CLEANING APPARATUS, CLEANING PATH AND CLEANING MAP GENERATION METHOD, AND GENERATION SYSTEM

Abstract

The present disclosure discloses a cleaning device, a cleaning path and a cleaning map generating method and generating system, in which the cleaning path obtaining method includes generating a cleaning path of the cleaning device based on a path of the cleaning device, a status mode of the cleaning device and a water consumption of the cleaning device, the status mode of the cleaning device includes one or more of a sweeping status mode, a mopping status mode, a sweeping mopping status mode and a sweeping mopping idle status mode, and the cleaning path includes one or more of a sweeping path, a mopping path, a sweeping mopping path and a sweeping mopping idle path corresponding to the status mode of the cleaning device. The cleaning device obtains cleaning paths in different cleaning status modes and differentiates and displays the cleaning paths on the environment map, so that the user can easily observe and compare the actual cleaning effect, and the user can easily know where the sweeping robot is working, what kind of cleaning has been performed respectively, and whether there is any sweeping or mopping error, incorrect sweeping or incorrect mopping.

Description

[Technical field]

[0001] (Related Applications)

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

[0003] The present disclosure relates to the technical field of cleaning paths for cleaning devices, and in particular to a cleaning device, a cleaning path and a cleaning map generation method and generation system. [Background technology]

[0004] Currently, sweeping robots can display the path they have taken on a map that they generate, but with the diversification of sweeping robot functions and the emergence of robots that combine sweeping and mopping functions, it is necessary to differentiate between the sweeping path and the mopping path on the map display, and there is a demand for the development of a cleaning device, cleaning path and cleaning map generation method and generation system that can provide differentiated cleaning paths. Summary of the Invention

[0005] (1) Purpose of the invention

[0006] An object of the present disclosure is to provide a cleaning device, a cleaning path and cleaning map generation method and generation system capable of obtaining differentiated cleaning paths.

[0007] (2) Technical solutions

[0008] In order to solve the above problem, a first aspect of an embodiment of the present disclosure provides a cleaning path generation method for a cleaning device, the method includes: determining a movement path of the cleaning device; determining a status mode of the cleaning device; determining a water consumption of the cleaning device; and generating a cleaning path of the cleaning device based on the movement path of the cleaning device, the status mode of the cleaning device and the water consumption of the cleaning device, wherein the status mode of the cleaning device includes one or more of a sweeping status mode, a mopping status mode, a sweeping mopping status mode and a sweeping mopping idle status mode, and the cleaning path includes one or more of a sweeping path, a mopping path, a sweeping mopping path and a sweeping mopping idle path corresponding to the status mode of the cleaning device.

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

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

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

[0012] In some embodiments, the cleaning device situation Determining the mode includes determining that the cleaning device is in a sweeping and mopping mode based on the sweeping module and the mopping module being operational.

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

[0014] In some embodiments, determining the water consumption of the cleaning device comprises: determining a water consumption rate of the cleaning device based on the cleaning device being in the sweeping status mode; and / or determining a water consumption rate of the cleaning device based on the cleaning device being in the mopping status mode; and / or determining a water consumption rate of the cleaning device based on the cleaning device being in the sweeping and mopping status mode; and / or Determining water consumption of the cleaning device based on the cleaning device being in the sweeping and mopping idle mode.

[0015] In some embodiments, determining a cleaning path for the cleaning device based on a travel path of the cleaning device, a status mode of the cleaning device, and a water consumption rate of the cleaning device comprises: and / or determining the sweeping path based on the path of movement of the cleaning device in the sweeping state mode and the amount of water consumed by the cleaning device in the sweeping state mode, when the cleaning device is in the sweeping state mode. The cleaning device is in the mopping mode, the path of travel of the cleaning device in the mopping mode, and water consumption of the cleaning device in the mopping mode. In quantity and / or determining the mopping path based on the cleaning device is in the sweeping and mopping status mode, the path of travel of the cleaning device in the sweeping and mopping status mode, and water consumption of the cleaning device in the sweeping and mopping status mode In quantity and / or determining the sweeping / mopping path based on the cleaning device is in the sweeping / mopping idle mode, the path of travel of the cleaning device in the sweeping / mopping idle mode, and the water consumption of the cleaning device in the sweeping / mopping idle mode. In quantity and determining the sweeping and mopping idle path based on the determined sweeping and mopping idle path.

