Cleaning device, control method for cleaning device, and related device

Abstract

A cleaning device, a control method for the cleaning device, and a related device. The control method for the cleaning device comprises: in response to a cleaning instruction, during the operation of the cleaning device, acquiring map construction data for constructing an updated cleaning map (101); on the basis of the map construction data, acquiring an updated cleaning map (102); when the updated cleaning map is abnormal, generating a map selection instruction (103); and receiving a user selection instruction and, on the basis of the user selection instruction, updating a map stored in the cleaning device (104). The cleaning device can always store an accurate map matched with user demands, thereby ensuring cleaning efficiency, reducing the idle running probability of the cleaning device, reducing operating difficulty of users, and improving user experience.

Description

Cleaning equipment, control method for cleaning equipment and related equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311101601.7 filed on August 29, 2023. The contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as part of this application. Technical Field

[0003] The embodiments of the present disclosure relate to the field of cleaning technology, and in particular to a cleaning device, a control method for the cleaning device, and related devices. Background Art

[0004] With technological advancements, cleaning robots have become widely used in industrial sites, commercial spaces, and residential homes. However, if traditional cleaning robots slip or become misplaced, they will end up in the wrong map location, becoming unable to continue their work and impacting the user experience.

[0005] Summary of the Invention

[0006] The present disclosure aims to solve at least one of the technical problems existing in the prior art or related art.

[0007] To this end, a first aspect of the present disclosure provides a control method for a cleaning device.

[0008] A second aspect of the present disclosure provides a computer-readable storage medium.

[0009] A third aspect of the present disclosure provides a cleaning device.

[0010] A fourth aspect of the present disclosure provides a cleaning system.

[0011] In view of this, according to a first aspect of an embodiment of the present disclosure, a control method for a cleaning device is proposed, comprising:

[0012] In response to a cleaning instruction, acquiring map construction data for constructing an updated cleaning map during operation of the cleaning device;

[0013] Based on the map construction data, obtaining an updated cleaning map;

[0014] If there is an abnormality in the updating of the cleaning map, generating a map selection instruction;

[0015] A user selection instruction is received, and a map stored in the cleaning device is updated based on the user selection instruction.

[0016] In a feasible embodiment, the step of obtaining map construction data for constructing and updating the cleaning map during the operation of the cleaning equipment in response to the cleaning instruction includes:

[0017] In response to a cleaning instruction, if the original cleaning map exists, obtaining map construction data for constructing an updated cleaning map during operation of the cleaning device;

[0018] In the absence of the original cleaning map, the cleaning device is controlled to perform a cleaning operation and the original cleaning map is obtained.

[0019] In a feasible embodiment, the step of obtaining map construction data for constructing and updating the cleaning map during the operation of the cleaning equipment includes:

[0020] During the movement of the cleaning device, at least one of laser data, odometer data, and gyroscope data is obtained.

[0021] In a feasible implementation manner, the step of obtaining an updated cleaning map based on the map construction data includes:

[0022] When the cleaning device is in a stationary state, an updated cleaning map is obtained based on the map construction data.

[0023] In a feasible implementation manner, when an abnormality occurs in updating the cleaning map, the step of generating a map selection instruction includes:

[0024] If there is an exception in updating the cleaning map and the interaction state of the cleaning device is turned on, a map selection instruction is generated;

[0025] When an exception occurs in updating the cleaning map and the cleaning device is in an interactive closed state, a prompt message is sent to the terminal, the original cleaning map is sent to the terminal, and the map stored in the cleaning device is updated based on the original cleaning map.

[0026] In a feasible embodiment, the step of receiving a user selection instruction and updating a map stored in the cleaning device based on the user selection instruction includes:

[0027] A user selection instruction is received, a map corresponding to the user selection instruction is used as a new original cleaning map of the cleaning device, and the map corresponding to the user selection instruction is sent to the terminal.

[0028] In a feasible embodiment, the control method of the cleaning equipment further includes:

[0029] In the case that the updated cleaning map is accurate, the map stored in the cleaning device is updated based on the updated cleaning map, and the updated cleaning map is sent to the terminal.

