples given herein. Rather, these embodiments are provided to comprehensively convey the idea of ​​exemplary embodiments to those skilled in the art so that this disclosure will be more comprehensive and complete.

[0013] Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to thoroughly understand the embodiments of the present disclosure. However, those skilled in the art will understand that it is possible to implement the technical solutions of the present disclosure without one or more of the specific details, or to employ other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present disclosure.

[0014] The block diagrams shown in the accompanying drawings are merely functional entities that do not necessarily correspond to physically separate entities, i.e., they may be implemented in software, or in one or more hardware modules or integrated circuits, or in different network and / or processor and / or microcontroller devices.

[0015] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all contents and operations / steps, nor do they necessarily have to be performed in the order described. For example, some operations / steps may be separated, some operations / steps may be combined or partially combined, and therefore the actual execution order may vary depending on the actual situation.

[0016] It should be noted that "plurality" as referred to in this specification means two or more than two. "And / or" is used to describe a relationship between related objects, and there are three relationships. For example, A and / or B can mean three cases: A exists separately, A and B exist simultaneously, and B exists separately. The character " / " generally indicates that the related objects before and after have an "or" relationship.

[0017] It should be noted that terms such as "first," "second," etc. in the specification and claims of this disclosure and in the accompanying drawings are used to distinguish between similar objects and are not intended to describe a particular order or priority. It should be understood that objects so used may be interchangeable where appropriate, such that the embodiments of the disclosure described herein may be performed in orders other than those illustrated or described.

[0018] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the following clearly and completely describes the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings in the embodiments of the present disclosure, but obviously, the described embodiments are only some embodiments of the present disclosure, not all embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative labor are all included in the protection scope of the present disclosure.

[0019] Hereinafter, several embodiments of the present disclosure will be described in detail in conjunction with the accompanying drawings. Unless mutually inconsistent, the following examples and features in the examples can be combined with each other.

[0020] It should be noted that the cleaning device proposed by the present disclosure is an intelligent device capable of performing cleaning operations, including, but not limited to, smart cleaning devices such as sweeping cleaning robots.

[0021] Referring to FIG. 1, a flowchart of a data processing method for a cleaning device according to some embodiments of the present disclosure is shown, and may include steps 110 to 140.

[0022] In step 110, the total cleaning area of ​​at least one area to be cleaned is obtained.

[0023] In some embodiments, the cleaning device can adopt three working modes when cleaning a home environment: global cleaning, zone-selective cleaning, and zone-division cleaning. Assuming a home environment includes a living room, a bedroom, and a kitchen, if a user selects the global cleaning mode, the cleaning device will clean the living room, the bedroom, and the kitchen. Note that in the global cleaning mode, there is only one area to be cleaned (i.e., the living room, the bedroom, and the kitchen are treated as the area to be cleaned as a whole), while if a user selects the zone-selective cleaning mode, one or more areas in the living room, the bedroom, and the kitchen will be cleaned (i.e., if a user selects the living room and the bedroom, the living room and the bedroom are treated as the area to be cleaned, respectively).

[0024] When the user selects the zone-division cleaning mode, one or more areas in the living room, bedroom, and kitchen are divided into areas to be cleaned, i.e., instead of controlling the cleaning operation of the cleaning device based on the zoning of the entire room, the area to be cleaned by the cleaning device is determined according to the user's personal preference. The method for determining the area to be cleaned and the number of areas to be cleaned are not limited by the present disclosure.

[0025] In the embodiment of the present disclosure, multiple cleaning modes can be set to meet various usage needs of users and improve the user's usage experience.

[0026] In some embodiments, obtaining the total cleaning area of ​​the at least one area to be cleaned may be performed according to the following steps 111 to 114.

[0027] In step 111, the predetermined cleaning rounds for each area to be cleaned are obtained.

[0028] To help those skilled in the art better understand this embodiment, a cleaning round will be taken as an example below with reference to FIG.

[0029] Referring to Figure 2, a schematic diagram of the scene of the area to be cleaned in Figure 1 is shown, and the scene shown in Figure 2 shows that the user selects area A and area B as the area to be cleaned in which the cleaning task will be performed by the cleaning device this time.

[0030] The cleaning rounds (i.e., the number of cleaning times) for area A and area B can be limited. In some embodiments, area A is set to be cleaned twice (i.e., the number of cleaning rounds corresponding to area A is 2), and area B is set to be cleaned twice (i.e., the number of cleaning rounds corresponding to area B is 2). The setting of the cleaning rounds for each area to be cleaned may be determined according to the user's preference, may be determined according to the user's past setting record, or may be automatically set by the cleaning device, and the method of setting the cleaning rounds is not particularly limited in the present disclosure.

[0031] In step 112, a scanned map of each area to be cleaned and a cleaning map that has been searched in the past by the cleaning device as cleaning operations were performed on each area to be cleaned are obtained.

[0032] In some embodiments, the scanned map may be a Simultaneous Localization and Mapping (SLAM) map, and the scanned map may be a past scanned map of each area to be cleaned (e.g., a scanned map of each area to be cleaned obtained in a previous cleaning task), or a scanned map of each area to be cleaned obtained by scanning each area to be cleaned at the start of a current cleaning task. The specific method of acquiring the scanned map is not limited by the present disclosure.

