阅读说明：本技术 扫地机状态切换方法及装置 (Sweeper state switching method and device ) 是由 谢晓佳 栾成志 陈鹏旭 于 2019-03-13 设计创作，主要内容包括：本发明公开了一种扫地机状态切换方法及装置。其中,扫地机状态切换方法包括：若检测到扫地机由第一状态切换至第二状态,则对扫地机正在执行的清扫数据进行数据备份处理,其中,清扫数据包含：清扫任务、清扫区域、清扫路线、扫地机位置信息和/或地图；若检测到扫地机由第二状态切换至第一状态,则对扫地机执行清扫数据的数据恢复处理。本发明在检测到扫地机状态发生变化时通过数据备份处理和数据恢复处理,能够保证清扫工作的连续进行,避免了扫地机重复工作导致清扫时间过长或者遗漏部分空间环境未清扫,导致清扫不彻底,造成用户体验差。(The invention discloses a sweeper state switching method and device. The state switching method of the sweeper comprises the following steps: if the sweeper is detected to be switched from the first state to the second state, performing data backup processing on sweeping data being executed by the sweeper, wherein the sweeping data comprises: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps; and if the sweeper is detected to be switched from the second state to the first state, performing data recovery processing on the sweeping data on the sweeper. According to the invention, when the state change of the sweeper is detected, the continuous cleaning operation can be ensured through the data backup processing and the data recovery processing, and the problems that the sweeper is too long in cleaning time or cannot clean a part of space environment due to the omission of repeated work, so that the cleaning is not thorough and the user experience is poor are avoided.)

1. A sweeper state switching method comprises the following steps:

if the sweeper is detected to be switched from the first state to the second state, performing data backup processing on sweeping data being executed by the sweeper, wherein the sweeping data comprises: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps;

and if the sweeper is detected to be switched from the second state to the first state, performing data recovery processing on the sweeping data on the sweeper.

2. The method of claim 1, wherein the first state is a purge state; the second state is: a standby state or a relocation state.

3. The method of claim 2, wherein if it is detected that the sweeper is switched from the first state to the second state, performing data backup processing on sweeping data being executed by the sweeper further comprises:

and if the sweeper is detected to be switched from the cleaning state to the standby state, performing data backup processing on the cleaning data which is executed by the sweeper.

4. The method of claim 2 or 3, wherein if it is detected that the sweeper is switched from the second state to the first state, the performing data recovery processing of the sweeping data on the sweeper further comprises:

if the sweeper is detected to be switched from the standby state to the repositioning state and the repositioning is successful to enter the cleaning state, receiving a cleaning task to be executed distributed by a task layer;

if the cleaning task to be executed is a continuous cleaning task, performing data recovery processing on cleaning data of the sweeper and continuously cleaning according to the recovered cleaning data;

and if the cleaning task to be executed is not matched with the cleaning task recorded by the cleaning data, cleaning the cleaning data, and executing the task to be executed distributed by the task layer.

5. The method of claim 4, wherein the cleaning task comprises: a designated area sweep task, a global sweep task, a pause in a sweep task, or a continue in a sweep task.

6. A sweeper state switching device comprises:

the data backup processing module is suitable for performing data backup processing on cleaning data executed by the sweeper if the sweeper is detected to be switched from the first state to the second state, wherein the cleaning data comprises: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps;

and the data recovery processing module is suitable for executing data recovery processing of the cleaning data on the sweeper if the sweeper is detected to be switched from the second state to the first state.

7. The apparatus of claim 6, wherein the first state is a purge state; the second state is: a standby state or a relocation state.

8. A sweeper comprising the sweeper state switching device of claim 6 or 7.

9. A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;

the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the sweeper state switching method according to any one of claims 1-5.

10. A computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the sweeper state switching method of any one of claims 1-5.

Technical Field

The invention relates to the technical field of computers, in particular to a state switching method and device of a sweeper.

Background

With the development of science and technology, machines which can replace people to work have been developed greatly, and are particularly applied to household appliances. In daily life, the floor of a room is generally cleaned manually, but with the popularization of various intelligent machines, the floor sweeping machine replacing manual cleaning is accepted and used by more and more families or enterprises. The sweeper can automatically finish the cleaning work on the ground in a room, so that a user can release the sweeper from the complicated cleaning work.