[0030] In a feasible implementation manner, the control method further includes:

[0031] Obtaining a degree of matching between the updated cleaning map and the original cleaning map;

[0032] When the matching degree is lower than a preset value, it is determined that an abnormality exists in the updating of the cleaning map.

[0033] According to a second aspect of an embodiment of the present disclosure, a control method for a cleaning device is provided, which is applied to a terminal and includes:

[0034] In response to the map selection instruction, sending a user selection instruction;

[0035] The user selection instruction includes an original cleaning map selection instruction or an updated cleaning map selection instruction.

[0036] In a feasible embodiment, the control method of the cleaning equipment further includes:

[0037] Receive and display the original cleanup map; and / or

[0038] Receive and display updated cleaning maps.

[0039] According to a third aspect of the present disclosure, a computer-readable storage medium is provided.

[0040] The computer-readable storage medium stores a computer program for implementing the control method described in any of the above technical solutions.

[0041] According to a fourth aspect of an embodiment of the present disclosure, a cleaning device is provided, comprising:

[0042] a memory storing a computer program;

[0043] a processor, configured to execute the computer program;

[0044] Wherein, when the processor executes the computer program, it implements the control method described in any of the above technical solutions.

[0045] According to a fifth aspect of an embodiment of the present disclosure, a cleaning system is provided, comprising:

[0046] The cleaning device as described in the above technical solution;

[0047] A cleaning base station provides maintenance for the cleaning equipment.

[0048] Compared with the prior art, the present disclosure has at least the following beneficial effects:

[0049] Through the control method provided by the embodiment of the present disclosure, when the control method is applied to the cleaning device, the cleaning device will collect map construction data for constructing an updated cleaning map while performing operations, and then construct an updated cleaning map based on the map construction data. For non-new machines, before the cleaning device performs operations, the original cleaning map will be stored in the cleaning device. When there is an abnormality in updating the cleaning map, such as when the map where the cleaning device is located is misplaced, a map selection instruction can be sent. The user can select the updated cleaning map or the original cleaning map based on the map selection instruction to instruct the cleaning device to update the map stored in the cleaning device, so that when the cleaning device is misplaced, the cleaning device can always store an accurate map, thereby ensuring cleaning efficiency, reducing the probability of the cleaning device running empty, avoiding the cleaning device not knowing how to select a map and causing the user to move the cleaning device, avoiding the cleaning device to construct maps back and forth, avoiding the user to delete maps back and forth, reducing the user's operating difficulty, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present disclosure. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0051] FIG1 is a schematic flowchart of a method for controlling a cleaning device according to an embodiment of the present disclosure;

[0052] FIG2 is a schematic flowchart of a control method for a cleaning device according to another embodiment of the present disclosure;

[0053] FIG3 is a schematic flowchart of a method for controlling a cleaning device according to another embodiment of the present disclosure;

[0054] FIG4 is a block diagram of a computer-readable storage medium according to an embodiment of the present disclosure;

[0055] FIG5 is a structural block diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0056] In order to better understand the above technical solution, the technical solution of the embodiment of the present disclosure is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiment of the present disclosure and the specific features in the embodiments are detailed descriptions of the technical solution of the embodiment of the present disclosure, rather than limitations on the technical solution of the present disclosure. In the absence of conflict, the embodiment of the present disclosure and the technical features in the embodiments can be combined with each other.

[0057] As shown in FIG1 , according to a first aspect of an embodiment of the present disclosure, a control method for a cleaning device is proposed, which is applied to the cleaning device and includes:

[0058] Step 101: In response to a cleaning instruction, map construction data for constructing and updating a cleaning map is obtained during the operation of the cleaning device. It is understood that the cleaning instruction can be issued by the user or generated by the cleaning device itself. For example, a time threshold can be set for the cleaning device. When the time interval since the last operation of the cleaning device exceeds the time threshold, it can be considered that the cleaning device has not been operated for a long time. In this case, the cleaning device can generate a cleaning instruction on its own. It is understood that after receiving the cleaning instruction, the cleaning device can respond to the cleaning instruction and perform the cleaning operation. During this process, the cleaning device can collect map construction data for constructing and updating the cleaning map.