[0033] When a cleaning task is performed once for an area to be cleaned, a cleaning map corresponding to the area to be cleaned is obtained, and the area of ​​the cleaning map corresponds to the area covered by the cleaning device in the process of performing the cleaning task for the area to be cleaned. In the present disclosure, the cleaning map searched when performing a cleaning operation for each area to be cleaned in the past may be a cleaning map for each area to be cleaned searched in a previous cleaning task, or may be a cleaning map for each area to be cleaned obtained by preprocessing multiple initial cleaning maps for each area to be cleaned searched in multiple past cleaning tasks.

[0034] In step 113, a reference area is determined for each area to be cleaned based on the ratio of the area of ​​the area to be cleaned defined by the scanning map to the area of ​​the area to be cleaned defined by the cleaning map.

[0035] Note that the scan map corresponds to multiple scan points, and similarly, the cleaning map corresponds to multiple cleaning points. In some embodiments, the area of ​​the area to be cleaned defined by the scan map may be determined by the area corresponding to one scan point, or the area of ​​the area to be cleaned defined by the cleaning map may be determined by the area corresponding to one cleaning point. Assuming that the area corresponding to one scan point and one cleaning point are both 25 square centimeters, if the scan map corresponds to 2,000 scan points, the area of ​​the area to be cleaned defined by the scan map is 5 square meters. If the cleaning map corresponds to 400 cleaning points, the area of ​​the area to be cleaned defined by the cleaning map is 1 square meter.

[0036] In some embodiments, the step of determining a reference area area for each area to be cleaned based on the ratio of the area area of ​​the area to be cleaned defined by the scanning map to the area area of ​​the area to be cleaned defined by the cleaning map may include the following first and second embodiments.

[0037] The first embodiment is as follows: if the ratio is greater than a predetermined ratio, determine the area area of ​​the area to be cleaned defined by the scanning map as the reference area area of ​​the area to be cleaned.

[0038] In some embodiments, the predetermined ratio may be set to 2, and if the area of ​​the area to be cleaned defined by the scanned map determined in the above example is 5 square meters and the area of ​​the area to be cleaned defined by the cleaning map is 1 square meter, the ratio of the area of ​​the area to be cleaned defined by the scanned map to the area of ​​the area to be cleaned defined by the cleaning map is greater than the predetermined ratio (i.e., 5:1>2), and therefore the area of ​​the area to be cleaned defined by the scanned map (i.e., 5 square meters) may be determined as the reference area of ​​the area to be cleaned.

[0039] The second embodiment is as follows: if the ratio is equal to or smaller than a predetermined ratio, determine the area of ​​the area to be cleaned defined by the cleaning map as the reference area of ​​the area to be cleaned.

[0040] In some embodiments, the predetermined ratio may be set to 2, and if the area of ​​the area to be cleaned defined by the scanning map is 4 square meters and the area of ​​the area to be cleaned defined by the cleaning map is 3 square meters, the ratio of the area of ​​the area to be cleaned defined by the scanning map to the area of ​​the area to be cleaned defined by the cleaning map is less than or equal to the predetermined ratio (i.e., 4:3<2), and therefore the area of ​​the area to be cleaned defined by the cleaning map (i.e., 3 square meters) may be determined as the reference area of ​​the area to be cleaned.

[0041] In this embodiment, the accuracy of determining the reference area area can be improved by determining the reference area area of ​​the area to be cleaned by traversing the scanning map and the cleaning map.

[0042] In step 114, calculate a total cleaning area of ​​at least one area to be cleaned based on the predetermined cleaning round and the reference area area of ​​each area to be cleaned.

[0043] Continuing to refer to Figure 2, if the predetermined cleaning rounds for area A are 2 and the reference area area of ​​area A is 5 square meters, the total cleaning area of ​​area A can be determined to be 10 square meters (5 * 2), and if the predetermined cleaning rounds for area B are 2 and the reference area area of ​​area B is 10 square meters, the total cleaning area of ​​area B can be determined to be 20 square meters (10 * 2). The total cleaning area of ​​area A, 10 square meters, and the total cleaning area of ​​area B, 20 square meters, can be added to obtain the total cleaning area of ​​the at least one area to be cleaned, i.e., 30 square meters.

[0044] Still referring to FIG. 1, in step 120, an actual cleaning area searched when the cleaning device performs a cleaning operation in the at least one area to be cleaned is obtained.

[0045] The actual cleaning area is the cumulative area searched during the cleaning process of the cleaning device for at least one area to be cleaned. Still referring to FIG. 2, if there are two cleaning rounds for area A, the cleaning device first performs the cleaning process for area A and then performs the cleaning process for area B. If the area of ​​area A searched during the first cleaning round of area A by the cleaning device is 4 square meters, and the area of ​​area A searched during the second cleaning round of area A is 2 square meters, the actual cleaning area is 6 square meters (i.e., 4 + 2). It should be understood that the actual cleaning area is the area searched when the cleaning device currently performs the cleaning process for each area to be cleaned.

[0046] Continuing to refer to FIG. 1, in step 130, the total cleaning area is updated based on the actual cleaning area.

[0047] In some embodiments, a specific embodiment of updating the total cleaning area based on the actual cleaning area may be performed according to the following steps 131 to 132.

[0048] In step 131, when the cleaning device has completed at least one round of cleaning operation in any area to be cleaned, the area area searched in the area to be cleaned in which the cleaning operation was performed by the cleaning device is determined as the target area area.

[0049] Continuing to refer to Figure 2, assuming that there are two predetermined cleaning rounds for area A, if the area of ​​area A is found to be 4 square meters when the cleaning device cleans the first cleaning round of area A, then the target area is 4 square meters. If the area of ​​area A is found to be 5 square meters when the cleaning device cleans the second cleaning round of area A, then the target area is 5 square meters.