[0016] A second aspect of an embodiment of the present disclosure provides a cleaning map generation method for a cleaning device, the method including: determining a cleaning path using any one of the cleaning path generation methods for a cleaning device provided in the first aspect of an embodiment of the present disclosure; obtaining an environmental map; and overlaying the environmental map and the cleaning path to generate a cleaning map.

[0017] A third aspect of an embodiment of the present disclosure provides a cleaning device, and generates a cleaning map using the cleaning map generation method for a cleaning device provided in the second aspect of an embodiment of the present disclosure.

[0018] A fourth aspect of an embodiment of the present disclosure provides a cleaning map generation system for a cleaning device, comprising: the cleaning device provided in the third aspect of an embodiment of the present disclosure; a terminal for displaying a cleaning map generated by the cleaning device; and a server connected to the cleaning device and the terminal for signal transmission and reception, for receiving and storing the cleaning map transmitted from the cleaning device, and for transmitting the cleaning map to the terminal.

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

[0020] In some embodiments, the mopping path in the cleaning map displayed on the terminal is in the form of a sheet.

[0021] (3) Beneficial Effects

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

[0023] By obtaining cleaning paths in different cleaning state modes by the cleaning device and differentiating and displaying the cleaning paths on the environment map, the user can easily observe and compare the actual cleaning effect, and the user can easily know where the sweeping robot is working, what kind of cleaning has been done respectively, and whether the user has missed sweeping, missed mopping, incorrect sweeping and incorrect mopping. [Brief description of the drawings]

[0024] [Figure 1] 1 is a schematic flowchart of a cleaning path generation method for a cleaning device according to an embodiment of the present disclosure. [Diagram 2] 1 is a structural schematic diagram of a cleaning device according to an embodiment of the present disclosure; [Diagram 3] 1 is a structural schematic diagram of a cleaning device according to an embodiment of the present disclosure; [Figure 4] 1 is a schematic diagram of a cleaning map according to an embodiment of the present disclosure; [Explanation of symbols]

[0025] 100 Moving Platform 101 Anterior part 102 Posterior part 110 Sensing System 111 Positioning device 112 Buffer 120 Drive System 130 Energy Systems 140 Man-machine interaction system 150 Sweeping Module 160 Mopping Module 161 Cleaning head 1611 Fixed area 1612 Operating area DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

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

[0028] It should be understood that the term "and / or" used herein is merely a description of the relation between related objects, and for example, A and / or B can have three possibilities: A alone, both A and B, and B alone. Furthermore, in this specification, " / " generally indicates that the related objects before and after are in an "or" relation.

[0029] In addition, in the embodiments of the present disclosure, the terms "first", "second", "third" and the like are used for description, but it should be understood that they should not be limited to these terms. These terms are used only for distinction. For example, the first can also be called the second, and similarly, the second can also be called the first, without departing from the scope of the embodiments of the present disclosure.

[0030] It should be noted that the terms "comprises," "has," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a product or device comprising a set of elements includes not only those elements, but also other elements not expressly listed or inherent in such product or device. Unless further limited, the fact that a term is defined as "comprising a" does not exclude the presence of other elements of the same type in the product or device of said element.

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

[0032] In a first embodiment of the present disclosure, a cleaning path generating method for a cleaning device is provided, where the cleaning device may be a vacuum cleaning robot, a mopping / sweeping robot, a window climbing robot, etc. For purely illustrative purposes, a cleaning robot with sweeping and mopping functions is taken as an example in this embodiment to be described below.