[0059] Step 102: Based on the map construction data, an updated clean map is obtained. It can be understood that the updated clean map obtained based on the map construction data is a new map compared to the original clean map.

[0060] Step 103: Generate a map selection instruction if an exception occurs while updating the cleaning map. It is understandable that if an exception occurs while updating the cleaning map, it indicates that the cleaning device may be misplaced. In this case, a map selection instruction is generated and sent, and the user can determine the accurate map of the cleaning device based on the map selection instruction. This configuration enables interaction between the cleaning device and the user, enabling the cleaning device to store maps based on user needs. Even if the cleaning device is misplaced, the accuracy of the cleaning device's next operation can be guaranteed, cleaning efficiency is guaranteed, the probability of the cleaning device running empty is reduced, and the user's need to move the cleaning device due to the cleaning device not knowing how to operate is avoided. This avoids the cleaning device repeatedly building maps and the user's need to repeatedly delete maps, thus reducing the user's operational difficulty and improving the user experience.

[0061] Step 104: Receive a user selection instruction and update the map stored in the cleaning device based on the user selection instruction. It is understood that after the user responds to the map selection instruction, it indicates that the user has realized that the cleaning device is located in the incorrect map location. In this case, the user responds to the map selection instruction and can send a user selection instruction, indicating that the user has clarified the map that the cleaning device needs to store for the next operation. Therefore, the cleaning device can update the map based on the user's selection result, meeting the user's cleaning expectations and further improving the user experience.

[0062] Through the control method provided by the embodiment of the present disclosure, the cleaning equipment will collect map construction data for constructing an updated cleaning map while performing operations, and then construct an updated cleaning map based on the map construction data. For non-new machines, before the cleaning equipment performs operations, the original cleaning map will be stored in the cleaning equipment. When there is an abnormality in the updated cleaning map, such as when the map where the cleaning equipment is located is misplaced, a map selection instruction can be sent. The user can select the updated cleaning map or the original cleaning map based on the map selection instruction to instruct the cleaning equipment to update the map stored in the cleaning equipment, so that when the cleaning equipment is misplaced, the cleaning equipment can always store an accurate map, thereby ensuring cleaning efficiency, reducing the probability of the cleaning equipment running empty, avoiding the cleaning equipment not knowing how to select a map and causing the user to move the cleaning equipment, avoiding the cleaning equipment to construct maps back and forth, avoiding the user to delete maps back and forth, reducing the user's operating difficulty, and improving the user experience.

[0063] In a feasible embodiment, in response to a cleaning instruction, the step of obtaining map construction data for constructing an updated cleaning map during the operation of the cleaning equipment in response to the cleaning instruction includes: in response to the cleaning instruction, if the original cleaning map exists, obtaining map construction data for constructing an updated cleaning map during the operation of the cleaning equipment; if the original cleaning map does not exist, controlling the cleaning equipment to perform the cleaning operation and obtaining the original cleaning map.

[0064] In this technical solution, considering that when the cleaning equipment is new or is working in a new operating area, the original cleaning map may not exist within the cleaning equipment, in this case, the cleaning equipment can be controlled to operate, a map can be constructed, and this map can be stored as the original cleaning map. This setting facilitates the next operation of the cleaning equipment and can improve operating efficiency.

[0065] In some examples, after the original cleaning map is obtained for the first time, the original cleaning map may also be sent to the terminal so that the terminal can store and display the original cleaning map.

[0066] In a feasible embodiment, the step of obtaining map construction data for constructing an updated cleaning map during the operation of the cleaning equipment includes: obtaining at least one of laser data, odometer data and gyroscope data during the movement of the cleaning equipment. Such a setting can construct an updated cleaning map based on at least one of laser data, odometer data and gyroscope data, and the updated cleaning map is constructed based on the data of the last operation of the cleaning equipment, which can make the updated cleaning map more accurate. It can be understood that for a new machine or a cleaning equipment in a new working area, the cleaning equipment can construct the original cleaning map based on at least one of laser data, odometer data and gyroscope data.