[0050] In step 132, the total cleaning area is updated based on the target area area.

[0051] In some embodiments, the step of updating the total cleaning area based on the target area area may include recalculating the total cleaning area of ​​the at least one area to be cleaned based on the predetermined cleaning round, a target area area of ​​an area to be cleaned for which a cleaning operation has been performed by the cleaning device, and a reference area area of ​​an area to be cleaned for which a cleaning operation has not been performed by the cleaning device.

[0052] To help those skilled in the art better understand this embodiment, an example will now be described with reference to FIG.

[0053] If there are two predetermined cleaning rounds for area A and two predetermined cleaning rounds for area B, and the reference area area of ​​area A is 5 square meters and the reference area area of ​​area B is 10 square meters, the total cleaning area is 5*2+10*2=30 square meters. Assuming that the cleaning device first cleans area A and then cleans area B, when the first cleaning round of area A is performed, the target area area of ​​the searched area A is 4 square meters.

[0054] In some embodiments, when the cleaning device completes the first cleaning round of area A, the target area area of ​​area A searched by the cleaning device replaces the reference area area corresponding to the current cleaning round in which the cleaning device is performing cleaning operations on area A and the reference area area corresponding to the remaining cleaning rounds in which no cleaning operations are being performed on area A to obtain an updated total cleaning area, where the updated total cleaning area is 4+4+10*2=28 square meters. It should be understood that the reference area area (5 square meters) corresponding to the first cleaning round of area A is replaced with the target area area of ​​area A (4 square meters), and the reference area area (5 square meters) corresponding to the second cleaning round of area A is also replaced with the target area area of ​​area A (4 square meters).

[0055] In some other embodiments, when the cleaning device performs the first cleaning round on area A, the target area area of ​​the searched paired area A replaces the reference area area corresponding to the current cleaning round in which the cleaning device is performing a cleaning operation on area A (i.e., does not replace the reference area area corresponding to the remaining cleaning round in which no cleaning operation has been performed on area A), to obtain an updated total cleaning area, where the updated total cleaning area is 4 + 5 + 10 * 2 = 29 square meters. Note that the reference area area (5 square meters) corresponding to the first cleaning round on area A is replaced with the target area area (4 square meters) of area A, but the reference area area (5 square meters) corresponding to the second cleaning round on area A is not replaced with the target area area (4 square meters) of area A.

[0056] It should be understood that in this embodiment, the accuracy of calculating the remaining cleaning area can be further improved by adopting the first embodiment. The specific embodiment for recalculating the total cleaning area of ​​the at least one region to be cleaned is not particularly limited in the present disclosure.

[0057] Continuing to refer to FIG. 1, in step 140, a first remaining cleaning area, which is an area in which the cleaning device has not yet performed a cleaning operation in the at least one region to be cleaned, is calculated from the updated total cleaning area.

[0058] In some embodiments, the step of calculating a first remaining cleaning area where a cleaning operation has not been performed by the cleaning device in the at least one area to be cleaned from the updated total cleaning area includes calculating an area difference between the updated total cleaning area and the actual cleaning area, and determining the area difference as the first remaining cleaning area where a cleaning operation has not been performed by the cleaning device in the at least one area to be cleaned.

[0059] In some embodiments, if the updated total cleaning area is 28 square meters and the actual cleaning area obtained by searching during the cleaning operation of the cleaning device for the at least one area to be cleaned is 14 square meters, the remaining cleaning area is 28-14=14 square meters.

[0060] In addition, when the user's home environment changes, the total cleaning area determined based on the reference area area of ​​the area to be cleaned will be inaccurate, and the obtained remaining cleaning area will also be inaccurate. In this embodiment, when the user's home environment changes, the target area area of ​​the area to be cleaned obtained after the cleaning device completes one cleaning round for the area to be cleaned will be different from the reference area area of ​​the area to be cleaned. At this time, by updating the total cleaning area based on the target area area, the accuracy of the cleaning device's calculation of the first remaining cleaning area can be improved.

[0061] Continuing to refer to FIG. 1, after step 140, i.e., after calculating the first remaining cleaning area in which the cleaning operation has not been performed in the at least one area to be cleaned by the cleaning device from the updated total cleaning area, the data processing method for the cleaning device may further include steps 141 to 142.

[0062] In step 141, an energy consumption factor of the cleaning device is obtained, which is used to indicate the energy consumed by the cleaning device to perform a cleaning operation per unit area.

[0063] The energy consumption coefficient is determined by dividing the total energy consumed by the most recent N cleaning operations by the total cleaning area obtained by the most recent N cleaning operations, where the energy includes various types of energy such as electricity.

[0064] In step 142, a predetermined energy is determined based on the energy consumption coefficient and the first remaining cleaning area, and the predetermined energy is used to indicate the energy consumed by the cleaning device to perform the cleaning operation of the first remaining cleaning area.

[0065] In some embodiments, the predetermined energy = first remaining cleaning area * energy consumption coefficient * M, where M is a caching coefficient and may range from 1 to 1.5. M is the caching coefficient to prevent energy consumption due to the travel stroke of the cleaning device, allowing the cleaning device to charge more energy and provide sufficient reserves.

[0066] In addition, while the cleaning device is performing the cleaning task for the at least one area to be cleaned, the energy currently stored in the cleaning device is monitored in real time, and when the energy currently stored in the cleaning device decreases to a preset energy value, for example, 5% of the maximum energy that the cleaning device can store, a predetermined energy is automatically determined based on the energy consumption coefficient, the first remaining cleaning area, and a caching coefficient, and the cleaning device returns to a charging pile for charging, and during the charging process at the charging pile, the cleaning device is controlled to return charging according to the predetermined energy.

