Method for cleaning by self-moving device after recharging, self-moving device, device and medium

Abstract

A method for cleaning by a self-moving device after recharging, the method comprising: when a self-moving device completes cleaning of a working area and then recharges, upon receiving a re-cleaning instruction, determining, on the basis of cleaning data corresponding to the working area, a re-cleaning area located in the working area; according to a preset cleaning strategy, controlling the self-moving device to perform re-cleaning in the re-cleaning area; and, upon determining that the re-cleaning is completed, controlling the self-moving device to move to a preset parking position. Also provided are a self-moving device for implementing the cleaning method, a computer device and a computer-readable storage medium. The cleaning method can improve the cleaning effect of working areas where self-moving devices are located and the experience effect of users.

Description

Cleaning methods after recharging self-moving devices, self-moving devices, devices and media. Technical Field

[0001] This application relates to the field of self-moving device cleaning technology, and in particular to a cleaning method for self-moving devices after recharging, a self-moving device, a device, and a medium. Background Technology

[0002] Self-moving devices can serve as automated robots for clearing snow in yards, removing snow from their designated work areas according to user needs. However, there are two scenarios: First, the self-moving device may have a limited battery level, or it may receive a recharging command from the user before all snow has been cleared from its work area, especially if the environment is experiencing continuous snowfall. Second, even after the self-moving device has finished clearing and is returning to its recharge station, the environment may still be experiencing continuous snowfall, meaning the work area remains covered in snow. In both cases, failure to clear snow from the work area promptly will directly impact the cleaning efficiency.

[0003] Therefore, the inventors realized that there was an urgent need to find a new technical solution to solve the above-mentioned technical problems. Technical issues

[0004] Therefore, it is necessary to provide a cleaning method, a self-moving device, a device, and a medium after the self-moving device is recharged, in order to solve the problem of unsatisfactory cleaning effect in the work area in the prior art. Technical solutions

[0005] To achieve the above objectives, a cleaning method is provided after a self-recovering mobile device is recharged, the method comprising:

[0006] When the mobile device returns to its charging dock after completing the cleaning of the work area, it receives a cleaning instruction and determines the area to be cleaned again within the work area based on the cleaning data corresponding to the work area.

[0007] According to the preset cleaning strategy, the self-moving device is controlled to perform a second cleaning in the second cleaning area, and after the second cleaning is completed, the self-moving device is controlled to move to the preset parking position.

[0008] Optionally, the cleaning data includes environmental data and cleaning area data; determining the re-cleaning area located within the working area based on the cleaning data corresponding to the working area includes:

[0009] Acquire environmental data for the time period from recharging to receiving the cleaning command again, as well as the cleaning area data before recharging;

[0010] Calculate the required cleaning height in the work area based on the environmental data;

[0011] The re-cleaning area located within the working area is determined based on the required cleaning height and the cleaning area data.

[0012] Optionally, the cleaning data includes key area data and cleaning area data; determining the re-cleaning area located within the working area based on the cleaning data corresponding to the working area includes:

[0013] Obtain the cleaning area data before recharging;

[0014] The key area data is determined based on the size of the total cleaning area corresponding to the work area;

[0015] The areas to be cleaned again within the work area are determined based on the cleaning area data and the key area data.

[0016] Optionally, before the self-moving device returns to its charging dock after completing the cleaning of the work area, it further includes:

[0017] Determine whether the work area has been completely cleaned;

[0018] If it is determined that the working area has not been completely cleaned, then it is determined whether the self-moving device will pass through the area that has not been cleaned when it moves to the recharging location.

[0019] When it is determined that the self-moving device will pass through an area that has not been cleaned when it moves to the recharging location, the ground clearance of the working device in the self-moving device is adjusted to the maximum.

[0020] If it is determined that the self-moving device will not pass through an area that has not been cleaned when it moves to the recharging location, then the ground clearance of the working device in the self-moving device is maintained at the current ground clearance.