The sweeper can stop sweeping suddenly due to various reasons in the using process, seamless connection cannot be realized after the sweeping of the existing sweeper is interrupted, the sweeping work of the sweeper is not ideal, and the user experience is poor.

Disclosure of Invention

In view of the above, the present invention has been made to provide a sweeper state switching method and apparatus that overcomes or at least partially solves the above-mentioned problems.

According to one aspect of the invention, a sweeper state switching method is provided, which comprises the following steps:

if the sweeper is detected to be switched from the first state to the second state, performing data backup processing on sweeping data being executed by the sweeper, wherein the sweeping data comprises: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps;

and if the sweeper is detected to be switched from the second state to the first state, performing data recovery processing on the sweeping data on the sweeper.

According to another aspect of the present invention, there is provided a sweeper state switching device, comprising:

the data backup processing module is suitable for performing data backup processing on cleaning data executed by the sweeper if the sweeper is detected to be switched from the first state to the second state, wherein the cleaning data comprises: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps;

and the data recovery processing module is suitable for executing data recovery processing of the cleaning data on the sweeper if the sweeper is detected to be switched from the second state to the first state.

According to another aspect of the invention, a sweeper is provided, which comprises the sweeper state switching device.

According to yet another aspect of the present invention, there is provided a computing device comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;

the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the sweeper state switching method.

According to another aspect of the present invention, a computer storage medium is provided, where at least one executable instruction is stored in the storage medium, and the executable instruction causes a processor to perform an operation corresponding to the sweeper state switching method.

According to the scheme provided by the invention, if the sweeper is detected to be switched from the first state to the second state, data backup processing is carried out on sweeping data which is executed by the sweeper, wherein the sweeping data comprises: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps; and if the sweeper is detected to be switched from the second state to the first state, performing data recovery processing on the sweeping data on the sweeper. According to the invention, when the state change of the sweeper is detected, the continuous cleaning operation can be ensured through the data backup processing and the data recovery processing, and the problems that the sweeper is too long in cleaning time or cannot clean a part of space environment due to the omission of repeated work, so that the cleaning is not thorough and the user experience is poor are avoided.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 shows a schematic flow chart of a sweeper state switching method according to an embodiment of the invention;

fig. 2 is a schematic flow chart of a sweeper state switching method according to another embodiment of the invention;

fig. 3 is a schematic structural diagram of a sweeper state switching device according to an embodiment of the invention;

FIG. 4 shows a schematic structural diagram of a computing device according to one embodiment of the invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Fig. 1 is a schematic flow chart of a sweeper state switching method according to an embodiment of the invention. As shown in fig. 1, the method comprises the steps of:

step S100, if it is detected that the sweeper is switched from the first state to the second state, performing data backup processing on sweeping data being executed by the sweeper, where the sweeping data includes: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps.

The first state and the second state are different states of the sweeper, optionally, the first state is a cleaning state, and the second state is a standby state or a repositioning state, wherein the cleaning state refers to that the sweeper is cleaning the space environment, the standby state refers to that the sweeper is in an immobile state, and the repositioning state refers to a state of exploring the space environment and positioning the position of the sweeper. When the sweeper is in a standby state or a repositioning state, the sweeping operation is suspended.

When the corresponding trigger conditions are met, the sweeper is switched between different states, for example, a pause button is triggered, the sweeper is held up or the position of the sweeper is lost, and the like, the sweeper is switched from a first state to a second state, and under the condition that the sweeper is detected to be switched from the first state to the second state, data backup processing is performed on sweeping data being executed by the sweeper, wherein the data backup processing refers to recording and storing the sweeping data currently executed by the sweeper, the sweeper can be seamlessly connected after switching in subsequent states through the backup sweeping data, incomplete sweeping work is continued, and the condition that the sweeper cannot be connected after changing the states is avoided.

When data backup is performed, the following cleaning data are mainly backed up: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps. Wherein, clean the task and include: a designated area sweep task, a global sweep task, a pause in a sweep task, or a continue in a sweep task.

At present, the space environment cleaned by the sweeper mainly comprises a home environment, an enterprise environment and the like, and a part of cleaning data is simply explained by taking the space environment as the home environment as an example:

in a home environment, the cleaning area may be divided into a living room, a kitchen, a primary bedroom, a secondary bedroom, etc., and the cleaning area may be different for different space environments.