[0067] After the cleaning device has returned to charge up to a predetermined energy level, it can return to the rest position to continue cleaning, thereby greatly improving the overall cleaning efficiency and enhancing the user experience.

[0068] Continuing to refer to FIG. 1, after step 140, i.e., after calculating the first remaining cleaning area in which the cleaning operation has not been performed by the cleaning device in the at least one area to be cleaned from the updated total cleaning area, the data processing method for the cleaning device may further include steps 1401 to 1402.

[0069] In step 1401, the cleaning speed of the cleaning device is obtained, which is used to indicate the time consumed by the cleaning device to perform a cleaning action per unit area.

[0070] The cleaning speed may be determined from the total time consumed by the most recent N executions of the cleaning operation / the total cleaning area obtained by the most recent N executions of the cleaning operation, where the cleaning speed is generated for the cleaning device performing a mopping operation.

[0071] In step 1402, when the actual cleaning time consumed by the cleaning device to perform the cleaning operation in the at least one area to be cleaned reaches a predetermined time, a first remaining cleaning time is determined based on the cleaning speed and the first remaining cleaning area, and whether the cleaning device needs to return to clean based on the first remaining cleaning time, the first remaining cleaning time is used to indicate the time consumed by the cleaning device to perform the cleaning operation in the first remaining cleaning area, and the first remaining cleaning time is the mopping time required to clean the first remaining cleaning area.

[0072] In some embodiments, the first remaining cleaning time = first remaining cleaning area * cleaning speed * M, where M is a caching factor, which may range in value from 1 to 1.5. M is used as the caching factor to meet the user's need for precise mopping of the first remaining cleaning area, and ensure sufficient corresponding first remaining cleaning time.

[0073] In some embodiments, the predetermined time may be a return-cleaning interval time (e.g., 20 minutes) preset by a user. Referring to FIG. 2 , when the cleaning device performs cleaning operations for area A and area B, if the mopping time recorded and generated by the cleaning device (i.e., the actual cleaning time consumed) reaches the return-cleaning interval time set by the user and it is determined that the first remaining cleaning time is greater than the first predetermined time, the cleaning device may be directly controlled to perform a return-cleaning operation.

[0074] Correspondingly, at this time, if it is determined that the first remaining cleaning time is equal to or less than the first predetermined time, the cleaning device is controlled to continue cleaning, i.e., there is no need to perform return cleaning, and the cleaning device may perform return cleaning after completing the cleaning operation of the entire area A and area B. In some embodiments, the first predetermined time may be determined based on a return cleaning interval time, and may be set, for example, as first predetermined time=return cleaning interval time*0.2.

[0075] In some embodiments, the return-cleaning interval is determined to be 20 minutes, and when 20 minutes has elapsed while the cleaning device is cleaning the at least one area to be cleaned, the first remaining cleaning time is automatically calculated based on the first remaining cleaning area. If the return-cleaning interval is determined to be 4 minutes based on 0.2 * 0.2, and the first remaining cleaning time is determined to be 2 minutes, then a return-cleaning of the cleaning device is not required, and if the first remaining cleaning time is determined to be 6 minutes, then a return-cleaning of the cleaning device is required.

[0076] In some embodiments, if the actual cleaning time consumed by the cleaning device in the at least one area to be cleaned reaches a predetermined time but the first remaining cleaning time is determined to be equal to or less than the first predetermined time, the cleaning device continues to clean the at least one area to be cleaned. In practice, the actual cleaning time consumed by performing the cleaning operation for the at least one area to be cleaned may increase significantly due to changes in household environmental factors during the process of continuing to clean the at least one area to be cleaned. Therefore, a cleaning time threshold is set (in some embodiments, the cleaning time threshold may be 1.5 times the return wash interval time). If the actual cleaning time consumed is monitored to reach the cleaning time threshold during the process of continuing to clean the at least one area to be cleaned, the cleaning device is directly controlled to perform a return wash. It should be understood that the cleaning time threshold is the maximum allowable range for the cleaning device to avoid having to perform a return wash.

[0077] Continuing to refer to FIG. 1, after step 140, i.e., after calculating the first remaining cleaning area in which the cleaning operation has not been performed in the at least one area to be cleaned by the cleaning device from the updated total cleaning area, the data processing method for the cleaning device may further include steps 150 to 160.

[0078] In step 150, when the actual cleaning time consumed by the cleaning device to perform the cleaning operation in the at least one area to be cleaned reaches a predetermined time, a second remaining cleaning area in which the cleaning operation has not yet been performed in the area to be cleaned by the cleaning device is calculated from the updated total cleaning area.

[0079] In step 160, a second remaining cleaning time is determined based on the cleaning speed of the cleaning device and the second remaining cleaning area, and whether the cleaning device needs to return to clean is determined based on the second remaining cleaning time, and the second remaining cleaning time is used to indicate the time consumed by the cleaning device to perform the cleaning operation of the second remaining cleaning area.

[0080] In some embodiments, the second remaining cleaning time = second remaining cleaning area * cleaning speed * M, where M is a caching factor, which may range in value from 1 to 1.5. M is used as a caching factor to meet the user's need for precise mopping of the second remaining cleaning area, and ensure sufficient corresponding second remaining cleaning time.

[0081] In some embodiments, the predetermined time may be a return wash interval time (eg, 20 minutes) preset by a user.

[0082] To help those skilled in the art better understand this embodiment, an example will now be described with reference to FIG.