[0021] Optionally, after determining whether the self-moving device will pass through an area that has not been cleaned when it moves to the recharging location, the method further includes:

[0022] If it is determined that the mobile device will pass through an area that has not been cleaned when it moves to the recharge location, then it is determined whether the recharge location is close to the target boundary of the working area;

[0023] When the recharge location is determined to be close to the target boundary in the work area, the ground clearance of the working device in the self-moving device is adjusted to the lowest level, and the working device pushes the snow in the work area toward the target boundary in the work area.

[0024] Optionally, controlling the self-moving device to perform re-cleaning in the re-cleaning area according to a preset cleaning strategy includes:

[0025] Determine the path sequence based on the recharge location and the area to be cleaned again;

[0026] The self-moving device is controlled to move from the recharge location to the cleaning area according to the path sequence to perform cleaning again.

[0027] Optionally, the preset parking location includes a recharge location and a waiting location; controlling the self-moving device to move to the preset parking location includes:

[0028] Determine whether the current battery level of the self-moving device is lower than a preset battery threshold;

[0029] When it is determined that the current battery level of the mobile device is lower than a preset battery threshold, the mobile device is controlled to move directly to the charging location and start charging.

[0030] When it is determined that the current battery level of the mobile device is not lower than a preset battery threshold, it is determined whether the mobile device needs to continue to perform another cleaning in the working area;

[0031] When it is determined that the self-moving device needs to continue cleaning in the work area again, the preset location point closest to the area corresponding to the second cleaning in the work area is determined as the waiting location point, and the self-moving device is controlled to move to the preset parking location point and wait for processing.

[0032] To achieve the above objectives, a self-moving device is also provided, including a controller and a memory. The memory stores a cleaning program after the self-moving device returns to its charging dock, and the controller controls the cleaning program after the self-moving device returns to its charging dock to perform the following steps:

[0033] When the mobile device returns to its charging dock after completing the cleaning of the work area, it receives a cleaning instruction and determines the area to be cleaned again within the work area based on the cleaning data corresponding to the work area.

[0034] According to the preset cleaning strategy, the self-moving device is controlled to perform a second cleaning in the second cleaning area, and after the second cleaning is completed, the self-moving device is controlled to move to the preset parking position.

[0035] To achieve the above objectives, a computer device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps:

[0036] When the mobile device returns to its charging dock after completing the cleaning of the work area, it receives a cleaning instruction and determines the area to be cleaned again within the work area based on the cleaning data corresponding to the work area.

[0037] According to the preset cleaning strategy, the self-moving device is controlled to perform a second cleaning in the second cleaning area, and after the second cleaning is completed, the self-moving device is controlled to move to the preset parking position.

[0038] To achieve the above objectives, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, performs the following steps:

[0039] When the mobile device returns to its charging dock after completing the cleaning of the work area, it receives a cleaning instruction and determines the area to be cleaned again within the work area based on the cleaning data corresponding to the work area.

[0040] According to the preset cleaning strategy, the self-moving device is controlled to perform a second cleaning in the second cleaning area, and after the second cleaning is completed, the self-moving device is controlled to move to the preset parking position. Beneficial effects

[0041] The cleaning method for a self-moving device after recharging provided in this application includes: when the self-moving device returns to its charging dock after cleaning the work area, upon receiving a re-cleaning instruction, determining the re-cleaning area within the work area based on cleaning data corresponding to the work area; controlling the self-moving device to perform re-cleaning in the re-cleaning area according to a preset cleaning strategy; and after determining that the re-cleaning is complete, controlling the self-moving device to move to a preset parking position. Thus, by determining the re-cleaning area and controlling the self-moving device to clean it, the method can address situations where the work area is continuously covered by snow or where snow accumulation is not completely cleared, thereby improving the cleaning effect of the work area where the self-moving device is located and enhancing the user experience.

[0042] Details of one or more embodiments of this application are set forth in the following drawings and description, and other features and advantages of this application will become apparent from the specification, drawings and claims. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 is a flowchart illustrating an embodiment of the cleaning method for a self-recharged mobile device according to this application.