The cleaning route is a cleaning route planned for the sweeper, generally, the sweeper cleans along the planned cleaning route, multiple cleaning routes are planned for each cleaning area, and it is necessary to backup which cleaning route the sweeper is currently cleaning along.

The position information of the sweeper refers to the current position of the sweeper, and the backup sweeper position information is convenient for the sweeper to find the original position to continue sweeping when continuing sweeping, so that sweeping can be continuously performed, and the defect that part of the area is not swept is avoided.

The map is a map of a space environment, depicts an internal structure of the space environment, and in order to facilitate continuous work of the sweeper, the map needs to be backed up when data backup processing is performed.

And step S101, if the sweeper is detected to be switched from the second state to the first state, performing data recovery processing on the sweeping data on the sweeper.

And the sweeper is switched back to the first state from the second state, which indicates that the sweeper needs to perform sweeping work again, and in order to enable the sweeping work to be seamless, data recovery processing of sweeping data is executed on the sweeper after the sweeper is detected to be switched from the second state to the first state. The data recovery processing means that the cleaning data which is backed up before is recovered, and the recovered data is the same as the backed-up data, so that the sweeper can continue to perform unfinished cleaning work.

According to the method provided by the above embodiment of the present invention, if it is detected that the sweeper is switched from the first state to the second state, data backup processing is performed on sweeping data being executed by the sweeper, where the sweeping data includes: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps; and if the sweeper is detected to be switched from the second state to the first state, performing data recovery processing on the sweeping data on the sweeper. According to the invention, when the state change of the sweeper is detected, the continuous cleaning operation can be ensured through the data backup processing and the data recovery processing, and the problems that the sweeper is too long in cleaning time or cannot clean a part of space environment due to the omission of repeated work, so that the cleaning is not thorough and the user experience is poor are avoided.

Fig. 2 is a schematic flow chart of a sweeper state switching method according to another embodiment of the invention. As shown in fig. 2, the method comprises the steps of:

step S200, if it is detected that the sweeper is switched from the cleaning state to the standby state, performing data backup processing on the cleaning data being executed by the sweeper.

Generally, the sweeper comprises the following states: the sweeping machine comprises a sweeping state, a standby state and a repositioning state, wherein the sweeping state refers to the state that the sweeping machine is sweeping the space environment, the standby state refers to the state that the sweeping machine is not moving, and the repositioning state refers to the state that the space environment is searched and the position of the sweeper is positioned.

If the sweeper cleans the space environment at the previous moment, the sweeper stops cleaning and stands still suddenly at the next moment, and the sweeper can be determined to be switched from the cleaning state to the standby state. In this embodiment, it may be determined that the sweeper is switched from the sweeping state to the standby state when: the user has triggered the pause button; or, the sweeper is lifted, for example, when the user lifts the sweeper to dump the garbage in the garbage box after the garbage box of the sweeper is full; or, the sweeper has an abnormal condition.

After detecting that the sweeper is switched from the cleaning state to the standby state, data backup processing needs to be performed on cleaning data being executed by the sweeper, specifically, the cleaning data being executed by the sweeper is recorded, where the cleaning data includes: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps. For the specific meaning of each entry in the sweep data, please refer to the embodiment shown in fig. 1.

During the working process of the sweeper, the position of the sweeper needs to be acquired generally, and the functions of obstacle avoidance, sweeping and the like are achieved comprehensively according to the position of the sweeper and the surrounding environment information. In the practical application process of the sweeper, the position information of the sweeper is usually lost due to some interference (such as electromagnetic interference, external force interference and the like). Generally, after the sweeper loses the position information of the sweeper, the sweeper needs to be repositioned to ensure the normal operation of the sweeper. Therefore, in an optional embodiment of the present invention, if it is detected that the sweeper is switched from the sweeping state to the repositioning state, data backup processing is performed on the sweeping data being executed by the sweeper, so as to ensure that the sweeper can continue to sweep after being repositioned successfully.

Step S201, if it is detected that the sweeper is switched from the standby state to the repositioning state and the repositioning is successful to enter the cleaning state, receiving a cleaning task to be executed distributed by the task layer.

