Automatic cleaning method and apparatus, and cleaning device and computer-readable storage medium

Abstract

Provided in the present application are an automatic cleaning method and apparatus, and a cleaning device and a computer-readable storage medium. The method comprises: acquiring SLAM change information of a target cleaning area in a current cleaning process; on the basis of the SLAM change information of the target cleaning area, determining whether there is a target point meeting a first cleaning condition in the target cleaning area, wherein the first cleaning condition is used for reflecting features of a point, which is not cleaned due to the blocking of an obstacle and is no longer blocked by the obstacle after the position of the obstacle changes; and if there is a target point in the target cleaning area, executing cleaning processing on the basis of the target point. The technical solution of the present application improves the environmental adaptability of a cleaning device and prevents cleanable areas from being missed, such that a cleaning effect is effectively improved and the practicability of the cleaning device is increased.

Description

Automatic cleaning method and device, cleaning equipment and computer-readable storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 28, 2023, with application number 202311279765.9 and application name “Automatic cleaning method and device, cleaning equipment and computer-readable storage medium”, the entire contents of which are incorporated by reference into the application.

Technical field

[0002] The present application relates to the technical field of intelligent electrical appliances, and in particular to an automatic cleaning method and apparatus, a cleaning device, and a computer-readable storage medium. [Background Technology]

[0003] When cleaning equipment like sweepers, mops, and scrubbers automatically clean, their cleaning area is limited by the location of obstacles. In typical cleaning processes, the equipment typically scans along obstacles to identify cleanable areas, then cleans those areas. Obstacles include, but are not limited to, walls, doors, and anything else that could affect the equipment's movement.

[0004] However, if the door of a room is closed while the cleaning device is scanning the cleanable area, the cleaning device will identify the door as an obstacle and the area behind the door as non-cleanable. In other words, the cleaning device will identify the door as an insurmountable obstacle when scanning the cleanable area. If the door is opened after scanning the cleanable area, it will switch from closed to open. At this time, since the area inside the door is not part of the cleanable area identified by the cleaning device, the cleaning device will not clean the newly accessible area inside the door during the cleaning process, resulting in missed cleaning areas and affecting the cleaning effect.

[0005] Therefore, how to reduce the impact of the door's opening and closing state switching on the automatic cleaning effect of the cleaning equipment has become a technical problem that needs to be solved urgently.

[0006]

Contents of this application

[0007] The embodiments of the present application provide an automatic cleaning method and apparatus, a cleaning device, and a computer-readable storage medium, which aim to solve the technical problem in the related art that the switching of the door's opening and closing states affects the automatic cleaning effect of the cleaning device.

[0008] In the first aspect, an embodiment of the present application provides an automatic cleaning method, comprising: in the current cleaning process, obtaining SLAM change information of a target cleaning area; based on the SLAM change information of the target cleaning area, determining whether the target cleaning area has a target point that meets a first cleaning condition, wherein the first cleaning condition is used to reflect the characteristics of a point that has not been cleaned due to obstruction by an obstacle and is no longer obstructed by the obstacle after the position of the obstacle changes; if the target cleaning area has the target point, performing cleaning processing based on the target point.

[0009] In one embodiment of the present application, optionally, performing a cleaning process based on the target point includes: determining a cleanable area based on the target point; and cleaning the cleanable area.

[0010] In one embodiment of the present application, optionally, determining the cleanable area based on the target point includes: clustering the target point to obtain multiple cluster point sets; for each cluster point set, if the cluster point set meets a second cleaning condition, determining that the area where the cluster point set is located is a cleanable area, wherein the second cleaning condition is used to reflect the characteristics of the area where the cluster point set is located when it can be effectively cleaned by a cleaning device.

[0011] In one embodiment of the present application, optionally, obtaining the SLAM change information of the target cleaning area includes: obtaining the SLAM change information of the target cleaning area when the cleaning work of the current partition in the target cleaning area is completed; or obtaining the SLAM change information of the target cleaning area when all cleaning work of the target cleaning area is completed.

[0012] In one embodiment of the present application, optionally, obtaining the SLAM change information of the target cleaning area includes: when completing the cleaning work of the current partition in the target cleaning area, if the proportion of the cleaned area of ​​the current cleaning process in the target cleaning area is greater than or equal to a specified percentage, and / or if the cleaning time consumed by the current cleaning process is greater than or equal to a specified time, obtaining the SLAM change information of the target cleaning area.

[0013] In one embodiment of the present application, optionally, obtaining the SLAM change information of the target cleaning area includes: obtaining the current SLAM information of the target cleaning area at the current moment and the historical SLAM information at the historical moments, wherein the current moment is the cleaning completion moment of the current partition in the target cleaning area, or the cleaning completion moment of the target cleaning area, and the historical moment is the cleaning start moment of the current partition, the cleaning start moment of the target cleaning area, or the cleaning start moment of any non-first partition other than the current partition in the target cleaning area; determining the SLAM change information based on the historical SLAM information and the current SLAM information.

[0014] In one embodiment of the present application, optionally, the SLAM change information based on the target cleaning area determines whether the target cleaning area has a target point that meets the first cleaning condition, including: based on the SLAM change information of the target cleaning area, determining a point with a specified cleaning feature in the target cleaning area as the target point, wherein the specified cleaning feature includes one or more of the following: the point type of the point changes from an obstacle class to a space class; the adjacent points of the point include at least one cleaned point and at least one uncleaned point; the point is separated from the obstacle by at least one other point; the point is outside a preset no-entry area, and the preset no-entry area includes a carpet area, a pile area, and a self-designated safety area; the point is outside the cleaned area in the current cleaning process, and the distance from the edge point of the cleaned area is greater than or equal to the first specified distance.

[0015] In one embodiment of the present application, optionally, if the cluster point set meets the second cleaning condition, determining that the area where the cluster point set is located is a cleanable area includes: if the width of the area where the cluster point set is located in at least one direction is greater than the maximum body width of the cleaning device, and the area of ​​the area where the cluster point set is located is greater than or equal to a first specified area, and the area where the cluster point set is located includes at least a specified number of points whose distance from the obstacle is greater than or equal to a second specified distance, determining that the area where the cluster point set is located is a cleanable area.