[0045] Figure 2 is a schematic block diagram of an embodiment of the self-moving device of this application. The best embodiment of the present invention

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] As shown in Figure 1, an embodiment of this application provides a regional operation method for a self-moving device, which can be applied to a controller in a self-moving device. The controller can also be understood as an MCU (Microcontroller Unit) or other devices with the same function. The method includes the following steps S10 to S20:

[0048] S10: When the self-moving device returns to its charging dock after completing the cleaning of the working area, upon receiving a cleaning instruction, it determines the area to be cleaned again within the working area based on the cleaning data corresponding to the working area.

[0049] Understandably, the working area can be the area where the mobile device performs snow removal work. The depth of snow cover on the ground in this area is determined based on the amount of snowfall and the cleaning status of the mobile device. For example, if the snow in the working area is not cleared and the depth reaches 5cm after a period of continuous snowfall, the following can be considered: The re-cleaning command can be a user-issued command or an automatically triggered command after the system is fully charged. This automatically triggered command is automatically generated when the mobile device is fully charged and there are still un-cleaned areas in the working area or when the working area is experiencing continuous snowfall. The cleaning data can be the working parameter data involved in the cleaning performed by the mobile device, such as environmental data, cleaning area data, and key area data. The re-cleaning area can be part or all of the working area. The mobile device can determine the area to be cleaned subsequently based on specific needs.

[0050] S20, according to the preset cleaning strategy, control the self-moving device to perform a second cleaning in the second cleaning area, and after determining that the second cleaning is completed, control the self-moving device to move to the preset parking position.

[0051] Understandably, the preset cleaning strategy can be the strategy required when the mobile device moves to the re-cleaning area, such as the cleaning start point and cleaning focus in the re-cleaning area, the cleaning position in the re-cleaning area, the number of cleanings in the re-cleaning area, and the cleaning order in the re-cleaning area; the preset parking location can be the recharge location of the mobile device, or it can be other waiting locations in the working area. Further understandably, the preset parking location can be selected as the recharge location based on the battery level of the mobile device, and the preset parking location can be selected as the waiting location based on the current position of the mobile device, as detailed below;

[0052] In the embodiments where steps S10 to S20 are located, even if the self-moving device triggers the recharging function, the self-moving device can still control the self-moving device to perform the re-cleaning function in the determined re-cleaning area after receiving the re-cleaning instruction. In this way, the problem of continuous snow covering the working area in the current working environment can be solved, as well as the problem of snow accumulation in the current working environment not being completely cleared. This can improve the cleaning effect of the working area where the self-moving device is located and improve the user experience.

[0053] In one embodiment, the cleaning data includes environmental data and cleaning area data; determining the re-cleaning area located within the working area based on the cleaning data corresponding to the working area includes:

[0054] Acquire environmental data for the time period from recharging to receiving the cleaning command again, as well as the cleaning area data before recharging;

[0055] Calculate the required cleaning height in the work area based on the environmental data;

[0056] The re-cleaning area located within the working area is determined based on the required cleaning height and the cleaning area data.

[0057] Understandably, environmental data can be weather data corresponding to the current work area, such as continuous snowfall in the current work area for one hour. Specifically, environmental data from external sources can be obtained in real time through the API interface of the self-mounted device, and the specific time period corresponding to the environmental data can be determined. Cleaning area data can be the area data of the area worked by the self-mounted device before recharging. This area can be all or part of the work area. Specifically, the cleaning area data corresponding to the worked area is determined through the work map corresponding to the self-mounted device's work area. The required cleaning height can be the snow height in the work area. Specifically, the required cleaning height is calculated based on the environmental data and the current height identified in the previous work area. The required cleaning height can be calculated by a recognition sensor installed on the self-moving device, or estimated by data from the uncovered snow-covered work area and environmental data over a period of time. The area to be cleaned again is the area mentioned above. Specifically, the area to be cleaned again in the work area is determined by the required cleaning height and the cleaning area data. This includes: after determining whether the work area has been completely cleaned or not, and when it is determined that the required cleaning height of some areas in the work area has reached the preset cleaning height, the area to be cleaned again in the work area is determined based on the cleaning area data of the corresponding areas, such as cleaning the entire work area or cleaning the work area that has been cleaned.