[0083] As shown in FIG. 2, if the predetermined cleaning rounds for area A are two and the predetermined cleaning rounds for area B are two, the cleaning device first performs the cleaning operation for area A and then performs the cleaning operation for area B. During the process of the cleaning device performing the first cleaning round in area B, when the actual cleaning time (i.e., the accumulated cleaning time) consumed by the cleaning device performing the cleaning operations in areas A and B reaches the return cleaning interval time set by the user, if the second remaining cleaning area in area B where the cleaning operation is not currently being performed is greater than the first predetermined time, the cleaning device is directly controlled to perform return cleaning.

[0084] Correspondingly, if the second remaining cleaning area where the cleaning operation is not currently being performed in area B is less than or equal to the first predetermined time, the cleaning device is controlled to continue performing the cleaning operation, i.e., no return cleaning is required, and the cleaning device can perform return cleaning after completing the first round of cleaning in area B. In some embodiments, the first predetermined time may be determined from the return cleaning interval time, and may be set, for example, as first predetermined time = return cleaning interval time * 0.2.

[0085] In some embodiments, the return-cleaning interval is determined to be 20 minutes, and when the actual cleaning time consumed by the cleaning device performing the cleaning operation in the at least one area to be cleaned reaches 20 minutes, the second remaining cleaning time is automatically calculated. If the first predetermined time is determined to be 4 minutes from the return-cleaning interval * 0.2, and the second remaining cleaning time is 2 minutes, there is no need to perform a return-cleaning of the cleaning device at this time, and if the second remaining cleaning time is 6 minutes, there is a need to perform a return-cleaning of the cleaning device at this time.

[0086] In some embodiments, if the actual cleaning time consumed by the cleaning device in performing the cleaning operation in the at least one area to be cleaned reaches a predetermined time but the second remaining cleaning time is equal to or less than the first predetermined time, the cleaning device continues to perform the cleaning operation in the area to be cleaned. However, since the actual cleaning time consumed by performing the cleaning operation in the at least one area to be cleaned increases significantly due to changes in home environmental factors while the cleaning device continues to perform the cleaning operation in the area to be cleaned, a cleaning time threshold is set (in some embodiments, the cleaning time threshold may be 1.5 times the return wash interval), and if the actual cleaning time consumed while the cleaning device continues to perform the cleaning operation in the area to be cleaned reaches the cleaning time threshold, the cleaning device is directly controlled to perform a return wash. It should be understood that the cleaning time threshold is the maximum allowable range for the cleaning device not to need to perform a return wash.

[0087] Continuing to refer to FIG. 1, after step 140, i.e., after calculating the first remaining cleaning area in which the cleaning operation has not been performed by the cleaning device in the at least one area to be cleaned from the updated total cleaning area, the data processing method for the cleaning device may further include step 170.

[0088] In step 170, when the cleaning device completes the cleaning operation of any one of the at least one cleaning area, the cleaning device obtains the cumulative cleaning time since the cleaning device completed the previous return cleaning operation, and determines whether the cleaning device needs to return to clean based on the cumulative cleaning time.

[0089] In some embodiments, a second predetermined time (e.g., 2 minutes) is set to determine whether the cleaning device needs to perform a return wash, and if the cumulative cleaning time is greater than the second predetermined time, the cleaning device is controlled to directly perform a return wash, and if the cumulative cleaning time is less than or equal to the second predetermined time, the cleaning device continues to perform the cleaning operation without performing a return wash.

[0090] As shown in Figure 2, if the second predetermined time is preset to 2 minutes, and the predetermined cleaning rounds for area A are 2 and the predetermined cleaning rounds for area B are 2, the cleaning device will first clean area A and then clean area B. When the cleaning device completes the first cleaning round of area A, if the accumulated cleaning time generated by the cleaning device in area A is 1 minute, then it does not need to perform return cleaning and continues to perform the second cleaning round of area A. When the cleaning device completes the second cleaning round of area A, if the accumulated cleaning time generated is 2.5 minutes, then it needs to perform return cleaning, and after completing the return cleaning, it continues to perform the cleaning of area B and recalculate the accumulated cleaning time.

[0091] In this embodiment, by determining whether the cleaning device needs to be returned to its normal state in a different way based on whether a cleaning scene is used, it is possible to more intelligently determine whether the cleaning device needs to be returned to its normal state, thereby improving the cleaning efficiency of the cleaning device and improving the user experience.

[0092] In some embodiments of the present disclosure, the technical solution first obtains the total cleaning area of ​​at least one area to be cleaned, obtains the actual cleaning area found when the cleaning device performs a cleaning operation in the at least one area to be cleaned, updates the total cleaning area based on the actual cleaning area, and finally calculates a first remaining cleaning area (a portion of the at least one area to be cleaned that has not yet been cleaned by the cleaning device) from the updated total cleaning area. Based on this, the technical solution provided by the present disclosure can update and calculate the first remaining cleaning area of ​​at least one area to be cleaned in real time. Compared with embodiments that determine the remaining cleaning area for a current cleaning task from past cleaning records, the technical solution proposed by the present disclosure can update the total cleaning area according to changes in the home environment and more accurately calculate the first remaining cleaning area, thereby improving the accuracy of calculating the power required for return charging of the cleaning device to a certain extent and improving the accuracy of determining whether return cleaning is required during the cleaning process of the cleaning device, thereby enhancing the intelligence of the cleaning device and improving the user's experience using the cleaning device.