[0016] In one embodiment of the present application, optionally, the cleaning of the cleanable area includes: performing a cross-area action on the cleanable area; when the cross-area action is successfully executed, cleaning the cleanable area; when the cross-area action fails, returning to the step of obtaining the SLAM change information of the target cleaning area to re-determine whether the target cleaning area has the cleanable area; when it is re-determined that the target cleaning area has the cleanable area, within a specified distance range centered on the current position of the cleaning device, if the area of ​​the uncleaned area is greater than or equal to a second specified area, cleaning the cleanable area; if the area of ​​the uncleaned area is smaller than the second specified area, canceling the cleaning of the cleanable area.

[0017] In the second aspect, an embodiment of the present application provides an automatic cleaning device, including: a SLAM change information acquisition unit, used to obtain SLAM change information of a target cleaning area in a current cleaning process; a first cleaning condition verification unit, used to determine whether the target cleaning area has a target point that meets a first cleaning condition based on the SLAM change information of the target cleaning area, wherein the first cleaning condition is used to reflect the characteristics of a point that has not been cleaned due to obstruction by an obstacle when it is no longer obstructed by the obstacle after the position of the obstacle changes; a cleaning execution unit, used to perform cleaning processing based on the target point if the target cleaning area has the target point.

[0018] In one embodiment of the present application, optionally, the cleaning execution unit is configured to: determine a cleanable area based on the target point; and clean the cleanable area.

[0019] In one embodiment of the present application, optionally, the cleaning execution unit includes: a second cleaning condition verification unit, used to cluster the target points to obtain multiple cluster point sets; for each cluster point set, if the cluster point set meets the second cleaning condition, determine that the area where the cluster point set is located is a cleanable area, wherein the second cleaning condition is used to reflect the characteristics of the area where the cluster point set is located when it can be effectively cleaned by the cleaning equipment.

[0020] In one embodiment of the present application, optionally, the SLAM change information acquisition unit is used to: acquire the SLAM change information of the target cleaning area when the cleaning work of the current partition in the target cleaning area is completed; or acquire the SLAM change information of the target cleaning area when all cleaning work of the target cleaning area is completed.

[0021] In one embodiment of the present application, optionally, the SLAM change information acquisition unit is used to: when completing the cleaning work of the current partition in the target cleaning area, if the proportion of the cleaned area of ​​the current cleaning process in the target cleaning area is greater than or equal to a specified percentage, and / or if the cleaning time consumed by the current cleaning process is greater than or equal to a specified time, obtain the SLAM change information of the target cleaning area.

[0022] In one embodiment of the present application, optionally, the SLAM change information acquisition unit is used to: obtain current SLAM information of the target cleaning area at the current moment and historical SLAM information at historical moments, wherein the current moment is the cleaning completion moment of the current partition in the target cleaning area, or the cleaning completion moment of the target cleaning area, and the historical moment is the cleaning start moment of the current partition, the cleaning start moment of the target cleaning area, or the cleaning start moment of any non-first partition other than the current partition in the target cleaning area; determine the SLAM change information based on the historical SLAM information and the current SLAM information.

[0023] In one embodiment of the present application, optionally, the first cleaning condition verification unit is used to: based on the SLAM change information of the target cleaning area, determine a point with specified cleaning characteristics in the target cleaning area as the target point, wherein the specified cleaning characteristics include one or more of the following: the point type of the point changes from an obstacle class to a space class; the adjacent points of the point include at least one cleaned point and at least one uncleaned point; the point is separated from the obstacle by at least one other point; the point is outside a preset no-entry area, and the preset no-entry area includes a carpet area, a pile area, and a self-designated safety area; the point is outside the cleaned area in the current cleaning process, and the distance from the edge point of the cleaned area is greater than or equal to a first specified distance.

[0024] In one embodiment of the present application, optionally, the second cleaning condition verification unit is used to: if the width of the area where the cluster point set is located in at least one direction is greater than the maximum body width of the cleaning device, and the area of ​​the area where the cluster point set is located is greater than or equal to a first specified area, and the area where the cluster point set is located includes at least a specified number of points whose distance from the obstacle is greater than or equal to a second specified distance, determine that the area where the cluster point set is located is a cleanable area.

[0025] In one embodiment of the present application, optionally, the cleaning execution unit is used to: perform a cross-area action on the cleanable area; when the cross-area action is successfully executed, clean the cleanable area; when the cross-area action fails, return to the step of obtaining the SLAM change information of the target cleaning area to re-determine whether the target cleaning area has the cleanable area; when it is re-determined that the target cleaning area has the cleanable area, within a specified distance range centered on the current position of the cleaning device, if the area of ​​the uncleaned area is greater than or equal to a second specified area, clean the cleanable area; if the area of ​​the uncleaned area is smaller than the second specified area, cancel the cleaning work on the cleanable area.

[0026] In a third aspect, an embodiment of the present application provides a cleaning device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are configured to execute the method described in the first aspect above.

[0027] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the method described in the first aspect above.

[0028] The above technical solution addresses the technical problem in the related technology that the opening and closing state switching of the door affects the automatic cleaning effect of the cleaning equipment. By obtaining the SLAM change information of the target cleaning area, the cleaning equipment is triggered to clean the newly added cleanable areas generated and / or exposed due to the movement of obstacles after its own scanning and obtaining SLAM information. In this way, the cleaning equipment can be prevented from missing these newly added cleanable areas, the cleaning area of ​​the cleaning equipment is expanded, and the environmental adaptability of the cleaning equipment is improved, thereby effectively improving the cleaning effect and increasing the practicality of the cleaning equipment.

Brief Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0030] FIG1 shows a flow chart of an automatic cleaning method according to an embodiment of the present application;

[0031] FIG2 shows a flow chart of an automatic cleaning method according to another embodiment of the present application;

[0032] FIG3 shows a flow chart of an automatic cleaning method according to another embodiment of the present application;

[0033] FIG4 shows a block diagram of an automatic cleaning device according to an embodiment of the present application;

[0034] FIG5 shows a block diagram of a cleaning device according to an embodiment of the present application;

[0035] FIG6 shows a block diagram of a cleaning device according to an embodiment of the present application. [Specific implementation method]

[0036] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0037] FIG1 shows a flow chart of an automatic cleaning method according to an embodiment of the present application.