[0058] In this embodiment, the required cleaning height of the working area is calculated, which can ensure that the cleaning work of the cleaning area is more accurate. The area to be cleaned again by the required cleaning height and cleaning area data can reduce unnecessary repeated cleaning and ineffective work, and can significantly improve cleaning efficiency. For example, the self-moving device can focus on the area that really needs to be cleaned, thereby completing the cleaning task faster.

[0059] In one embodiment, the cleaning data includes key area data and cleaning area data; determining the re-cleaning area located within the working area based on the cleaning data corresponding to the working area includes:

[0060] Obtain the cleaning area data before recharging;

[0061] The key area data is determined based on the size of the total cleaning area corresponding to the work area;

[0062] The areas to be cleaned again within the work area are determined based on the cleaning area data and the key area data.

[0063] Understandably, the sweeping area data is consistent with the content mentioned above and will not be repeated here. The key area data can be the area data corresponding to key areas within the work area, such as areas requiring focused or multiple sweeping. Areas with excessively deep snow can be considered key areas or areas requiring multiple sweeping. Specifically, the key area data is determined by the total sweeping area of ​​the work area and the location of the snow-throwing point. When the total sweeping area of ​​the work area is large enough (because the work area is large enough that the mobile device cannot accurately throw snow to the snow-throwing point from a distance when it is in a distant area, where the snow-throwing point is the accumulation point of all snow in the work area), and the snow-throwing point is far from the current location of the mobile device, it is necessary to perform zoned snow-throwing within the work area. That is, snow from distant areas needs to be thrown to nearby areas. In this case, the nearby areas can be considered as areas requiring focused or multiple sweeping. For areas that have been cleaned multiple times, it should be noted that the total cleaned area and the location of the snow-throwing points mentioned above can be confirmed through the work map corresponding to the work area. The areas to be cleaned again are the areas mentioned above. Specifically, the areas to be cleaned again in the work area are determined by the cleaned area data and the key area data. This includes: after determining whether the work area has been completely cleaned or not, the key area data is used to determine the key cleaning area as the area to be cleaned again in the work area. The key cleaning area is used as the area to be cleaned again because the previous cleaning work of the self-moving equipment could not completely remove the snow covering the area. Specifically, when the snow depth is too thick, one cleaning cannot achieve the effect of complete removal. Some snow in the nearby area includes snow from the distant area, and the current working environment may be in a state of continuous snowfall.

[0064] In this embodiment, identifying key area data of the work area ensures more precise cleaning. The areas to be cleaned again, determined by key area data and cleaning area data, can reduce unnecessary repetitive cleaning and ineffective work, significantly improving cleaning efficiency. For example, the self-moving device can focus on the areas that truly need cleaning, thus completing the cleaning task faster.

[0065] In one embodiment, before the self-moving device returns to its charging dock after completing the cleaning of the work area, it further includes:

[0066] Determine whether the work area has been completely cleaned;

[0067] If it is determined that the working area has not been completely cleaned, then it is determined whether the self-moving device will pass through the area that has not been cleaned when it moves to the recharging location.

[0068] When it is determined that the self-moving device will pass through an area that has not been cleaned when it moves to the recharging location, the ground clearance of the working device in the self-moving device is adjusted to the maximum.

[0069] If it is determined that the self-moving device will not pass through an area that has not been cleaned when it moves to the recharging location, then the ground clearance of the working device in the self-moving device is maintained at the current ground clearance.

[0070] Understandably, the working device can be a cleaning device installed on a self-moving device. It can be a device consisting of a snow-shoveling structure and a snow-throwing structure. The snow-shoveling structure is equipped with snow-rolling blades, and the snow-throwing structure is equipped with snow-throwing blades. The snow-throwing blades can achieve long-distance snow-throwing. In addition, its height above the ground can be automatically adjusted according to specific snow-shoveling needs. The area that has not been cleaned can be the area in the working area that has not been cleaned by the self-moving device.