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

[0034] In step S101, a moving path of the cleaning device is determined.

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

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

[0037] After the cleaning device first enters the cleaning environment, it acquires corresponding environmental data and generates an environmental map; thereafter, every time the cleaning device performs a cleaning task, the cleaning device acquires environmental data and updates the environmental map based on the acquired environmental data, and the movement path of the cleaning device is generated based on the latest environmental map.

[0038] Step S102, the state mode of the cleaning device is determined.

[0039] In some embodiments, the control system of the cleaning apparatus determines a status mode of the entire cleaning apparatus based on the operating status or operating data of each component of the cleaning apparatus, and the status mode of the cleaning apparatus includes one or more of a sweeping status mode, a mopping status mode, a sweeping-mopping status mode, and a sweeping-mopping-idle status mode, where the control system of the cleaning apparatus determines that the cleaning apparatus is in the sweeping status mode by determining that the sweeping module 150 of the cleaning apparatus is in an operating state and that the mopping module 160 of the cleaning apparatus is in an idle state, the control system of the cleaning apparatus determines that the cleaning apparatus is in the mopping status mode by determining that the mopping module 160 of the cleaning apparatus is in an operating state and that the sweeping module 150 of the cleaning apparatus is in an idle state, the control system of the cleaning apparatus determines that the cleaning apparatus is in the sweeping-mopping status mode by determining that the sweeping module 150 and the mopping module 160 are in an operating state, and the control system of the cleaning apparatus determines that the cleaning apparatus is in the sweeping-mopping-idle status mode by determining that the sweeping module 150 and the mopping module 160 are in an idle state.

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

[0041] Step S103, the water consumption of the cleaning device is determined.

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

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

[0044] In some embodiments, the cleaning path of the cleaning device includes a plurality of cleaning information: travel path information, water consumption information, and cleaning mode information. The cleaning path includes one or more of a sweeping path, a mopping path, a sweep-mopping path, and a sweep-mopping idle path that correspond to a status mode of the cleaning device. The control system of the cleaning device determines a sweeping path when the cleaning device is in a sweeping mode based on the path of movement of the cleaning device in the sweeping mode and the amount of water consumption of the cleaning device in the sweeping mode, and / or determines a mopping path when the cleaning device is in a mopping mode based on the path of movement of the cleaning device in the mopping mode and the amount of water consumption of the cleaning device in the mopping mode, and / or determines a sweeping mopping path when the cleaning device is in a sweeping mopping mode based on the path of movement of the cleaning device in the sweeping mopping mode and the amount of water consumption of the cleaning device in the sweeping mopping mode, and / or determines a sweeping mopping idle path when the cleaning device is in a sweeping mopping idle mode based on the path of movement of the cleaning device in the sweeping mopping idle mode and the amount of water consumption of the cleaning device in the sweeping mopping idle mode.

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

[0046] Step S201: A cleaning path is determined by using any one of the cleaning path generation methods provided by the first aspect of the embodiment of the present disclosure, so as to accurately reflect the current cleaning workload of the cleaning device.

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

[0048] Step S202: An environment map is obtained.

[0049] In some embodiments, the environmental map is an environmental map generated or updated based on the environmental data when the cleaning device performs a cleaning task, thereby accurately reflecting the current cleaning scope of the cleaning device; for example, if the door of a room in the house is closed, the cleaning device cannot enter the closed room, and the closed room has not been cleaned, and the user can intuitively know what has been cleaned and what has not been cleaned.

[0050] Step S203: The cleaning map is generated by superimposing the environment map and the cleaning path.

[0051] In some embodiments, the cleaning map is generated by layering the environment map on top of the cleaning path.