[0038] As shown in FIG1 , an automatic cleaning method according to an embodiment of the present application includes:

[0039] Step 102: In the current cleaning process, obtain SLAM change information of the target cleaning area.

[0040] The current cleaning process refers to the cleaning process initiated by the cleaning device under the current cleaning instruction, which starts when the self-cleaning device obtains the current cleaning instruction and ends when the self-cleaning device completes the cleaning task indicated by the current cleaning instruction or receives a cleaning stop instruction.

[0041] Optionally, the current cleaning process includes one or more of: supplementary execution of historical unfinished cleaning tasks, real-time execution of at least one newly created cleaning task, and scheduled execution of at least one newly created cleaning task.

[0042] The target cleaning area includes all or part of the area that needs to be cleaned by the current cleaning process.

[0043] Optionally, the target cleaning area includes a current partition that has been cleaned in real time by the cleaning device in the current cleaning process.

[0044] Optionally, the target cleaning area includes all areas that need to be cleaned by the cleaning equipment in the current cleaning process.

[0045] Optionally, the target cleaning area includes the current partition and all historical partitions that have been cleaned before the current partition in the current cleaning process, at least one random historical partition, or at least one designated historical partition.

[0046] SLAM (Simultaneous Localization And Mapping) technology enables cleaning equipment to gradually create a map of its surroundings, allowing it to avoid obstacles. Based on this, it can be understood that the SLAM information of any point in the target cleaning area is used to reflect whether the point is located in an obstacle or in open space. Therefore, the SLAM change information of the target cleaning area can show which points in the target cleaning area have switched between the two possible positions of obstacle and open space.

[0047] In other words, the SLAM change information of the target cleaning area during the current cleaning process can reflect the changes in obstacles and space within the target cleaning area, and this change may be caused by the movement of obstacles. Furthermore, the movement of obstacles will cause the original location of the obstacles to become space, such as when a folding sofa is put away, a coffee table is moved, a door is opened and closed, etc. Among them, especially for the change of opening a door, not only does the original location of the door as an obstacle become space, but the movement of the door itself may also turn the area behind the door that was originally inaccessible to the cleaning equipment into space that the cleaning equipment can reach.

[0048] Of course, in some scenarios, even if the obstacle moves, its original location is too narrow for the cleaning equipment to pass through. In this case, the increase in unobstructed space does not necessarily mean that the space accessible to the cleaning equipment will increase.

[0049] In summary, the SLAM change information for the target cleaning area during the current cleaning process reflects the increase in unobstructed space in the current environment, indicating that the space accessible to cleaning equipment is likely to increase. Therefore, the acquisition of SLAM change information for the target cleaning area can be used to trigger further judgment steps to determine whether the unobstructed space is accessible to cleaning equipment.

[0050] Step 104 : Based on the SLAM change information of the target cleaning area, determine whether the target cleaning area has a target point that meets the first cleaning condition.

[0051] Step 106 : If the target cleaning area has the target point, perform a cleaning process based on the target point.

[0052] The first cleaning condition reflects the characteristics of a point that was previously obstructed by an obstacle and is no longer obstructed by the obstacle after the obstacle changes position. In other words, if a point in the target cleaning area is initially obstructed by an obstacle and thus not cleaned, but is later no longer obstructed by the obstacle due to a change in the obstacle's position, the point has transitioned from being an obstacle to being a free space, i.e., unobstructed space. This indicates that the space in which the point is located is potentially accessible to the cleaning equipment. Therefore, cleaning can be performed based on the target point to avoid missing the space created by the obstacle's reposition.

[0053] The above technical solution obtains the SLAM change information of the target cleaning area to trigger the cleaning equipment to clean the newly added cleanable areas generated and / or exposed by the movement of obstacles after it scans and obtains the SLAM information. In this way, the cleaning equipment can be prevented from missing these newly added cleanable areas, the cleaning area of ​​the cleaning equipment is expanded, and the environmental adaptability of the cleaning equipment is improved, thereby effectively improving the cleaning effect and increasing the practicality of the cleaning equipment.

[0054] In a possible design, a cleanable area may be determined based on the target point, and then the cleanable area may be cleaned.

[0055] Alternatively, the area where the target point is located can be directly set as a cleanable area, and the cleaning device can be directed toward the cleanable area to clean the area where the target point is located. Of course, if the maximum width of the area is less than the width of the cleaning device, resulting in the cleaning device being unable to complete the cleaning of all or part of the area where the target point is located, the cleaning device will abandon the cleaning of the area where the target point is located and continue the current cleaning process.

[0056] Optionally, an area with a specified radius and with the target point as the origin may be determined as the area where the target point is located.

[0057] Of course, there are multiple target points, and each target point is determined to have its own area. The union of the areas where all the target points are located is the area that the cleaning device needs to clean.

[0058] In another possible design, since the target point is only potentially accessible to the cleaning equipment, it is necessary to further determine the area that the cleaning equipment can definitely reach based on the target point. This will clarify the cleanable area of ​​the cleaning equipment and improve the intelligent cleaning performance of the cleaning equipment. The following describes the specific method of determining the area that the cleaning equipment can definitely reach based on the target point, using Figure 2.

[0059] FIG2 shows a flow chart of an automatic cleaning method according to another embodiment of the present application.

[0060] As shown in FIG2 , an automatic cleaning method according to another embodiment of the present application includes:

[0061] Step 202: In the current cleaning process, obtain SLAM change information of the target cleaning area.

[0062] Step 204: Based on the SLAM change information of the target cleaning area, determine whether the target cleaning area has a target point that meets the first cleaning condition, wherein the first cleaning condition is used to reflect the characteristics of the point that was not cleaned due to obstruction by the obstacle when it is no longer obstructed by the obstacle after the position of the obstacle changes.

[0063] Step 206: If the target cleaning area has the target point, cluster the target point to obtain a plurality of cluster point sets.

[0064] If the target cleaning area has the target point, it indicates that the current environment has the possibility of a newly added area accessible by the cleaning equipment. Therefore, it is necessary to determine whether the current environment has indeed added an area accessible by the cleaning equipment.