[0071] Specifically, the cleaning process uses a work map to determine whether the entire work area has been cleaned. When cleaning begins after the mobile device moves the area, the work map generates data on the cleaned areas, thus determining whether the entire work area has been cleaned. If the work area is not completely cleaned, the current position of the mobile device is used to determine whether it will pass through the uncleaned area when moving to the charging dock. If it is determined that the mobile device will pass through the uncleaned area when moving to the charging dock, a push rod device is used to adjust the ground clearance of the working device within the mobile device to its maximum. The device is installed in the self-moving device and connected to the working device. The push rod value and the ground clearance are mapped. Thus, the ground clearance of the working device can be determined by adjusting the push rod value of the push rod device. In addition, the ground clearance of the working device is adjusted to the maximum to prevent the working device from carrying snow to the recharge point during the self-moving device's movement to the recharge point. If it is determined that the self-moving device will not pass through the un-cleaned area when moving to the recharge point, the ground clearance of the working device in the self-moving device is maintained at the current ground clearance. In this case, snow in the cleaned area will not be carried to the recharge point by the working device.

[0072] In this embodiment, the ground clearance of the working device is adjusted by the movement path of the self-moving device to prevent the working device in the self-moving device from carrying snow to the recharge location when the self-moving device moves to the recharge location, thus affecting the cleaning effect of the recharge location. At the same time, it can also prevent excessive snow accumulation at the recharge location from affecting the recharge effect of the self-moving device.

[0073] In one embodiment, controlling the self-moving device to perform re-cleaning in the re-cleaning area according to a preset cleaning strategy includes:

[0074] Determine the path sequence based on the recharge location and the area to be cleaned again;

[0075] The self-moving device is controlled to move from the recharge location to the cleaning area according to the path sequence to perform cleaning again.

[0076] Understandably, the path sequence can be the path sequence of the self-moving device moving from the recharging location to the re-cleaning area, such as first moving to a first target location in the re-cleaning area, and then moving to another second target location in the re-cleaning area. Specifically, the self-moving device is controlled to move sequentially in the re-cleaning area and complete the re-cleaning.

[0077] In addition, the preset cleaning strategy in this embodiment may also include the number of cleaning times, such as cleaning the key areas more intensely than cleaning the ordinary areas, and cleaning the key areas multiple times to remove the excessive snow accumulation in the key areas; the preset cleaning strategy in this embodiment may also include cleaning intensity (such as by changing the power of the corresponding working motor of the working device), such as cleaning the key areas more intensely than cleaning the ordinary areas, and cleaning the key areas with high intensity to remove the excessive snow accumulation in the key areas;

[0078] In this embodiment, the path sequence is determined based on the recharging location and the area to be cleaned again, and the self-moving device is controlled to perform the function of cleaning again according to the path sequence, which can significantly improve cleaning efficiency, optimize energy and time utilization, and enhance user experience.

[0079] In one embodiment, the preset parking location includes a recharge location and a waiting location; controlling the self-moving device to move to the preset parking location includes:

[0080] Determine whether the current battery level of the self-moving device is lower than a preset battery threshold;

[0081] When it is determined that the current battery level of the mobile device is lower than a preset battery threshold, the mobile device is controlled to move directly to the charging location and start charging.

[0082] When it is determined that the current battery level of the mobile device is not lower than a preset battery threshold, it is determined whether the mobile device needs to continue to perform another cleaning in the working area;

[0083] When it is determined that the self-moving device needs to continue cleaning in the work area again, the preset location point closest to the area corresponding to the second cleaning in the work area is determined as the waiting location point, and the self-moving device is controlled to move to the preset parking location point and wait for processing.

[0084] Understandably, the preset battery threshold can be any set threshold. When the current battery level falls below this threshold, the mobile device can be controlled to return to the charging location for recharging. The preset location is a pre-set standby location in the work area. The mobile device can standby at this standby location. The purpose of selecting the nearest preset location as the standby location is twofold: firstly, to avoid wasting battery power by moving the mobile device too far; and secondly, to avoid moving the snow by moving the mobile device too far, such as by the working device or by the mobile device's walking parts. The methods for determining whether the mobile device needs to continue cleaning in the work area include: confirming by receiving a cleanup command from the user, or confirming by recognizing that the snow height in the work area has reached a predetermined height threshold.