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

[0053] In some embodiments, the cleaning apparatus includes a mobile platform 100, a sensing system 110, a control system, a drive system 120, a cleaning module, an energy system 130, and a man-machine interaction system 140. The control system obtains the operating status or operating data of the mobile platform 100, the sensing system 110, the drive system 120, the cleaning module, the energy system 130, and the man-machine interaction system 140 to determine the status mode of the entire cleaning apparatus.

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

[0055] The sensing system 110 includes sensing devices such as a positioning device 111 located above the mobile platform 100, a buffer 112 located in the forward portion 101 of the mobile platform 100, cliff sensors and ultrasonic sensors (not shown) located at the bottom of the mobile platform 100, infrared sensors (not shown), magnetometers (not shown), accelerometers (not shown), gyroscopes (not shown), and odometers (not shown), and provides the control system with information on the position and motion status of each piece of equipment.

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

[0057] Each assembly in the sensing system 110 can operate independently or together to more precisely achieve the intended function. Cliff sensors and ultrasonic sensors can recognize the cleaning surface and determine the physical properties of the cleaning surface (including surface material, cleanliness, etc.) and can be combined with cameras, laser distance measuring devices, etc. to make more precise decisions.

[0058] The control system is provided on a circuit motherboard in the mobile platform 100 and includes an arithmetic processor, such as a central processing unit and an application processor, communicating with a non-transitory memory, such as a hard disk, a flash memory, a random access memory, and the application processor receives environmental information sensed by multiple sensors from the sensing system 110, obstacle information fed back from a laser distance measuring device, and the like, and uses a positioning algorithm, such as SLAM, to draw an instantaneous map of the environment in which the automatic cleaning device is located, and autonomously determines a travel path based on the environmental information and the environmental map, and then performs operations such as forward, backward, and / or steering of the drive system 120 based on the autonomously determined travel path. The control system determines whether to operate the cleaning module to perform a cleaning operation based on the environmental information and the environmental map.

[0059] A buffer 112 is provided on the forward portion 101 of the moving platform 100, and during the cleaning process, the buffer 112 detects one or more events (or objects) in the travel path of the automatic cleaning device through a sensor system, e.g., an infrared sensor, and the automatic cleaning device responds to the event (or object) detected by the buffer 112, e.g., an obstacle, a wall, etc., by controlling the drive wheel assembly so that the automatic cleaning device responds to the event (or object), e.g., moves away from the obstacle.

[0060] The control system combines distance information and speed information fed back from sensing devices such as the buffer 112, cliff sensor, ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, etc. to comprehensively determine the current operating state of the vacuum cleaner, such as crossing a threshold, riding on a carpet, located on a cliff, stuck above or below, full dust box, lifted, etc., or provides specific next operating strategies according to different situations, so that the operation of the automatic cleaning device is more in line with the owner's requirements and a better user experience is obtained. In some embodiments, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the instant map information drawn by SLAM, which can greatly improve the cleaning efficiency of the automatic cleaning device.

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

[0062] In some embodiments, the control system obtains environmental data through the sensing system 110, and the environmental data includes at least a cleaning area and a cleaning environment. The cleaning environment includes at least floor surface data (e.g., whether a carpet exists) and obstacles or references in the cleaning environment (e.g., whether a sofa, a refrigerator, etc. exists in the cleaning area). Taking the obstacles or references in the cleaning environment as references, determine multiple coordinate points, for example, determine multiple coordinate points between the sofa (first reference) and the seat (second reference), and the cleaning device moves from the sofa to the seat according to the multiple coordinate points between the sofa and the seat, and generates a movement path of the cleaning device based on the movement data from one coordinate point to the next coordinate point, where the movement data includes at least a movement distance and a direction.

[0063] After the cleaning device first enters the cleaning environment, it acquires corresponding environmental data and generates an environmental map; thereafter, every time the cleaning device performs a cleaning task, the cleaning device acquires environmental data and updates the environmental map based on the acquired environmental data, and the movement path of the cleaning device is generated based on the latest environmental map.