[0065] Since the target point is the point where the space is switched from an obstacle to an unobstructed space, the area where the cluster point set composed of multiple target points is located is the area where the space is switched from an obstacle to an unobstructed space.

[0066] Optionally, the method of clustering target points includes but is not limited to k-means clustering algorithm, k-means++ clustering algorithm, bi-kmeans clustering algorithm, kernel k-means clustering algorithm, DBSCAN clustering algorithm, OPTICS clustering algorithm, and any other calculation method that can cluster points.

[0067] Step 208 : For each cluster point set, if the cluster point set meets the second cleaning condition, determine that the area where the cluster point set is located is a cleanable area.

[0068] Among them, the second cleaning condition is used to reflect the characteristics of the area where the cluster point set is located when it can be effectively cleaned by the cleaning equipment. In other words, the area where the cluster point set composed of multiple target points is located is the area that is switched from obstacles to unobstructed space. If the area where the cluster point set is located has the characteristics that can be effectively cleaned by the cleaning equipment, it means that the area where the cluster point set is located is the area that can be reached by the newly added cleaning equipment in the current environment, that is, the cleanable area.

[0069] Step 210: Clean the cleanable area.

[0070] At this point, the system can automatically identify whether new areas within the current environment are accessible to the cleaning equipment. Once these areas are automatically identified, the cleaning equipment will proactively clean those areas. This prevents the cleaning equipment from missing newly accessible areas, expands the cleaning area within a single cleaning cycle, and improves the environmental adaptability of the cleaning equipment, thereby effectively improving cleaning results and increasing the practicality of the cleaning equipment.

[0071] Of course, the manner of determining the area reachable by the cleaning device based on the target point is not limited to the above manner.

[0072] In another possible design, an area with a specified radius with the target point as the origin may be specified first, and then it may be verified whether the area with the specified radius with the target point as the origin satisfies the second cleaning condition.

[0073] In another possible design, all target points may be connected in pairs to verify whether the areas enclosed by these lines meet the second cleaning condition.

[0074] In another possible design, all target points can be connected in pairs to obtain the area enclosed by these lines. Then, based on the area enclosed by the lines, the area is expanded in all directions of each side of the area with a specified expansion distance, and it is determined whether the expanded area meets the second cleaning condition.

[0075] The following describes possible implementations of the first cleaning condition and the second cleaning condition in detail with reference to FIG. 3 .

[0076] FIG3 shows a flow chart of an automatic cleaning method according to yet another embodiment of the present application.

[0077] As shown in FIG3 , an automatic cleaning method according to another embodiment of the present application includes:

[0078] Step 302: In the current cleaning process, obtain SLAM change information of the target cleaning area.

[0079] Step 304 : Based on the SLAM change information of the target cleaning area, determine a point with a specified cleaning feature in the target cleaning area as the target point.

[0080] Based on the embodiments shown in Figures 1 and 2, it can be seen that the first cleaning condition is used to reflect the characteristics of a point that was not cleaned due to being blocked by an obstacle when it is no longer blocked by the obstacle after the obstacle changes position. In other words, the point with this characteristic in the target cleaning area is the target point. Here, this characteristic is the designated cleaning characteristic.

[0081] In one possible design, the specified cleaning features include one or more of the following: the point type of the point is changed from an obstacle class to a space class; the adjacent points of the point include at least one cleaned point and at least one uncleaned point; the point is separated from the obstacle by at least one other point; the point is outside a preset no-entry area, and the preset no-entry area includes a carpet area, a pile area, and a self-designated safety area; the point is outside the cleaned area in the current cleaning process, and the distance from the edge point of the cleaned area is greater than or equal to a first specified distance.

[0082] Alternatively, for a point in the SLAM change information, if the point type changes from obstacle to space, it means that the location of the point has switched from an obstacle to an unobstructed space, which is possible for the cleaning equipment to pass through. Therefore, this point is selected as the target point to further determine whether its location can be effectively cleaned by the cleaning equipment.

[0083] Optionally, for a point in the SLAM change information, if the point type changes from obstacle to space, and its adjacent points include at least one cleaned point and at least one uncleaned point, this indicates that the point's location has switched from an obstacle to an unobstructed space. Furthermore, the point is located at the boundary between the obstacle and unobstructed space. If the cleaning equipment starts cleaning from this point, it has the potential to move to the unobstructed space. Therefore, this point is selected as the target point to further determine whether its location can be effectively cleaned by the cleaning equipment.

[0084] Alternatively, for a point in the SLAM change information, if its point type changes from obstacle to space, and if the point is separated from the obstacle by at least one other point, this indicates that the point is not only located in an unobstructed space but also has no adjacent obstacles around it, making it possible for the cleaning equipment to pass through. Therefore, this point is selected as the target point to further determine whether its location can be effectively cleaned by the cleaning equipment.

[0085] Optionally, for a point in the SLAM change information, if the point type of the point changes from an obstacle class to a space class, it means that the location of the point has switched from an obstacle to an unobstructed space. At the same time, if the point is outside a preset prohibited area such as a carpet area, a pile area, and a self-set safety zone, it means that the location of the point is not a location that the cleaning equipment is not allowed to reach, and there is a possibility that the cleaning equipment can pass through. Therefore, such a point is selected as a target point to further determine whether its location can be effectively cleaned by the cleaning equipment. The preset prohibited areas include but are not limited to carpet areas, pile areas, and self-set safety zones, and can also be any preset location that the cleaning equipment is not allowed to reach.

[0086] Optionally, for a point in the SLAM change information, if the point type of the point changes from an obstacle class to a space class, it means that the location of the point has switched from an obstacle to an unobstructed space. At the same time, the point is outside the cleaned area in the current cleaning process, and the distance between the point and the edge point of the cleaned area is greater than or equal to the first specified distance, indicating that the point has not been cleaned yet, and its location is far enough away from the cleaned area. While it has a cleaning requirement, cleaning the location of the point will not cause repeated cleaning of the cleaned area. The first specified distance is the shortest distance between the point where the cleaning point is located and the cleaned area at which repeated cleaning of the cleaned area is not caused.

[0087] Optionally, the first designated distance is 2 cm or 1 cm. It should be noted that the first designated distance can be set to any distance that meets actual cleaning requirements and is not limited to the aforementioned examples.