[0085] In this embodiment, real-time detection of the current battery level of the self-moving device and comparison with a preset battery threshold ensures that the self-moving device returns to charging promptly when the battery is low, avoiding interruptions to the cleaning task due to battery depletion and improving the reliability and stability of the self-moving device. When the self-moving device has sufficient battery and needs to continue cleaning, determining the nearest waiting position and performing waiting processing at that position ensures that the device can respond quickly when ready to clean again, reducing waiting time and improving cleaning efficiency. By determining the preset position closest to the area to be cleaned again as the waiting position, the self-moving device can quickly return to the cleaning task, ensuring that the device can respond rapidly when needed and improving the overall working efficiency of the self-moving device.

[0086] This application provides a cleaning method for self-moving devices after recharging, belonging to the field of self-moving device area cleaning technology. When a self-moving device returns to its charging dock after cleaning its working area, upon receiving a re-cleaning instruction, it determines the re-cleaning area within the working area based on cleaning data corresponding to the working area. According to a preset cleaning strategy, it controls the self-moving device to perform re-cleaning in the re-cleaning area, and after confirming the completion of the re-cleaning, it controls the self-moving device to move to a preset parking position. Thus, by determining the re-cleaning area and controlling the self-moving device to clean it, the problem of continuous snow covering the working area can be solved, as well as the problem of incomplete snow removal in the current working environment. This improves the cleaning effect of the working area where the self-moving device is located and enhances the user experience.

[0087] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0088] As shown in Figure 2, a self-moving device is also provided, including a controller and a memory. The memory stores a cleaning program after the self-moving device returns to its charging dock. When the controller controls the execution of the cleaning program after the self-moving device returns to its charging dock, it implements the steps of the aforementioned cleaning method after the self-moving device returns to its charging dock. The front and body of the self-moving device are detachable structures, and various necessary sensors and / or devices can be installed on the front and body of the self-moving device. For example, a recognition sensor for identifying snow depth can be installed on the front of the self-moving device.

[0089] The controller's functions correspond one-to-one with the cleaning methods after the self-moving device returns to its charging dock in the above embodiments. Specific limitations of the controller can be found in the above description of the cleaning methods after the self-moving device returns to its charging dock, and will not be repeated here. The execution process of each sub-module in the controller can also be found in the above description of the cleaning methods after the self-moving device returns to its charging dock, and will not be repeated here. These sub-modules can be implemented entirely or partially through software, hardware, or a combination thereof. Each sub-module can be embedded in the controller in hardware or independent of the controller, or it can be stored in the controller's memory in software form, so that the controller can call and execute the operations corresponding to each of the above sub-modules.

[0090] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the cleaning method after the self-moving device is recharged as described in the above embodiment.

[0091] In one embodiment, this application also provides one or more readable storage media storing computer-readable instructions. The readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media. The readable storage media stores computer-readable instructions, which, when executed by one or more processors, cause one or more processors to implement the steps of the cleaning method after the self-moving device is recharged as described in the above embodiment.

[0092] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware with computer-readable instructions. These computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When executed, these computer-readable instructions can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can 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 a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual 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.

[0093] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the self-moving device can be divided into different functional units or modules to complete all or part of the functions described above.

[0094] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A cleaning method for self-operated mobile devices after recharging, wherein, The method includes: When the mobile device returns to its charging dock after completing the cleaning of the work area, it receives a cleaning instruction and determines the area to be cleaned again within the work area based on the cleaning data corresponding to the work area. According to the preset cleaning strategy, the self-moving device is controlled to perform a second cleaning in the second cleaning area, and after the second cleaning is completed, the self-moving device is controlled to move to the preset parking position.

2. The cleaning method after a self-operated mobile device is recharged as described in claim 1, wherein, The cleaning data includes environmental data and cleaning area data; determining the re-cleaning area within the working area based on the cleaning data corresponding to the working area includes: Acquire environmental data for the time period from recharging to receiving the cleaning command again, as well as the cleaning area data before recharging; Calculate the required cleaning height in the work area based on the environmental data; The re-cleaning area located within the working area is determined based on the required cleaning height and the cleaning area data.