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

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

[0066] The mopping module 160 includes a cleaning head 161 and a driving unit. The cleaning head 161 is used to clean at least a part of an operating surface (e.g., a floor surface), and the driving unit is used to drive the cleaning head 161 to move substantially reciprocally along a target surface, the target surface being a part of the operating surface. The cleaning head 161 moves reciprocally along the cleaning surface, and a cleaning cloth or cleaning plate is provided at the contact surface between the cleaning head 161 and the cleaning surface, which generates high-frequency friction with the cleaning surface through the reciprocating motion, thereby removing dirt on the cleaning surface. In some embodiments, the cleaning head 161 includes a fixing area 1611 and an operating area 1612. Here, the fixing area 1611 is located at the bottom of the moving platform 100, and the operating area 1612 is used to move reciprocally along the target surface to clean the target surface.

[0067] The mopping module 160 is movably connected to the moving platform 100 through a four-link lifting structure, where the four-link lifting structure is a parallelogram structure, and the mopping module 160 is switched between a raised state and a lowered state, the raised state means that the mopping module 160 is off the operating surface and the cleaning head 161 is off the cleaning surface, that is, the mopping module 160 floats on the cleaning surface, and at this time, the mopping module 160 is in an idle state. When it is necessary to switch from the idle state to the working state, the mopping module 160 is lowered to make the mopping module 160 contact the floor surface. When the mopping task is completed, the mopping module 160 is raised to make the mopping module 160 off the floor surface, so as to avoid the increased resistance caused by the presence of the cleaning module when the cleaning device moves freely on the surface to be cleaned. Additionally, when the mopping module 160 is in contact with the cleaning surface but the drive unit of the mopping module 160 is not driving the movement of the cleaning head 161, the mopping module 160 is also idle.

[0068] If the control system determines that the sweeping module 150 is in a lowered state, i.e., the sweeping module 150 is in an operating state, and if the control system determines that the mopping module 160 is in a lowered state and the drive unit is not driving the movement of the cleaning head 161, or if the control system determines that the mopping module 160 is in an up state, i.e., the mopping module 160 is in an idle state, the control system determines that the cleaning device is in the sweeping mode.

[0069] If the control system determines that the sweeping module 150 is in a lowered state, i.e., the sweeping module 150 is in an operational state, and if the control system determines that the mopping module 160 is in a lowered state and the drive unit drives the operation of the cleaning head 161, i.e., the mopping module 160 is in an operational state, the control system determines that the cleaning apparatus is in the sweeping and mopping state mode.

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

[0071] In some embodiments, the cleaning device has zero water consumption in the sweeping mode and the sweep-mop idle mode, and the water consumption of the cleaning device in the mopping mode and the sweep-mop idle mode is determined by a water level sensor or preset water consumption commands.

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

[0073] In a fourth embodiment of the present disclosure, a cleaning map generating system for a cleaning device is provided, which mainly includes a cleaning device provided in the third aspect of the embodiment of the present disclosure, a terminal for displaying a cleaning map generated by the cleaning device, and a server. The server is connected to the cleaning device and the terminal in a signal transceiverable manner, respectively, and is used for receiving and storing the cleaning map transmitted by the cleaning device, and transmitting the cleaning map to the terminal.

[0074] In some embodiments, the cleaning device starts from the charging pile and moves to the cleaning starting point according to the preset cleaning command, and performs the cleaning task while acquiring the surrounding cleaning environment through the sensing system 110 and generating a cleaning map, and the cleaning device transfers the generated cleaning map in real time to a remote server, which stores and transmits the cleaning map to a terminal and displays the cleaning map, where the terminal may be a mobile phone, a tablet, or a smart device.

[0075] FIG. 4 is a schematic diagram of a cleaning map according to one embodiment of the present disclosure.