[0088] The above are merely examples of designated cleaning features. In actual scenarios, the designated cleaning features may include any one or more of the above features without being limited to the above examples.

[0089] In general, designated cleaning features indicate the characteristics of a point's location at a point where it is possible for cleaning equipment to pass through. By identifying designated cleaning features, target points in the current environment that may be within the newly added reachable area of ​​cleaning equipment can be screened out. This allows further determination based on the target points whether the current environment has indeed added a new reachable area for cleaning equipment and whether the area can be effectively cleaned by the cleaning equipment. This allows the cleaning equipment to have higher accuracy in identifying cleanable areas and avoid missing cleanable areas created and / or exposed due to changes in the position of obstacles.

[0090] Step 306: If the target cleaning area has the target point, cluster the target point to obtain a plurality of cluster point sets.

[0091] If the target cleaning area has the target point, it indicates that the current environment has the possibility of a newly added area accessible by the cleaning equipment. Therefore, it is necessary to determine whether the current environment has indeed added an area accessible by the cleaning equipment.

[0092] Since the target point is the point where the space is switched from an obstacle to an unobstructed space, the area where the cluster point set composed of multiple target points is located is the area where the space is switched from an obstacle to an unobstructed space.

[0093] Optionally, the method of clustering target points includes but is not limited to k-means clustering algorithm, k-means++ clustering algorithm, bi-kmeans clustering algorithm, kernel k-means clustering algorithm, DBSCAN clustering algorithm, OPTICS clustering algorithm, and any other calculation method that can cluster points.

[0094] Step 308: For each cluster point set, if the width of the region where the cluster point set is located in at least one direction is greater than the maximum body width of the cleaning device, and the area of ​​the region where the cluster point set is located is greater than or equal to the first specified area, and the region where the cluster point set is located includes at least a specified number of points whose distance from the obstacle is greater than or equal to the second specified distance, determine that the region where the cluster point set is located is a cleanable area.

[0095] Based on the embodiments shown in Figures 1 and 2, it can be seen that the second cleaning condition is used to reflect the characteristics of the area where the cluster point set is located when it can be effectively cleaned by the cleaning equipment. This characteristic includes: the width of the area where the cluster point set is located in at least one direction is greater than the maximum body width of the cleaning equipment, the area of ​​the area where the cluster point set is located is greater than or equal to the first specified area, and the area where the cluster point set is located includes at least a specified number of points whose distance from the obstacle is greater than or equal to the second specified distance.

[0096] First, if the width of the area where the cluster point set is located in at least one direction is greater than the maximum body width of the cleaning equipment, it means that the area where the cluster point set is located can accommodate the cleaning equipment to pass smoothly in at least one direction, and meets the basic conditions for effective cleaning.

[0097] At the same time, the first specified area refers to the minimum area where the cluster point set is located, which is large enough to be cleaned. If the area of ​​the region where the cluster point set is located is greater than or equal to the first specified area, it means that the area of ​​the region where the cluster point set is located is large enough, and it is necessary to use cleaning equipment to clean the area.

[0098] Optionally, the first designated area is 50 cm 2 , 80cm 2 or 100cm 2 Of course, the first designated area can be any area size that meets actual cleaning requirements and is not limited to the aforementioned examples.

[0099] Furthermore, the second specified distance refers to the minimum distance between the point and the obstacle when the point is located and can be effectively cleaned by the cleaning equipment. If the distance between the point in the cluster point set and the obstacle is greater than or equal to the second specified distance, it means that the point can be effectively cleaned by the cleaning equipment. At the same time, the specified number refers to the area where the cluster point set is located, which is large enough to have the minimum number of target points required for cleaning by the cleaning equipment. Therefore, when the area where the cluster point set is located includes at least a specified number of points whose distance from the obstacle is greater than or equal to the second specified distance, it means that the area where the cluster point set is located is large enough, it is necessary for the cleaning equipment to clean the area, and the distance from the obstacle is far enough to be effectively cleaned by the cleaning equipment.

[0100] Optionally, the second specified distance is 5 cm or 1 cm. It should be noted that the second specified distance can be set to any distance that meets actual cleaning needs and is not limited to the above examples.

[0101] In general, when the area where the cluster point set is located can simultaneously meet the above three conditions, it means that it can accommodate the smooth passage of cleaning equipment, is feasible for cleaning, and has a large enough area and a far distance from obstacles, so it is necessary to clean it.

[0102] Step 310: Clean the cleanable area.

[0103] The above technical solution effectively and automatically identifies whether there are new areas within the current environment that are accessible to the cleaning equipment through dual cleaning condition discrimination. After automatically identifying the newly accessible areas, the cleaning equipment will proactively clean those areas. This prevents the cleaning equipment from missing newly accessible areas, expands the cleaning area of ​​the cleaning equipment in a single cleaning process, and improves the environmental adaptability of the cleaning equipment, thereby effectively improving the cleaning effect and increasing the practicality of the cleaning equipment.

[0104] In the technical solution described in any of the above embodiments, the cleaning of the cleanable area includes: performing a cross-area action on the cleanable area; and when the cross-area action is successfully performed, cleaning the cleanable area.

[0105] Cross-area action refers to the movement of the cleaning device from the currently cleaned area into other areas that have not been cleaned. When the cross-area action is successfully executed, it means that the cleaning device has successfully entered the cleanable area, and at this time, the cleanable area can be cleaned directly.

[0106] In the technical solution described in any of the above embodiments, the cleaning of the cleanable area includes: when the cross-area action fails to execute, returning to the step of obtaining the SLAM change information of the target cleaning area to re-determine whether the target cleaning area contains the cleanable area; when it is re-determined that the target cleaning area contains the cleanable area, within a specified distance range centered on the current position of the cleaning device, if the area of ​​the uncleaned area is greater than or equal to a second specified area, the cleanable area is cleaned; if the area of ​​the uncleaned area is smaller than the second specified area, the cleaning work of the cleanable area is canceled.

[0107] When the cross-area action fails, it means that the cleanable area may be too small to accommodate the cleaning equipment. In this case, the cleanable area can be redefined, and the cleanable area near the cleaning equipment will be cleaned only when the uncleaned area near the cleaning equipment is large enough. The second specified area refers to the minimum area of ​​the cleanable area required for cleaning, which can be 50cm 2 , 80cm 2 or 90cm 2 Of course, the second designated area can be any area size that meets actual cleaning requirements and is not limited to the aforementioned examples.