The relocation is a reflection of the sweeper exploring space environment and positioning the position of the sweeper. In general, when a sweeper is in a standby state, if the sweeper is expected to enter a sweeping state to perform sweeping work, the sweeper needs to be switched to a repositioning state first, and the sweeper enters the sweeping state when the repositioning is successful; under the condition that relocation fails, the sweeper cannot enter a sweeping state, and the problem of sweeping caused by the fact that the sweeper mistakenly considers that relocation is successful is avoided.

In this embodiment, the task layer is responsible for distributing tasks, where the cleaning task includes: a designated area cleaning task, a global cleaning task, a suspension of a cleaning task, a continuation of a cleaning task, etc. The cleaning task distributed by the task layer may be a continuous cleaning task or a new cleaning task, for example, the cleaning task of the designated area of the living room is performed before the sweeper, and the cleaning task distributed by the task layer is considered to be a new cleaning task.

Therefore, after the sweeper is detected to be switched from the standby state to the repositioning state and the repositioning is successfully carried out to enter the cleaning state, the cleaning task distributed by the task layer to be executed is received.

After receiving the cleaning task to be executed distributed by the task layer, it is determined whether the cleaning task to be executed is a continuous cleaning task, and if the cleaning task to be executed is a continuous cleaning task, step S202 is executed; if the task to be executed is not the cleaning task to be continued, it needs to be determined whether the cleaning task to be executed matches the cleaning task of the cleaning data record, and if the cleaning task to be executed does not match the cleaning task of the cleaning data record, step S203 is executed.

Step S202, if the cleaning task to be executed is a continuous cleaning task, the data recovery processing of the cleaning data is executed on the sweeper, and cleaning is continued according to the recovered cleaning data.

If the cleaning task to be executed is a continuous cleaning task, which indicates that the user wishes to continue the previous suspended cleaning work, the sweeper is enabled to continue cleaning next to the previous unfinished cleaning work, and at this time, the backup cleaning data needs to be restored to the sweeper, and the restored cleaning data includes: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps. After the cleaning data is recovered, cleaning can be continued according to the recovered cleaning data.

In this embodiment, after the cleaning data is recovered, the sweeper needs to reposition successfully, the located position is compared with the sweeper position information in the recovered cleaning data, and if the located position is not the same position, the sweeper needs to return to the position corresponding to the sweeper position information in the corresponding cleaning route in the corresponding cleaning area in the recovered cleaning data, and then cleaning is continued.

Step S203, if the cleaning task to be executed does not match the cleaning task recorded in the cleaning data, cleaning the cleaning data, and executing the task to be executed distributed by the task layer.

If the cleaning task to be executed is not matched with the cleaning task recorded by the cleaning data, it can be determined that the cleaning task to be executed is a new cleaning task, for example, the cleaning task is a cleaning task in a specified area in a living room before, and the cleaning task distributed by the task layer at this time is a global cleaning task, it can be determined that the cleaning task is a new cleaning task, the cleaning data is cleared, and the task to be executed distributed by the task layer is executed, that is, the cleaning task which is not completed last time is not continued.

The following description is made in detail by combining with an example, the sweeper cleans a specified area at the position a of the living room at present, because the garbage box of the sweeper is full, the user lifts the sweeper, the sweeper is in a standby state after being lifted, so that it can be determined that the sweeper is switched to the standby state from the cleaning state, the sweeper stops the previous cleaning work, in order to ensure that the sweeper can continue to work when needed subsequently, data backup processing needs to be performed on the cleaning data being executed by the sweeper, wherein the cleaning data comprises: a hall designated area cleaning task, an nth cleaning route being cleaned currently, a sweeper located at hall a and/or a map.

The user holds the sweeper to the position of the living room B to dump garbage, puts down the sweeper at the position of the living room B and triggers the 'continue' button. And at the moment, the sweeper is switched from a standby state to a repositioning state, enters the sweeping state after the repositioning is successful, receives a continuous sweeping task distributed by a task layer, and executes data recovery processing on sweeping data of the sweeper.

In an optional embodiment of the present invention, the sweeper is switched from the sweeping state to the repositioning state, and after the repositioning is successful, the sweeper is switched from the repositioning state to the sweeping state, where there may be two cases: in the first situation, a user performs corresponding operation on the sweeper, at the moment, a to-be-executed sweeping task distributed by a task layer is received, if the to-be-executed sweeping task is a continuous sweeping task, data recovery processing of sweeping data is performed on the sweeper, and sweeping is continued according to the recovered sweeping data; and if the cleaning task to be executed is not matched with the cleaning task recorded by the cleaning data, cleaning the cleaning data, and executing the task to be executed distributed by the task layer.