[0093] The following describes the device embodiments of the present disclosure, which are used to implement the data processing method for cleaning devices in the embodiments of the present disclosure. For details not disclosed in the device embodiments of the present disclosure, please refer to the embodiments of the data processing method for cleaning devices described in the present disclosure.

[0094] FIG. 3 illustrates a block diagram of a data processing unit of a cleaning device according to some embodiments of the present disclosure.

[0095] As shown in FIG. 3, the data processing device 300 of the cleaning device includes a first acquiring unit 301, a second acquiring unit 302, an updating unit 303 and a calculating unit 304.

[0096] The first acquisition unit 301 is used to acquire the total cleaning area of ​​at least one area to be cleaned, the second acquisition unit 302 is used to acquire the actual cleaning area searched when the cleaning operation is performed by the cleaning device in the at least one area to be cleaned, the update unit 303 is used to update the total cleaning area based on the actual cleaning area, and the calculation unit 304 is used to calculate a first remaining cleaning area where the cleaning operation has not been performed by the cleaning device in the at least one area to be cleaned from the updated total cleaning area.

[0097] In some embodiments, the first acquisition unit 301 further acquires a predetermined cleaning round for each area to be cleaned, acquires a scanned map of each area to be cleaned and a cleaning map searched when the cleaning device has previously performed cleaning operations for each area to be cleaned, determines a reference area area for each area to be cleaned based on the ratio of the area area of ​​the area to be cleaned defined by the scanned map to the area area of ​​the area to be cleaned defined by the cleaning map, and uses this to calculate a total cleaning area of ​​at least one area to be cleaned based on the predetermined cleaning round and the reference area area of ​​each area to be cleaned.

[0098] In some embodiments, the first acquisition unit 301 is further used to determine the area of ​​the area to be cleaned defined by the scanning map as the reference area area of ​​the area to be cleaned if the ratio is greater than a predetermined ratio, and to determine the area of ​​the area to be cleaned defined by the cleaning map as the reference area area of ​​the area to be cleaned if the ratio is less than or equal to the predetermined ratio. In some embodiments, the actual cleaning area includes the area explored when the cleaning device is currently performing a cleaning operation on each area to be cleaned, and the update unit 303 is further used to determine the area explored in the area to be cleaned where the cleaning operation is performed by the cleaning device as a target area area when the cleaning device has completed at least one round of cleaning operation on any area to be cleaned, and to update the total cleaning area based on the target area area.

[0099] In some embodiments, the update unit 303 is further used to recalculate the total cleaning area of ​​the at least one area to be cleaned based on the predetermined cleaning round, a target area area of ​​the area to be cleaned where a cleaning operation has been performed by the cleaning device, and a reference area area of ​​the area to be cleaned where a cleaning operation has not been performed by the cleaning device.

[0100] In some embodiments, the calculation unit 304 is further used to calculate an area difference between the updated total cleaning area and the actual cleaning area, and determine the area difference as a first remaining cleaning area where a cleaning operation has not been performed by the cleaning device in the at least one area to be cleaned.

[0101] In some embodiments, the calculation unit 304 further obtains an energy consumption coefficient of the cleaning device, the energy consumption coefficient being used to indicate the energy consumed by the cleaning device to perform a cleaning operation per unit area, and is used to determine a predetermined energy based on the energy consumption coefficient and the first remaining cleaning area, the predetermined energy being used to indicate the energy consumed by the cleaning device to perform a cleaning operation of the first remaining cleaning area.

[0102] In some embodiments, the calculation unit 304 further obtains a cleaning speed of the cleaning device, which is used to indicate the time consumed by the cleaning device to perform a cleaning operation per unit area, and when an actual cleaning time consumed by the cleaning device to perform a cleaning operation in the at least one area to be cleaned reaches a predetermined time, determines a first remaining cleaning time based on the cleaning speed and the first remaining cleaning area, and determines whether the cleaning device needs to return to clean based on the first remaining cleaning time, which is used to indicate the time consumed by the cleaning device to perform the cleaning operation of the first remaining cleaning area.

[0103] In some embodiments, the calculation unit 304 further calculates, from the updated total cleaning area, a second remaining cleaning area for which no cleaning operation has been performed by the cleaning device in the area to be cleaned currently when the actual cleaning time consumed by the cleaning device to perform the cleaning operation in the at least one area to be cleaned reaches a predetermined time, determines a second remaining cleaning time based on the cleaning speed of the cleaning device and the second remaining cleaning area, and determines whether the cleaning device needs to return to clean based on the second remaining cleaning time, and the second remaining cleaning time is used to indicate the time consumed by the cleaning device to perform the cleaning operation of the second remaining cleaning area.

[0104] In some embodiments, the calculation unit 304 is further used to obtain an accumulated cleaning time since the cleaning device completed the previous return cleaning operation when the cleaning device completes the cleaning operation of any of the at least one cleaning area, and to determine whether the cleaning device needs to return to clean based on the accumulated cleaning time.

[0105] FIG. 4 shows a schematic structural diagram of a computer system of a cleaning device according to some embodiments of the present disclosure.

[0106] It should be noted that the cleaning device computer system 400 shown in FIG. 4 is merely an example and does not limit the functionality and scope of use of the embodiments of the present disclosure.