[0108] Furthermore, based on the technical solutions described in any of the above embodiments, in one possible design, the specific method for obtaining SLAM change information for the target cleaning area includes: obtaining SLAM change information for the target cleaning area upon completing cleaning work for the current partition within the target cleaning area. That is, each time cleaning work for a partition is completed, a SLAM scan is performed again to obtain SLAM change information to identify points where transitions between obstacles and space have occurred.

[0109] In this way, newly added and / or exposed cleanable areas due to changes in the position of obstacles can be discovered in a timely manner, so that the cleaning equipment can promptly perform a round of supplementary cleaning on the newly added and / or exposed cleanable areas after cleaning each partition, thereby improving the timeliness of cleaning the newly added and / or exposed cleanable areas.

[0110] In another possible design, the specific method for obtaining SLAM change information of the target cleaning area includes: obtaining SLAM change information of the target cleaning area when all cleaning operations in the target cleaning area are completed. That is, after cleaning the target cleaning area, a SLAM scan is performed again to obtain SLAM change information to identify the points where the transformation between obstacles and space occurs, so as to identify the newly added and / or exposed cleanable areas due to the change in the position of obstacles.

[0111] Therefore, after the overall cleaning is completed, the newly added and / or exposed cleanable areas that may be involved in the target cleaning area can be uniformly supplemented and cleaned to avoid missing the newly added and / or exposed cleanable areas, thereby improving the automatic cleaning capability and environmental adaptability of the cleaning equipment.

[0112] In another possible design, the specific method of obtaining the SLAM change information of the target cleaning area includes: when completing the cleaning work of the current partition in the target cleaning area, if the proportion of the cleaned area of ​​the current cleaning process in the target cleaning area is greater than or equal to a specified percentage, and / or if the cleaning time consumed by the current cleaning process is greater than or equal to a specified time, obtaining the SLAM change information of the target cleaning area.

[0113] If the percentage of the cleaned area of ​​the current cleaning process in the target cleaning area is greater than or equal to a specified percentage, and / or if the cleaning time of the current cleaning process is greater than or equal to a specified time, it means that the current cleaning process has been carried out for a sufficient period of time, the cleaning area is large enough, and / or the cleaning time is long enough. There is a high probability that new and / or exposed cleanable areas will appear during the cleaning process. Therefore, the SLAM scan can be re-performed at this time to obtain SLAM change information to see at which points the obstacle and space conversion has occurred, so as to identify the new and / or exposed cleanable areas due to the change in the obstacle position and avoid missing cleaning.

[0114] In another possible design, the specific method of obtaining the SLAM change information of the target cleaning area includes: obtaining the current SLAM information of the target cleaning area at the current moment and the historical SLAM information at the historical moments, wherein the current moment is the cleaning completion moment of the current partition in the target cleaning area, or the cleaning completion moment of the target cleaning area, and the historical moment is the cleaning start moment of the current partition, the cleaning start moment of the target cleaning area, or the cleaning start moment of any non-first partition other than the current partition in the target cleaning area; determining the SLAM change information based on the historical SLAM information and the current SLAM information.

[0115] That is to say, the SLAM change information can be determined based on the SLAM information difference between the cleaning completion moment of the current partition in the target cleaning area and the cleaning start moment of the current partition. Alternatively, the SLAM change information can be determined based on the SLAM information difference between the cleaning completion moment of the current partition in the target cleaning area and the cleaning start moment of the target cleaning area. Alternatively, the SLAM change information can be determined based on the SLAM information difference between the cleaning completion moment of the current partition in the target cleaning area and the cleaning start moment of any non-first partition other than the current partition in the target cleaning area. Alternatively, the SLAM change information can be determined based on the SLAM information difference between the cleaning completion moment of the target cleaning area and the cleaning start moment of the current partition. Alternatively, the SLAM change information can be determined based on the SLAM information difference between the cleaning completion moment of the target cleaning area and the cleaning start moment of the target cleaning area. Alternatively, the SLAM change information can be determined based on the SLAM information difference between the cleaning completion moment of the target cleaning area and the cleaning start moment of the target cleaning area. Alternatively, the SLAM change information can be determined based on the SLAM information difference between the cleaning completion moment of the target cleaning area and the cleaning start moment of any non-first partition other than the current partition in the target cleaning area.

[0116] The shorter the time interval between the two moments before and after obtaining the SLAM information difference, the more timely it is possible to identify whether new areas in the current environment have been added and / or exposed to areas accessible to cleaning equipment. The longer the time interval between the two moments before and after obtaining the SLAM information difference, the fewer the overall identification times for identifying whether new areas in the current environment have been added and / or exposed to areas accessible to cleaning equipment, and the lower the computational burden on the cleaning device.

[0117] FIG4 shows a block diagram of an automatic cleaning device according to an embodiment of the present application.

[0118] As shown in Figure 4, an automatic cleaning device 400 according to an embodiment of the present application includes: a SLAM change information acquisition unit 402, which is used to obtain SLAM change information of the target cleaning area in the current cleaning process; a first cleaning condition verification unit 404, which is used to determine whether the target cleaning area has a target point that meets the first cleaning condition based on the SLAM change information of the target cleaning area, wherein the first cleaning condition is used to reflect the characteristics of a point that has not been cleaned due to obstruction by an obstacle when it is no longer obstructed by the obstacle after the position of the obstacle changes; a cleaning execution unit 406, which is used to perform cleaning processing based on the target point if the target cleaning area has the target point.

[0119] In one embodiment of the present application, optionally, the cleaning execution unit 406 is configured to: determine a cleanable area based on the target point; and clean the cleanable area.

[0120] In one embodiment of the present application, optionally, the cleaning execution unit 406 includes: a second cleaning condition verification unit, used to cluster the target points to obtain multiple cluster point sets; for each cluster point set, if the cluster point set meets the second cleaning condition, determining that the area where the cluster point set is located is a cleanable area, wherein the second cleaning condition is used to reflect the characteristics of the area where the cluster point set is located when it can be effectively cleaned by the cleaning equipment.