[0067] In a feasible implementation, the step of obtaining an updated cleaning map based on the map construction data includes: when the cleaning device is in a stationary state, obtaining an updated cleaning map based on the map construction data.

[0068] In this technical solution, the opportunity to obtain and construct an updated cleaning map is further provided. The map is constructed when the cleaning equipment is in a stationary state, that is, when the cleaning equipment is not performing a cleaning operation. On the one hand, the original backed-up map is not corrected when the cleaning equipment is moving, which can effectively ensure the navigation effect. When there is a loss of positioning, which leads to map anomalies and other problems, the correct map information can be retained for recovery; on the other hand, the map information is corrected when the cleaning equipment is in a stationary state, which does not occupy the computing power resources of the processor when the cleaning equipment is moving, can improve the efficiency of map information correction and reduce the cost of the processor. At the same time, the map information can be corrected offline, so that the user can correct the map without feeling it, has greater autonomy, and can improve the user experience.

[0069] In a feasible embodiment, when there is an abnormality in updating the cleaning map, the step of generating a map selection instruction includes: when there is an abnormality in updating the cleaning map and the interaction state of the cleaning device is turned on, generating a map selection instruction; when there is an abnormality in updating the cleaning map and the interaction state of the cleaning device is turned off, sending a prompt message to the terminal, sending the original cleaning map to the terminal, and updating the map stored in the cleaning device based on the original cleaning map.

[0070] In this technical solution, when there is an abnormality in updating the cleaning map, it is possible to further determine whether the cleaning device is in an interactive state. If the interactive state of the cleaning device is turned on, it means that the user can interact with the cleaning device. In this case, a map selection instruction can be generated; on the contrary, when the cleaning device is in an interactive state turned off, it means that the user is unable or unwilling to interact with the cleaning device. In this case, no map selection instruction can be generated, and a prompt message can be generated instead to prompt the user that the map is abnormal, and the map stored in the cleaning device is updated based on the original cleaning map. At the same time, the original cleaning map is sent to the terminal for the user to review. Such a setting can better meet the needs of users. When the user does not want to interact, the cleaning device can display prompts and information to improve the user experience, and the cleaning device can operate based on the original cleaning map the next time it operates, ensuring the smooth progress of the cleaning operation.

[0071] In a feasible embodiment, based on the response result of the map selection instruction, the step of receiving the user selection instruction and updating the map stored in the cleaning device based on the user selection instruction includes: receiving the user selection instruction, using the map corresponding to the user selection instruction as the new original cleaning map of the cleaning device, and sending the map corresponding to the user selection instruction to the terminal.

[0072] In this technical solution, a method for updating the map of the cleaning equipment is further provided. The user can choose between the original cleaning map and the updated cleaning map, and then generate a user selection instruction based on the selection result. If the user selects the original cleaning map, the map stored in the cleaning equipment is updated based on the original cleaning map, and then the original cleaning map is fed back to the terminal. If the user selects the updated cleaning map, the map stored in the cleaning equipment is updated based on the updated cleaning map, and then the cleaning map is fed back to the terminal.

[0073] In a feasible implementation, the method for controlling the cleaning device further includes: when the updated cleaning map is accurate, updating the map stored in the cleaning device based on the updated cleaning map, and sending the updated cleaning map to the terminal.

[0074] In this technical solution, when the updated cleaning map is accurate, the updated cleaning map is used as a new original cleaning map to update the cleaning device, so that the map stored in the cleaning device can be optimized and the map stored in the cleaning device can be made more accurate.

[0075] In a feasible implementation, the method for controlling the cleaning device further includes: obtaining a matching degree between the updated cleaning map and the original cleaning map; and determining that an abnormality exists in the updated cleaning map when the matching degree is lower than a preset value.

[0076] In this technical solution, a step is further provided for determining whether there is an abnormality in the updated clean map. After obtaining the updated clean map, the original clean map can be compared with the updated clean map. If the matching degree between the two is lower than the preset value, the updated clean map can be identified as an abnormal state. On the contrary, if the matching degree between the two is higher than or equal to the preset value, it means that the updated clean map is normal. It can be understood that the preset value can be set by the user or built into the processor. The larger the preset value, the older the map details, and the smaller the preset value, the lower the frequency of map updates. This is because the larger the preset value, the less likely it is to meet such conditions, and the easier it is to be judged as a map error. If it is judged as a map error, the original clean map will be used to replace the updated clean map, so the details of the map are older. Conversely, the smaller the preset value, the higher the update frequency, which will make the map more real-time.