In the second situation, the user does not perform any operation on the sweeper, and after the sweeper is successfully repositioned and is switched from the repositioning state to the cleaning state, data recovery processing of cleaning data is executed on the sweeper, and cleaning is continued according to the recovered cleaning data.

The state switching method of the sweeper provided by the invention is executed after the sweeper is started.

According to the method provided by the embodiment of the invention, if it is detected that the sweeper is switched from the cleaning state to the standby state, data backup processing is performed on cleaning data being executed by the sweeper, if it is detected that the sweeper is switched from the standby state to the repositioning state and the repositioning succeeds in entering the cleaning state, a to-be-executed cleaning task distributed by a task layer is received, if the to-be-executed cleaning task is a continuous cleaning task, data recovery processing of the cleaning data is executed on the sweeper, cleaning is continued according to the recovered cleaning data, and if the to-be-executed cleaning task is not matched with the cleaning task recorded by the cleaning data, the cleaning data is cleared, and the to-be-executed task distributed by the task layer is executed. According to the invention, when the state change of the sweeper is detected, the continuous cleaning operation can be ensured through the data backup processing and the data recovery processing, the cleaning effect and the cleaning effect are improved, and the problems that the sweeper is too long in cleaning time due to repeated work or the cleaning is not performed due to omission of a part of space environment, the cleaning is not thorough and the user experience is poor are avoided.

Fig. 3 shows a schematic structural diagram of a sweeper state switching device according to an embodiment of the invention. As shown in fig. 3, the apparatus includes: data backup processing module 300 and data recovery processing module 301.

The data backup processing module 300 is adapted to perform data backup processing on cleaning data being executed by the sweeper if it is detected that the sweeper is switched from the first state to the second state, where the cleaning data includes: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps;

the data recovery processing module 301 is adapted to perform data recovery processing on the cleaning data of the sweeper if it is detected that the sweeper is switched from the second state to the first state.

Optionally, the first state is a cleaning state; the second state is: a standby state or a relocation state.

Optionally, the data backup processing module 300 is further adapted to: and if the sweeper is detected to be switched from the cleaning state to the standby state, performing data backup processing on the cleaning data which is executed by the sweeper.

Optionally, the data recovery processing module 301 is further adapted to: if the sweeper is detected to be switched from the standby state to the repositioning state and the repositioning is successful to enter the cleaning state, receiving a cleaning task to be executed distributed by a task layer;

if the cleaning task to be executed is a continuous cleaning task, performing data recovery processing on cleaning data of the sweeper and continuously cleaning according to the recovered cleaning data;

and if the cleaning task to be executed is not matched with the cleaning task recorded by the cleaning data, cleaning the cleaning data, and executing the task to be executed distributed by the task layer.

Optionally, the cleaning task comprises: a designated area sweep task, a global sweep task, a pause in a sweep task, or a continue in a sweep task.

According to the apparatus provided in the above embodiment of the present invention, if it is detected that the sweeper is switched from the first state to the second state, data backup processing is performed on sweeping data being executed by the sweeper, where the sweeping data includes: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps; and if the sweeper is detected to be switched from the second state to the first state, performing data recovery processing on the sweeping data on the sweeper. According to the invention, when the state change of the sweeper is detected, the continuous cleaning operation can be ensured through the data backup processing and the data recovery processing, and the problems that the sweeper is too long in cleaning time or cannot clean a part of space environment due to the omission of repeated work, so that the cleaning is not thorough and the user experience is poor are avoided.

An embodiment of the present invention further provides a sweeper, which includes the sweeper state switching device in the embodiment shown in fig. 3, and details are not repeated here.

The embodiment of the invention also provides a nonvolatile computer storage medium, wherein the computer storage medium stores at least one executable instruction, and the computer executable instruction can execute the sweeper state switching method in any method embodiment.

FIG. 4 shows a schematic structural diagram of a computing device according to one embodiment of the invention. The specific embodiments of the present invention are not intended to limit the specific implementations of computing devices.