[0121] In one embodiment of the present application, optionally, the SLAM change information acquisition unit 402 is used to: acquire the SLAM change information of the target cleaning area when the cleaning work of the current partition in the target cleaning area is completed; or acquire the SLAM change information of the target cleaning area when all cleaning work of the target cleaning area is completed.

[0122] In one embodiment of the present application, optionally, the SLAM change information acquisition unit 402 is used to: when completing the cleaning work of the current partition in the target cleaning area, if the proportion of the cleaned area of ​​the current cleaning process in the target cleaning area is greater than or equal to a specified percentage, and / or if the cleaning time consumed by the current cleaning process is greater than or equal to a specified time, obtain the SLAM change information of the target cleaning area.

[0123] In one embodiment of the present application, optionally, the SLAM change information acquisition unit 402 is used to: obtain current SLAM information of the target cleaning area at the current moment and historical SLAM information at historical moments, wherein the current moment is the cleaning completion moment of the current partition in the target cleaning area, or the cleaning completion moment of the target cleaning area, and the historical moment is the cleaning start moment of the current partition, the cleaning start moment of the target cleaning area, or the cleaning start moment of any non-first partition other than the current partition in the target cleaning area; determine the SLAM change information based on the historical SLAM information and the current SLAM information.

[0124] In one embodiment of the present application, optionally, the first cleaning condition verification unit 404 is used to: based on the SLAM change information of the target cleaning area, determine a point with specified cleaning characteristics in the target cleaning area as the target point, wherein the specified cleaning characteristics include one or more of the following: the point type of the point changes from an obstacle class to a space class; the adjacent points of the point include at least one cleaned point and at least one uncleaned point; the point is separated from the obstacle by at least one other point; the point is outside a preset no-entry area, and the preset no-entry area includes a carpet area, a pile area, and a self-designated safety area; the point is outside the cleaned area in the current cleaning process, and the distance from the edge point of the cleaned area is greater than or equal to the first specified distance.

[0125] In one embodiment of the present application, optionally, the second cleaning condition verification unit is used to: if the width of the area where the cluster point set is located in at least one direction is greater than the maximum body width of the cleaning device, and the area of ​​the area where the cluster point set is located is greater than or equal to a first specified area, and the area where the cluster point set is located includes at least a specified number of points whose distance from the obstacle is greater than or equal to a second specified distance, determine that the area where the cluster point set is located is a cleanable area.

[0126] In one embodiment of the present application, optionally, the cleaning execution unit 406 is used to: perform a cross-area action on the cleanable area; when the cross-area action is successfully executed, clean the cleanable area; when the cross-area action fails, return to the step of obtaining the SLAM change information of the target cleaning area to re-determine whether the target cleaning area has the cleanable area; when it is re-determined that the target cleaning area has the cleanable area, within a specified distance range centered on the current position of the cleaning device, if the area of ​​the uncleaned area is greater than or equal to a second specified area, clean the cleanable area; if the area of ​​the uncleaned area is smaller than the second specified area, cancel the cleaning work on the cleanable area.

[0127] The automatic cleaning device 400 uses any one of the solutions in the above embodiments, and therefore has all the above technical effects, which will not be repeated here.

[0128] In addition, in one embodiment, the present application provides a cleaning device, which can be a server, and its internal structure diagram can be shown in Figure 5. The cleaning device includes a processor, a memory, a network interface and a database connected via a system bus. Among them, the processor of the cleaning device is used to provide computing and control capabilities. The memory of the cleaning device includes non-volatile and / or volatile storage media, and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the cleaning device is used to communicate with an external client via a network connection. When the computer program is executed by the processor, the automatic cleaning method described in any of the above embodiments can be implemented.

[0129] In one embodiment, the present application also provides a cleaning device, which can be a client, and its internal structure diagram can be shown in Figure 6. The cleaning device includes a processor, memory, network interface, display screen and input device connected by a system bus. Among them, the processor of the cleaning device is used to provide computing and control capabilities. The memory of the cleaning device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the cleaning device is used to communicate with an external server via a network connection. When the computer program is executed by the processor, the automatic cleaning method described in any of the above embodiments can be implemented.

[0130] Any of the cleaning devices described above in the embodiments of the present application may be any device with a cleaning function, such as a sweeper, a mop, a scrubber, a sweeper-and-mop machine, a self-propelled vacuum cleaner, or the like. Furthermore, the cleaning device may be provided in various forms and used to control a device with a cleaning function, including but not limited to:

[0131] (1) Mobile communication devices: These devices are characterized by their mobile communication capabilities and are primarily designed to provide voice and data communications. These terminals include smartphones (e.g., iPhones), multimedia phones, feature phones, and low-end phones.

[0132] (2) Ultra-mobile personal cleaning devices: These devices fall under the category of personal computers, have computing and processing capabilities, and generally also have mobile Internet access. These terminals include PDAs, MIDs, and UMPCs, such as the iPad.

[0133] (3) Portable entertainment devices: These devices can display and play multimedia content. These devices include audio and video players (such as iPods), handheld game consoles, e-books, as well as smart toys, wearable devices, and portable car navigation devices.

[0134] (4) Server: A device that provides computing services. The server consists of a processor, hard disk, memory, system bus, etc. The server is similar to a general computer architecture, but because it needs to provide highly reliable services, it has higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0135] (5) Other electronic devices with data interaction functions.

[0136] In addition, an embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions, which are used to perform the following steps: in the current cleaning process, obtaining SLAM change information of the target cleaning area; based on the SLAM change information of the target cleaning area, determining whether the target cleaning area has a target point that meets a first cleaning condition, wherein the first cleaning condition is used to reflect the characteristics of a point that has not been cleaned due to obstruction by an obstacle when it is no longer obstructed by the obstacle after the position of the obstacle changes; if the target cleaning area has the target point, performing cleaning processing based on the target point.

[0137] It should be noted that the functions or steps that can be implemented by the computer-readable storage medium or cleaning device can be found in the corresponding descriptions in the aforementioned method embodiments. To avoid repetition, they will not be described one by one here.