[0107] As shown in Figure 4, a computer system 400 includes a central processing unit (CPU) 401, which reads programs stored in a read-only memory (ROM) 402 or loaded into a random access memory (RAM) 403 from a storage unit 408, and performs various appropriate operations and processes, such as executing the methods described in the above embodiments. The RAM 403 also stores various programs and data necessary for system operation. The CPU 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0108] An input unit 406 such as a keyboard or mouse, an output unit 407 such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker, a storage unit 408 such as a hard disk, and a communication unit 409 such as a network interface card (LAN) card or a modem may be connected to the I / O interface 405. The communication unit 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. Removable media 411 such as a disk, optical disk, magnetic disk, or semiconductor memory can be attached to the drive 410 as needed, and a computer program read from the removable media 411 can be installed in the storage unit 408 as needed.

[0109] In particular, according to embodiments of the present disclosure, the processes described with reference to the flowcharts above may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product including a computer program carried on a computer-readable medium, the computer program including program code for performing the methods illustrated in the flowcharts. In such embodiments, the computer program may be downloaded and installed from a network via communication unit 409 and / or from removable media 411. When executed by central processing unit (CPU) 401, the computer program performs various functions defined by the system of the present disclosure.

[0110] It should be noted that the computer-readable medium in the embodiments of the present disclosure may be a computer-readable signal medium, a computer-readable storage medium, or any combination thereof. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media include, but are not limited to, one or more electrical connections of wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program, and that may be used by or in combination with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium may include a data signal propagated in part in baseband or as a carrier carrying computer-readable program code. Such propagated data signals may take various forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that transmits, propagates, or transmits a program used by or in connection with an instruction execution system, apparatus, or device. The program code contained in the computer-readable medium may be transmitted by any suitable medium, including, but not limited to, wireless, wired, etc., or any suitable combination of the above.

[0111] The flowcharts and block diagrams in the accompanying drawings illustrate possible implementation architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. Each block in the flowcharts or block diagrams represents a module, program segment, or portion of code, which includes one or more executable instructions for performing a given logical function. It should also be noted that in some alternative implementations, the functions shown in the blocks may occur in a different order than that shown in the accompanying drawings. For example, two blocks shown in succession may be executed substantially in parallel or in the reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams or flowcharts, and combinations of blocks in the block diagrams or flowcharts, may be implemented by a dedicated hardware-based system that performs a given function or operation, or by a combination of dedicated hardware and computer instructions.

[0112] The units relating to the embodiments of the present disclosure may be implemented by software or hardware, and the units described may be provided in a processor, where the names of these units do not necessarily constitute limitations on the units themselves.

[0113] In another aspect, the present disclosure further provides a computer program product or a computer program, the computer program product or the computer program including computer instructions stored in a computer-readable storage medium, the computer instructions being read by a processor of a computer device from the computer-readable storage medium and executed by the processor to cause the computer device to perform the cleaning device data processing method described in the above embodiments.

[0114] In another aspect, the present disclosure further provides a computer-readable medium, which may be included in the cleaning device described in the above embodiments, or may exist separately from the cleaning device, having one or more programs stored therein, the one or more programs being executed by the cleaning device to cause the cleaning device to perform the cleaning device data processing method described in the above embodiments.

[0115] It should be noted that although the above detailed description refers to multiple modules or units that perform operations, such division is not required. In fact, according to embodiments of the present disclosure, the features and functions of two or more of the modules or units described above may be embodied in a single module or unit. Conversely, the features and functions of a single module or unit described above may be embodied in multiple separate modules or units.

[0116] Through the description of the above embodiments, it is easily understood by those skilled in the art that the exemplary embodiments described herein may be implemented in software, or may be implemented in a manner combining software and necessary hardware. Therefore, the technical solutions of the embodiments of the present disclosure are embodied in the form of a software product, which may be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a removable hard drive, etc.) or a network, and includes a number of instructions that cause a computing device (such as a personal computer, a server, a touch terminal, or a network device) to perform the method of the embodiments of the present disclosure.

[0117] Other embodiments of the present disclosure will be readily apparent to those skilled in the art from consideration of this specification and practice of the embodiments disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure, which variations, uses, or adaptations follow the general principles of the present disclosure and include means well known or commonly used in the art that are not disclosed in the present disclosure.

[0118] The technical solution proposed by the present disclosure first obtains the total cleaning area of ​​at least one area to be cleaned, obtains the actual cleaning area found when the cleaning device performs a cleaning operation in the at least one area to be cleaned, then updates the total cleaning area based on the actual cleaning area, and finally calculates a first remaining cleaning area, which is an area in which the cleaning device has not performed a cleaning operation in the at least one area to be cleaned, from the updated total cleaning area. Based on this, the technical solution provided by the present disclosure can update and calculate the first remaining cleaning area of ​​at least one area to be cleaned in real time. Compared to an embodiment in which the remaining cleaning area for a current cleaning task is determined from past cleaning records, the technical solution of the present disclosure can update the total cleaning area according to changes in the home environment and more accurately calculate the first remaining cleaning area, which to some extent improves the accuracy of calculating the power required for return charging of the cleaning device and improves the accuracy of the cleaning device determining whether return washing is required during the cleaning process, thereby improving the intelligence of the cleaning device and improving the user's experience using the cleaning device.

[0119] It should be understood that the present disclosure is not limited to the exact construction described above and illustrated in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof, which is limited only by the appended claims.

Claims

1. A data processing method for a cleaning device, comprising: obtaining a total cleaning area of ​​at least one area to be cleaned; obtaining an actual cleaning area explored when the cleaning device performs a cleaning operation in the at least one area to be cleaned; updating the total cleaning area based on the actual cleaning area; A data processing method for a cleaning device, comprising: a step of calculating a first remaining cleaning area in which a cleaning operation has not been performed by the cleaning device in the at least one area to be cleaned based on the updated total cleaning area.