[0077] As shown in FIG2 , the control method of the cleaning device may include:

[0078] Step 201: responding to a cleaning instruction;

[0079] Step 202: Determine whether there is an original clean map. If yes, go to step 205; otherwise, go to step 203.

[0080] Step 203: Control the cleaning equipment to perform the cleaning operation and obtain the original cleaning map;

[0081] Step 204: The terminal displays the original cleaning map;

[0082] Step 205: Controlling the cleaning device to perform a cleaning operation and collecting map construction data for constructing an updated cleaning map, and obtaining the updated cleaning map when the cleaning device is in a stationary state;

[0083] Step 206: Determine whether there is an abnormality in updating the cleaning map. If so, execute step 207; otherwise, execute step 211.

[0084] Step 207: Determine whether the cleaning device interaction state is on, if so, execute step 213, if not, execute step 208;

[0085] Step 208: Generate prompt information;

[0086] Step 209: updating the map stored in the cleaning device based on the original cleaning map;

[0087] Step 210: Send the original cleaning map;

[0088] Step 211: updating the map stored in the cleaning device based on the updated cleaning map;

[0089] Step 212: Send updated cleaning map;

[0090] Step 213: Generate a map selection instruction;

[0091] Step 214: updating the map stored in the cleaning device based on the user selection instruction;

[0092] Step 215: The terminal displays a map corresponding to the user selection instruction.

[0093] Based on this control method provided by the embodiment of the present disclosure, the cleaning device will build an updated cleaning map while performing operations. For non-new machines, the original cleaning map will be stored in the cleaning device before the cleaning device performs the operation. It can be found that when an abnormality occurs in the updating of the cleaning map, the user can select the updated cleaning map or the original cleaning map based on the map selection instruction to instruct the cleaning device to perform the operation and update the map. This allows the cleaning device to always store a map that is compatible with the user's expectations, reducing the user's operating difficulty and improving the user experience. It realizes interactive guidance for users to select a normal map, eliminating the need for users to manually delete the map and rebuild the map. Under the premise of user authorization, the map can be updated seamlessly.

[0094] As shown in FIG3 , according to a second aspect of an embodiment of the present disclosure, a control method for a cleaning device is proposed, which is applied to a terminal and includes:

[0095] Step 301: In response to a map selection instruction, a user selection instruction is sent; wherein the user selection instruction includes an original clean map selection instruction or an updated clean map selection instruction.

[0096] Through the control method provided by the embodiment of the present disclosure, the terminal can communicate with the cleaning equipment. After the terminal receives the map selection instruction, the user can respond to the map selection instruction and select the control device to update the map based on the updated cleaning map or the original cleaning map. Based on this, the cleaning equipment can always store a map that is adapted to the user's needs, ensuring cleaning efficiency, reducing the probability of the cleaning equipment running empty, avoiding the cleaning equipment not knowing how to operate and causing the user to need to move the cleaning equipment, avoiding the cleaning equipment to build maps back and forth, avoiding the user's need to delete maps back and forth, reducing the user's operating difficulty, and improving the user experience.

[0097] In a feasible implementation, the method for controlling the cleaning device further includes: receiving and displaying an original cleaning map; and / or receiving and displaying an updated cleaning map.

[0098] It can be understood that after the terminal connected to the cleaning equipment for communication receives the original cleaning map and / or the updated cleaning map, the original cleaning map and / or the updated cleaning map can be displayed. On the one hand, the operating status of the cleaning equipment can be made clear. On the other hand, the user can intuitively observe the original cleaning map and / or the updated cleaning map, which is convenient for the user to discover map errors in time and facilitate timely correction of the operating mode of the cleaning equipment and the map.