[0138] The above describes in detail the technical solution of the present application in combination with the accompanying drawings. Through the technical solution of the present application, by obtaining the SLAM change information of the target cleaning area, the cleaning equipment is triggered to clean the newly added cleanable areas generated and / or exposed due to the movement of obstacles after its own scanning and obtaining SLAM information. In this way, the cleaning equipment can be prevented from missing these newly added cleanable areas, the cleaning area of ​​the cleaning equipment is expanded, and the environmental adaptability of the cleaning equipment is improved, thereby effectively improving the cleaning effect and increasing the practicality of the cleaning equipment.

[0139] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0140] It should be understood that, although the terms first, second, etc. may be used to describe cleaning conditions in the embodiments of the present application, these cleaning conditions should not be limited to these terms. These terms are only used to distinguish cleaning conditions from each other. For example, without departing from the scope of the embodiments of the present application, the first cleaning condition may also be referred to as the second cleaning condition, and similarly, the second cleaning condition may also be referred to as the first cleaning condition.

[0141] The word "if," as used herein, may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0142] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0143] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interface, indirect coupling or communication connection of the device or unit, which may be electrical, mechanical or other forms.

[0144] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0145] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0146] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. An automatic cleaning method, wherein: include: In the current cleaning process, obtain SLAM change information of the target cleaning area; Based on the SLAM change information of the target cleaning area, determining whether the target cleaning area has a target point that meets a first cleaning condition, wherein the first cleaning condition is used to reflect the characteristics of a point that has not been cleaned due to being blocked by an obstacle when the point is no longer blocked by the obstacle after the position of the obstacle changes; If the target cleaning area has the target point, a cleaning process is performed based on the target point.

2. The automatic cleaning method according to claim 1, wherein: The performing of a cleaning process based on the target point comprises: Based on the target point, determining a cleanable area; The cleanable area is cleaned.

3. The automatic cleaning method according to claim 2, wherein: The step of determining a cleanable area based on the target point comprises: Clustering the target points to obtain multiple cluster point sets; For each cluster point set, if the cluster point set meets the second cleaning condition, the area where the cluster point set is located is determined to be a cleanable area, wherein the second cleaning condition is used to reflect the characteristics of the area where the cluster point set is located when it can be effectively cleaned by a cleaning device.

4. The automatic cleaning method according to claim 1, wherein: The obtaining of SLAM change information of the target cleaning area includes: Upon completion of the cleaning work for the current partition in the target cleaning area, obtaining SLAM change information of the target cleaning area; or When all cleaning work on the target cleaning area is completed, SLAM change information of the target cleaning area is obtained.

5. The automatic cleaning method according to claim 1, wherein: The obtaining of SLAM change information of the target cleaning area includes: When the cleaning work of the current partition in the target cleaning area is completed, if the proportion of the cleaned area of ​​the current cleaning process in the target cleaning area is greater than or equal to the specified percentage, and / or if the cleaning time consumed by the current cleaning process is greater than or equal to the specified time, obtain the SLAM change information of the target cleaning area.

6. The automatic cleaning method according to any one of claims 1 to 5, wherein: The obtaining of SLAM change information of the target cleaning area includes: Obtain the current SLAM information of the target cleaning area at the current moment and the historical SLAM information at the historical moment, wherein: The current time is the time when the cleaning of the current partition in the target cleaning area is completed, or the time when the cleaning of the target cleaning area is completed, The historical moment is the cleaning start time of the current partition, the cleaning start time of the target cleaning area, or the cleaning start time of any non-first partition other than the current partition in the target cleaning area; The SLAM change information is determined based on the historical SLAM information and the current SLAM information.

7. The automatic cleaning method according to claim 1, wherein: The determining, based on the SLAM change information of the target cleaning area, whether the target cleaning area has a target point that satisfies the first cleaning condition comprises: Based on the SLAM change information of the target cleaning area, a point having a specified cleaning feature is determined in the target cleaning area as the target point, wherein the specified cleaning feature includes one or more of the following: The point type of the point is changed from obstacle class to space class; The neighboring points of the point include at least one cleaned point and at least one uncleaned point; The point is separated from the obstacle by at least one other point; The point is outside the preset prohibited area, which includes the carpet area, the stake area and the self-designated safety area; The point is outside the cleaned area in the current cleaning process, and the distance from the edge point of the cleaned area is greater than or equal to the first specified distance.

8. The automatic cleaning method according to claim 1, wherein: If the cluster point set satisfies the second cleaning condition, determining that the area where the cluster point set is located is a cleanable area includes: If the width of the region where the cluster point set is located in at least one direction is greater than the maximum body width of the cleaning device, and the area of ​​the region where the cluster point set is located is greater than or equal to the first specified area, and the region where the cluster point set is located includes at least a specified number of points whose distance from the obstacle is greater than or equal to the second specified distance, the region where the cluster point set is located is determined to be a cleanable area.

9. The automatic cleaning method according to claim 7 or 8, wherein: The step of cleaning the cleanable area comprises: performing a cross-region action on the cleanable region; When the cross-region action is successfully executed, cleaning the cleanable region; When the cross-area action fails to be executed, returning to the step of obtaining the SLAM change information of the target cleaning area to determine again whether the target cleaning area has the cleanable area; When it is determined again that the target cleaning area has the cleanable area, Within a specified distance range centered on the current position of the cleaning device, if the area of ​​the uncleaned area is greater than or equal to a second specified area, cleaning the cleanable area; If the area of ​​the uncleaned region is smaller than the second specified area, the cleaning operation on the cleanable region is canceled.

10. An automatic cleaning device, wherein: include: A SLAM change information acquisition unit, used to acquire SLAM change information of a target cleaning area in a current cleaning process; A first cleaning condition verification unit, configured to determine whether the target cleaning area has a target point that satisfies a first cleaning condition based on SLAM change information of the target cleaning area, wherein the first cleaning condition is used to reflect the characteristics of a point that has not been cleaned due to being blocked by an obstacle when the point is no longer blocked by the obstacle after the position of the obstacle changes; The cleaning execution unit is configured to execute a cleaning process based on the target point if the target cleaning area has the target point.

11. A cleaning device, wherein: include: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions executable by the at least one processor, wherein the instructions are configured to execute the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, wherein: Computer executable instructions are stored, and the computer executable instructions are used to execute the method according to any one of claims 1 to 9.

Images