As shown in fig. 4, the computing device may include: a processor (processor)402, a Communications Interface 404, a memory 406, and a Communications bus 408.

Wherein:

the processor 402, communication interface 404, and memory 406 communicate with each other via a communication bus 408.

A communication interface 404 for communicating with network elements of other devices, such as clients or other servers.

The processor 402 is configured to execute the program 410, and may specifically execute the relevant steps in the above-described sweeper state switching method embodiment.

In particular, program 410 may include program code comprising computer operating instructions.

The processor 402 may be a central processing unit CPU, or an application specific Integrated circuit asic, or one or more Integrated circuits configured to implement an embodiment of the present invention. The computing device includes one or more processors, which may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.

And a memory 406 for storing a program 410. Memory 406 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

The program 410 may be specifically configured to enable the processor 402 to execute the sweeper state switching method in any of the above-described method embodiments. For specific implementation of each step in the program 410, reference may be made to corresponding steps and corresponding descriptions in units in the above-mentioned sweeper state switching embodiment, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the sweeper state switching apparatus in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The invention discloses: A1. a sweeper state switching method comprises the following steps:

if the sweeper is detected to be switched from the first state to the second state, performing data backup processing on sweeping data being executed by the sweeper, wherein the sweeping data comprises: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps;

and if the sweeper is detected to be switched from the second state to the first state, performing data recovery processing on the sweeping data on the sweeper.

A2. The method of a1, wherein the first state is a purge state; the second state is: a standby state or a relocation state.

A3. The method according to a2, wherein, if it is detected that the sweeper switches from the first state to the second state, the performing data backup processing on the sweeping data being executed by the sweeper further includes:

and if the sweeper is detected to be switched from the cleaning state to the standby state, performing data backup processing on the cleaning data which is executed by the sweeper.

A4. The method of a2 or A3, wherein if it is detected that the sweeper switches from the second state to the first state, the performing data recovery processing of the sweeping data on the sweeper further comprises:

if the sweeper is detected to be switched from the standby state to the repositioning state and the repositioning is successful to enter the cleaning state, receiving a cleaning task to be executed distributed by a task layer;

if the cleaning task to be executed is a continuous cleaning task, performing data recovery processing on cleaning data of the sweeper and continuously cleaning according to the recovered cleaning data;

and if the cleaning task to be executed is not matched with the cleaning task recorded by the cleaning data, cleaning the cleaning data, and executing the task to be executed distributed by the task layer.

A5. The method of a4, wherein the cleaning task comprises: a designated area sweep task, a global sweep task, a pause in a sweep task, or a continue in a sweep task.

B6. A sweeper state switching device comprises:

the data backup processing module is suitable for performing data backup processing on cleaning data executed by the sweeper if the sweeper is detected to be switched from the first state to the second state, wherein the cleaning data comprises: cleaning tasks, cleaning areas, cleaning routes, sweeper position information and/or maps;

and the data recovery processing module is suitable for executing data recovery processing of the cleaning data on the sweeper if the sweeper is detected to be switched from the second state to the first state.

B7. The apparatus of B6, wherein the first state is a purge state; the second state is: a standby state or a relocation state.

B8. The apparatus of B6, wherein the data backup processing module is further adapted to: and if the sweeper is detected to be switched from the cleaning state to the standby state, performing data backup processing on the cleaning data which is executed by the sweeper.

B9. The apparatus of B7 or B8, wherein the data recovery processing module is further adapted to:

if the sweeper is detected to be switched from the standby state to the repositioning state and the repositioning is successful to enter the cleaning state, receiving a cleaning task to be executed distributed by a task layer;

if the cleaning task to be executed is a continuous cleaning task, performing data recovery processing on cleaning data of the sweeper and continuously cleaning according to the recovered cleaning data;

and if the cleaning task to be executed is not matched with the cleaning task recorded by the cleaning data, cleaning the cleaning data, and executing the task to be executed distributed by the task layer.

B10. The apparatus of B9, wherein the cleaning task comprises: a designated area sweep task, a global sweep task, a pause in a sweep task, or a continue in a sweep task.

C11. A sweeper comprises the sweeper state switching device as set forth in any one of B6-B10.

D12. A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;

the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the sweeper state switching method in any one of A1-A5.

E13. A computer storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to perform operations corresponding to the sweeper state switching method as described in any one of a1-a 5.