[0099] As shown in FIG4 , according to the third aspect of an embodiment of the present disclosure, a computer-readable storage medium 401 is proposed. The computer-readable storage medium 401 stores a computer program 402 for implementing a control method according to any of the above technical solutions.

[0100] The computer-readable storage medium 401 provided in the embodiment of the present disclosure implements the control method of any of the above technical solutions, so the computer-readable storage medium 401 has all the beneficial effects of the control method of any of the above technical solutions.

[0101] Through the computer-readable storage medium 401 provided by the embodiment of the present disclosure, the cleaning device will construct an updated cleaning map while performing operations. For non-new machines, the cleaning device will collect map construction data for constructing an updated cleaning map while performing operations, and then construct an updated cleaning map based on the map construction data. For non-new machines, before the cleaning device performs operations, the original cleaning map will be stored in the cleaning device. In the event of an abnormality in the updated cleaning map, such as when the map where the cleaning device is located is misplaced, a map selection instruction can be sent. The user can select the updated cleaning map or the original cleaning map based on the map selection instruction to instruct the cleaning device to perform the operation, so that the cleaning device can continue to operate even when it is misplaced, thereby ensuring cleaning efficiency, reducing the probability of the cleaning device running empty, avoiding the cleaning device not knowing how to operate and causing the user to move the cleaning device, avoiding the cleaning device to construct maps back and forth, avoiding the user to delete maps back and forth, reducing the user's operating difficulty, and improving the user experience.

[0102] Based on this understanding, the technical solution of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various implementation scenarios of the present disclosure.

[0103] As shown in Figure 5, according to the fourth aspect of an embodiment of the present disclosure, an electronic device is proposed, including: a memory 501, which stores a computer program; a processor 502, which executes the computer program; wherein, when the processor 502 executes the computer program, it implements a control method such as any of the above technical solutions.

[0104] Through the electronic device provided by the embodiment of the present disclosure, the cleaning device will construct an updated cleaning map while performing operations. For non-new machines, the cleaning device will collect map construction data for constructing an updated cleaning map while performing operations, and then construct an updated cleaning map based on the map construction data. For non-new machines, before the cleaning device performs operations, the original cleaning map will be stored in the cleaning device. When there is an abnormality in the updated cleaning map, such as when the map where the cleaning device is located is misplaced, a map selection instruction can be sent. The user can select the updated cleaning map or the original cleaning map based on the map selection instruction to instruct the cleaning device to perform the operation, so that the cleaning device can continue to operate even when it is misplaced, thereby ensuring cleaning efficiency, reducing the probability of the cleaning device running empty, avoiding the cleaning device not knowing how to operate and causing the user to move the cleaning device, avoiding the cleaning device to construct maps back and forth, avoiding the user to delete maps back and forth, reducing the user's operating difficulty, and improving the user experience.

[0105] The electronic device provided by the embodiment of the present disclosure implements the control method of any of the above technical solutions, so the electronic device has all the beneficial effects of the control method of any of the above technical solutions.

[0106] In some examples, the electronic device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a Wi-Fi module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a Wi-Fi interface), etc.

[0107] In an exemplary embodiment, the electronic device may further include an input / output interface and a display device, wherein the functional units may communicate with each other via a bus. The memory stores a computer program, and the processor is configured to execute the program stored in the memory and perform the method of the above embodiment.

[0108] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device used in the above method, supporting the execution of the information processing program and other software and / or programs. The network communication module is used to enable communication between components within the storage medium and with other hardware and software within the physical information processing device.

[0109] Through the description of the above embodiments, those skilled in the art can clearly understand that the present disclosure can be implemented by means of software plus a necessary general hardware platform, or can be implemented by hardware.

[0110] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the function specified in one process or multiple processes in the flowchart and / or one box or multiple boxes in the block diagram.

[0111] According to a fifth aspect of an embodiment of the present disclosure, a cleaning device is proposed, comprising: the electronic device of the above technical solution; the cleaning device and a base station, wherein the electronic device is communicatively connected with the cleaning device and / or the base station.

[0112] Since the cleaning device provided by the embodiment of the present disclosure includes the electronic device of the above technical solution, the cleaning device has all the beneficial effects of the electronic device of the above technical solution, which will not be described in detail here.