3. The cleaning method after a self-operated mobile device is recharged as described in claim 1, wherein, The cleaning data includes key area data and cleaning area data; determining the re-cleaning area within the working area based on the cleaning data corresponding to the working area includes: Obtain the cleaning area data before recharging; The key area data is determined based on the size of the total cleaning area corresponding to the work area; The areas to be cleaned again within the work area are determined based on the cleaning area data and the key area data.

4. The cleaning method after a self-operated mobile device is recharged as described in claim 1, wherein, Before the self-moving device returns to its charging dock after completing the cleaning of the work area, it also includes: Determine whether the work area has been completely cleaned; If it is determined that the working area has not been completely cleaned, then it is determined whether the self-moving device will pass through the area that has not been cleaned when it moves to the recharging location. When it is determined that the self-moving device will pass through an area that has not been cleaned when it moves to the recharging location, the ground clearance of the working device in the self-moving device is adjusted to the maximum. If it is determined that the self-moving device will not pass through an area that has not been cleaned when it moves to the recharging location, then the ground clearance of the working device in the self-moving device is maintained at the current ground clearance.

5. The cleaning method after a self-operated mobile device is recharged as described in claim 4, wherein, After determining whether the self-mobile device will pass through an area that has not been cleaned when it moves to the recharging location, the method further includes: If it is determined that the mobile device will pass through an area that has not been cleaned when it moves to the recharge location, then it is determined whether the recharge location is close to the target boundary of the working area; When the recharge location is determined to be close to the target boundary in the work area, the ground clearance of the working device in the self-moving device is adjusted to the lowest level, and the working device pushes the snow in the work area toward the target boundary in the work area.

6. The cleaning method after a self-operated mobile device is recharged as described in claim 1, wherein, The step of controlling the self-moving device to perform re-cleaning in the re-cleaning area according to the preset cleaning strategy includes: Determine the path sequence based on the recharge location and the area to be cleaned again; The self-moving device is controlled to move from the recharge location to the cleaning area according to the path sequence to perform cleaning again.

7. The cleaning method after a self-operated mobile device is recharged as described in claim 1, wherein, The preset parking location includes a recharge location and a waiting location; controlling the self-moving device to move to the preset parking location includes: Determine whether the current battery level of the self-moving device is lower than a preset battery threshold; When it is determined that the current battery level of the mobile device is lower than a preset battery threshold, the mobile device is controlled to move directly to the charging location and start charging. When it is determined that the current battery level of the mobile device is not lower than a preset battery threshold, it is determined whether the mobile device needs to continue to perform another cleaning in the working area; When it is determined that the self-moving device needs to continue cleaning in the work area again, the preset location point closest to the area corresponding to the second cleaning in the work area is determined as the waiting location point, and the self-moving device is controlled to move to the preset parking location point and wait for processing.

8. A self-moving device, wherein, The system includes a controller and a memory. The memory stores the cleaning program after the self-moving device returns to its charging dock. The controller controls the cleaning program after the self-moving device returns to its charging dock to perform the following steps: When the mobile device returns to its charging dock after completing the cleaning of the work area, it receives a cleaning instruction and determines the area to be cleaned again within the work area based on the cleaning data corresponding to the work area. According to the preset cleaning strategy, the self-moving device is controlled to perform a second cleaning in the second cleaning area, and after the second cleaning is completed, the self-moving device is controlled to move to the preset parking position.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, When the processor executes the computer program, it performs the following steps: When the mobile device returns to its charging dock after completing the cleaning of the work area, it receives a cleaning instruction and determines the area to be cleaned again within the work area based on the cleaning data corresponding to the work area. According to the preset cleaning strategy, the self-moving device is controlled to perform a second cleaning in the second cleaning area, and after the second cleaning is completed, the self-moving device is controlled to move to the preset parking position.

10. A computer-readable storage medium storing a computer program, wherein, When the computer program is executed by the processor, it performs the following steps; When the mobile device returns to its charging dock after completing the cleaning of the work area, it receives a cleaning instruction and determines the area to be cleaned again within the work area based on the cleaning data corresponding to the work area. According to the preset cleaning strategy, the self-moving device is controlled to perform a second cleaning in the second cleaning area, and after the second cleaning is completed, the self-moving device is controlled to move to the preset parking position.

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