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

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

[0078] In some embodiments, the mopping path in the cleaning map displayed on the terminal is in the form of a sheet.

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

[0080] The above examples are only used for the purpose of illustrating the technical solutions of the present disclosure, and are not limiting. The present disclosure has been described in detail with reference to the above examples. However, those skilled in the art may modify the technical solutions described in each of the above examples or replace some technical features with equivalents, and these modifications or replacements do not cause the essence of the relevant technical solutions to deviate from the spirit and scope of the technical solutions of each of the embodiments of the present disclosure.

Claims

1. determining a path of movement of the cleaning device; determining a status mode of the cleaning device; determining a water consumption of the cleaning device; generating a cleaning path for the cleaning device based on a travel path of the cleaning device, a status mode of the cleaning device, and a water consumption rate of the cleaning device; a cleaning path generating method for a cleaning device, characterized in that the state modes of the cleaning device include one or more of a sweeping state mode, a mopping state mode, a sweeping and mopping state mode, and a sweeping and mopping idle state mode, and the cleaning paths include one or more of a sweeping path, a mopping path, a sweeping and mopping path, and a sweeping and mopping idle path, which correspond to the state modes of the cleaning device and are differentiated from each other.

2. Determining a path of travel of the cleaning device comprises: generating an environment map based on the acquired environment data; and generating a path of movement for the cleaning device based on movement data from one coordinate point to a next coordinate point of the environmental map.

3. Determining a status mode of the cleaning device comprises:

2. The method of claim 1, comprising determining that the cleaning device is in a sweeping mode based on a sweeping module of the cleaning device being in an operational state and a mopping module of the cleaning device being in an idle state.

4. Determining a status mode of the cleaning device comprises:

2. The method of claim 1, comprising determining that the cleaning device is in a mopping mode based on a mopping module of the cleaning device being in an operational state and a sweeping module of the cleaning device being in an idle state.

5. Determining a status mode of the cleaning device comprises:

2. The method of claim 1, comprising determining that the cleaning device is in a sweeping and mopping mode based on the sweeping module and the mopping module being operational.

6. 2. The method of claim 1, determining that the cleaning device is in a sweeping-mopping idle mode based on the sweeping module and the mopping module being idle.

7. Determining the water consumption of the cleaning device comprises: determining water consumption of the cleaning device based on the cleaning device being in the sweeping mode; and / or determining the water consumption of the cleaning device based on the cleaning device being in the mopping status mode; and / or determining water consumption of the cleaning device based on the cleaning device being in the sweeping and mopping status mode; and / or 2. The method of claim 1, comprising determining water consumption of the cleaning device based on the cleaning device being in the sweeping and mopping idle mode.

8. determining a cleaning path for the cleaning device based on a travel path of the cleaning device, a status mode of the cleaning device, and a water consumption rate of the cleaning device; and / or determining the sweeping path based on the cleaning device being in the sweeping state mode and the path traveled by the cleaning device in the sweeping state mode and the amount of water consumed by the cleaning device in the sweeping state mode. the cleaning device is in the mopping state mode and determining the mopping path based on a path of movement of the cleaning device in the mopping state mode and a water consumption of the cleaning device in the mopping state mode; and / or the cleaning device is in the sweeping and mopping state mode and determining the sweeping and mopping path based on a path of movement of the cleaning device in the sweeping and mopping state mode and a water consumption of the cleaning device in the sweeping and mopping state mode; and / or 2. The method of claim 1, comprising: the cleaning device is in the sweeping and mopping idle mode and determining the sweeping and mopping idle path based on a path of travel of the cleaning device in the sweeping and mopping idle mode and an amount of water consumed by the cleaning device in the sweeping and mopping idle mode.

9. Determining a cleaning path using the cleaning path generation method for a cleaning device according to any one of claims 1 to 8; Obtaining an environment map; and overlaying the environment map and the cleaning path to generate a cleaning map.

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

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

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

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

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