[0113] It can be understood that the terminal is connected to the cleaning equipment for communication, based on which it can interactively guide the user to select a normal map without the user having to manually delete the map and rebuild it. With the user's authorization, the map can be updated seamlessly.

[0114] In the present disclosure, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise expressly defined. Terms such as "installed", "connected", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0115] In the description of the present disclosure, it is to be understood that the terms "up", "down", "left", "right", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction, and therefore, cannot be understood as a limitation on the present disclosure.

[0116] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0117] The above are merely preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Those skilled in the art will readily appreciate that various modifications and variations of the present disclosure are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A control method for a cleaning device, performed by the cleaning device, characterized in that: include: In response to a cleaning instruction, acquiring map building data for building an updated cleaning map during operation of the cleaning device; Based on the map construction data, obtaining an updated cleaning map; In case there is an abnormality in updating the cleaning map, generating a map selection instruction; A user selection instruction is received, and a map stored in the cleaning device is updated based on the user selection instruction.

2. The control method of the cleaning device according to claim 1, wherein: The step of acquiring map building data for building and updating a cleaning map during operation of the cleaning device in response to the cleaning instruction comprises: In response to the cleaning instruction, if the original cleaning map exists, obtaining map construction data for constructing the updated cleaning map during the operation of the cleaning device; In the absence of the original cleaning map, the cleaning device is controlled to perform a cleaning operation and the original cleaning map is obtained.

3. The control method of the cleaning device according to claim 1, wherein: The steps of obtaining map building data for building an updated cleaning map during the operation of the cleaning equipment include: During the movement of the cleaning device, at least one of laser data, odometer data and gyroscope data is acquired.

4. The control method of the cleaning device according to claim 1, wherein: The step of obtaining and updating the cleaning map based on the map construction data comprises: When the cleaning device is in a stationary state, the updated cleaning map is obtained based on the map construction data.

5. The control method of the cleaning device according to claim 1, wherein: When there is an abnormality in updating the cleaning map, the step of generating a map selection instruction includes: If there is an abnormality in the updating of the cleaning map and the interaction state of the cleaning device is turned on, generating a map selection instruction; When there is an abnormality in the updating of the cleaning map and the cleaning device is in an interactive closed state, a prompt message is sent to the terminal, the original cleaning map is sent to the terminal, and the map stored in the cleaning device is updated based on the original cleaning map.

6. The control method of the cleaning device according to claim 1, wherein: The step of receiving a user selection instruction and updating a map stored in the cleaning device based on the user selection instruction includes: receiving the user selection instruction, and using the map corresponding to the user selection instruction as a new map of the cleaning device; The original cleaning map is created, and a map corresponding to the user selection instruction is sent to the terminal.

7. The control method of the cleaning device according to any one of claims 1 to 6, further comprising: In the case where the updated cleaning map is accurate, the map stored in the cleaning device is updated based on the updated cleaning map, and the updated cleaning map is sent to the terminal.

8. The control method of the cleaning device according to claim 1, further comprising: Obtaining a matching degree between the updated cleaning map and the original cleaning map; When the matching degree is lower than a preset value, it is determined that there is an abnormality in updating the cleaning map.

9. A control method for cleaning equipment, applied to a terminal, characterized in that: include: In response to the map selection instruction, sending a user selection instruction; The user selection instruction includes an original cleaning map selection instruction or an updated cleaning map selection instruction.

10. The control method of the cleaning device according to claim 9, further comprising: Receive and display the original cleaning map; and / or Receive and display updated cleaning maps.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for implementing the control method of the cleaning device according to any one of claims 1 to 8 or the control method of the cleaning device according to any one of claims 9 to 10.

12. A cleaning device, characterized in that: include: a memory storing a computer program; A processor, configured to execute the computer program; Wherein, when executing the computer program, the processor implements the control method of the cleaning device according to any one of claims 1 to 8 or the control method of the cleaning device according to any one of claims 9 to 10.

13. A cleaning system, characterized in that: include: The cleaning device as claimed in claim 12; A cleaning base station is provided for maintaining the cleaning equipment.

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