2. The step of obtaining a total cleaning area of ​​the at least one area to be cleaned includes: obtaining a predetermined cleaning round for each area to be cleaned; obtaining a scanned map of each area to be cleaned and a cleaning map that has been searched in the past when cleaning operations have been performed on each area to be cleaned by the cleaning device; determining a reference area for each area to be cleaned based on a ratio of an area area of ​​the area to be cleaned defined by the scanning map to an area area of ​​the area to be cleaned defined by the cleaning map; and The method of claim 1 , further comprising: calculating a total cleaning area of ​​at least one area to be cleaned based on the predetermined cleaning round and a reference area area of ​​each area to be cleaned.

3. determining a reference area area for each area to be cleaned based on a ratio of an area area of ​​the area to be cleaned defined by the scanning map to an area area of ​​the area to be cleaned defined by the cleaning map; If the ratio is greater than a predetermined ratio, determining the area of ​​the area to be cleaned defined by the scanned map as a reference area of ​​the area to be cleaned; and 3. The method of claim 2, further comprising determining an area of ​​the area to be cleaned defined by the cleaning map as a reference area of ​​the area to be cleaned if the ratio is equal to or less than a predetermined ratio.

4. The actual cleaning area includes the area of ​​the area searched when the cleaning device currently performs a cleaning operation on each area to be cleaned, and the step of updating the total cleaning area based on the actual cleaning area includes: When the cleaning device has completed at least one round of cleaning in any area to be cleaned, obtaining the area area searched in the area to be cleaned in which the cleaning device has performed the cleaning operation as a target area area; and The method of claim 3 , further comprising updating the total cleaning area based on the target area.

5. Updating the total cleaning area based on the target area includes:

5. The method of claim 4, further comprising: recalculating a total cleaning area of ​​the at least one area to be cleaned based on the predetermined cleaning round, a target area area of ​​the area to be cleaned where a cleaning operation has been performed by the cleaning device, and a reference area area of ​​the area to be cleaned where a cleaning operation has not been performed by the cleaning device.

6. The step of calculating a first remaining cleaning area in which a cleaning operation has not been performed by the cleaning device in the at least one area to be cleaned based on the updated total cleaning area includes:

6. The method of claim 5, further comprising: calculating an area difference between the updated total cleaning area and the actual cleaning area; and determining the area difference as a first remaining cleaning area where a cleaning operation has not been performed by the cleaning device in the at least one area to be cleaned.

7. After calculating a first remaining cleaning area in which a cleaning operation has not been performed by the cleaning device in the at least one region to be cleaned based on the updated total cleaning area, the method further comprises: obtaining an energy consumption factor for the cleaning device, the energy consumption factor being used to indicate the energy consumed by the cleaning device to perform a cleaning operation per unit area; 2. The method of claim 1, further comprising: determining a predetermined energy based on the energy consumption coefficient and the first remaining cleaning area, the predetermined energy being used to indicate the energy consumed by the cleaning device to perform a cleaning operation of the first remaining cleaning area.

8. After calculating a first remaining cleaning area in which a cleaning operation has not been performed by the cleaning device in the at least one region to be cleaned based on the updated total cleaning area, the method further comprises: obtaining a cleaning speed of the cleaning device, the cleaning speed being used to indicate the time consumed by the cleaning device to perform a cleaning operation per unit area; 2. The method of claim 1, further comprising: when an actual cleaning time consumed by the cleaning device to perform the cleaning operation in the at least one area to be cleaned reaches a predetermined time, determining a first remaining cleaning time based on the cleaning speed and the first remaining cleaning area, and determining whether the cleaning device needs to return to clean based on the first remaining cleaning time, wherein the first remaining cleaning time is used to indicate the time consumed by the cleaning device to perform the cleaning operation of the first remaining cleaning area.

9. When the actual cleaning time consumed by the cleaning device to perform the cleaning operation in the at least one area to be cleaned reaches a predetermined time, calculating a second remaining cleaning area in the area to be cleaned that has not yet been cleaned by the cleaning device based on the updated total cleaning area; 2. The method of claim 1, further comprising: determining a second remaining cleaning time based on the cleaning speed of the cleaning device and the second remaining cleaning area; determining whether the cleaning device needs to return to clean based on the second remaining cleaning time; and using the second remaining cleaning time to indicate the time consumed by the cleaning device to perform the cleaning operation of the second remaining cleaning area.

10. 2. The method of claim 1, further comprising the step of: when the cleaning device completes a cleaning operation of any one of the at least one cleaning area, obtaining a cumulative cleaning time since the cleaning device completed a previous return cleaning operation; and determining whether the cleaning device needs to return to clean based on the cumulative cleaning time.

11. A data processing device for a cleaning device, comprising: a first acquisition unit used to acquire a total cleaning area of ​​at least one area to be cleaned; a second acquisition unit used to acquire an actual cleaning area searched when the cleaning device performs a cleaning operation in the at least one area to be cleaned; an updating unit used to update the total cleaning area based on the actual cleaning area; A data processing device for a cleaning device, comprising: a calculation unit used to calculate a first remaining cleaning area in which a cleaning operation has not been performed in the at least one area to be cleaned by the cleaning device based on the updated total cleaning area.

12. A computer-readable storage medium having stored thereon computer program instructions which, when loaded and executed by a processor, cause the processor to perform the operations performed by the method of any one of claims 1 to 10.

13. 11. A cleaning device comprising a processor and a memory, the memory storing computer program instructions executable by the processor, the cleaning device performing instructions of the method of any one of claims 1 to 10 when the processor executes the computer program instructions.

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