阅读说明：本技术 基于扫地机的清洁方法、装置、可读存储介质及电子设备 (Cleaning method and device based on sweeper, readable storage medium and electronic equipment ) 是由 檀冲 沈荻 王颖 李文治 孟庆业 侯双 李贝 于 2020-12-25 设计创作，主要内容包括：本发明公开了一种基于扫地机的清洁方法、装置、计算机可读存储介质及电子设备,方法包括：获取待清洁区域的描述信息,所述描述信息包括空间参数信息以及地面参数信息；根据所述待清洁区域的描述信息,确定所述待清洁区域的清洁参数信息；根据所述待清洁区域的清洁参数信息,控制所述扫地机对所述待清洁区域进行清洁工作。通过本发明的技术方案,可基于待清洁区域的空间以及地面的实际情况进行清洁,确保对待清洁区域的清洁效果。(The invention discloses a cleaning method and device based on a sweeper, a computer readable storage medium and electronic equipment, wherein the method comprises the following steps: acquiring description information of an area to be cleaned, wherein the description information comprises space parameter information and ground parameter information; determining cleaning parameter information of the area to be cleaned according to the description information of the area to be cleaned; and controlling the sweeper to clean the area to be cleaned according to the cleaning parameter information of the area to be cleaned. Through the technical scheme of the invention, the cleaning can be carried out based on the space of the area to be cleaned and the actual situation of the ground, and the cleaning effect of the area to be cleaned is ensured.)

1. A cleaning method based on a sweeper is characterized by comprising the following steps:

acquiring description information of an area to be cleaned, wherein the description information comprises space parameter information and ground parameter information;

determining cleaning parameter information of the area to be cleaned according to the description information of the area to be cleaned;

and controlling the sweeper to clean the area to be cleaned according to the cleaning parameter information of the area to be cleaned.

2. The method according to claim 1, wherein the determining the cleaning parameter information of the area to be cleaned according to the description information of the area to be cleaned comprises:

determining a cleaning mode of the area to be cleaned according to the description information of the area to be cleaned;

determining preset cleaning parameter information corresponding to the cleaning mode;

and adjusting the preset cleaning parameter information according to the description information of the area to be cleaned, and determining the cleaning parameter information corresponding to the cleaning mode.

3. The method according to claim 2, wherein the determining the cleaning manner of the area to be cleaned according to the description information of the area to be cleaned comprises:

inputting the description information of the area to be cleaned into a cleaning mode prediction model, and determining the cleaning mode of the area to be cleaned;

alternatively, the first and second electrodes may be,

and determining a preset cleaning mode matched with the description information of the area to be cleaned according to the description information of the area to be cleaned, and determining the cleaning mode of the area to be cleaned based on the successfully matched preset cleaning mode.

4. The method of claim 2, wherein the cleaning manner comprises: a cleaning mode, a mopping mode and a dust collection mode;

the ground parameter information includes: the ground surface drying degree, the ground surface smoothness degree, the ground surface roughness degree and the ground surface dirt degree corresponding to the ground surface image pixel points in the area to be cleaned.

5. The method according to claim 4, wherein when the cleaning mode is a sweeping mode, the degree of ground dryness in the ground parameter information is not less than a first preset threshold value;

the determining the cleaning parameter information of the area to be cleaned according to the description information of the area to be cleaned includes:

determining dust diffusion areas corresponding to different preset sweeping modes according to the description information of the area to be cleaned;

and determining cleaning parameter information according to a preset cleaning mode corresponding to the dust diffusion area meeting the preset condition.

6. The method of claim 5, wherein the cleaning parameter information includes a cleaning path, the cleaning path being determined based on a path plan of a connecting area between adjacent floors within the area to be cleaned in the description information.

7. The method of claim 4, wherein when the cleaning mode is a mopping mode and the floor roughness in the floor parameter information is not greater than a second preset threshold, the cleaning parameter information comprises: water spray and mopping paths;

the mopping path penetrates through a dirty area in the area to be cleaned, and the dirty area is obtained by clustering ground image pixel points in the area to be cleaned according to the ground dirty degree corresponding to the ground image pixel points in the area to be cleaned.

8. The method according to claim 4, wherein when the cleaning mode is a dust suction mode, the floor parameter information includes a floor smoothness degree not less than a third preset threshold value and a floor dryness degree not less than a fourth preset threshold value, the cleaning parameter information includes: suction strength, dust collection times and dust collection speed.

9. The utility model provides a cleaning device based on machine of sweeping floor which characterized in that includes:

the cleaning device comprises an acquisition module, a cleaning module and a cleaning module, wherein the acquisition module is used for acquiring description information of an area to be cleaned, and the description information comprises space parameter information and ground parameter information;

the parameter determining module is used for determining cleaning parameter information of the area to be cleaned according to the description information of the area to be cleaned;

and the control module is used for controlling the sweeper to clean the area to be cleaned according to the cleaning parameter information of the area to be cleaned.

10. A computer-readable storage medium comprising executable instructions that, when executed by a processor of an electronic device, cause the processor to perform the method of any of claims 1-8.

11. An electronic device comprising a processor and a memory storing execution instructions, the processor performing the method of any of claims 1-8 when the processor executes the execution instructions stored by the memory.

Technical Field

The invention relates to the technical field of cleaning, in particular to a cleaning method and device based on a sweeper, a readable storage medium and electronic equipment.

Background

The sweeper is the most popular one of intelligent household appliances, can rely on certain artificial intelligence to accomplish the floor cleaning work in the room automatically, generally adopts brush and sweep and vacuum mode, with the earlier absorption of ground debris get into self rubbish receiver to accomplish the function of ground clearance, when guaranteeing the health, can also improve user's life convenience.

However, the existing sweeper can only work according to a specific working mode, so that the cleaning effect is relatively poor.

Disclosure of Invention

The invention provides a cleaning method and device based on a sweeper, a computer readable storage medium and electronic equipment, which can be used for cleaning based on the space of a region to be cleaned and the actual situation of the ground, and ensure the cleaning effect of the region to be cleaned.

In a first aspect, the present invention provides a sweeper-based cleaning method, comprising:

acquiring description information of an area to be cleaned, wherein the description information comprises space parameter information and ground parameter information;

determining cleaning parameter information of the area to be cleaned according to the description information of the area to be cleaned;

and controlling the sweeper to clean the area to be cleaned according to the cleaning parameter information of the area to be cleaned.

Optionally, the determining the cleaning parameter information of the area to be cleaned according to the description information of the area to be cleaned includes:

determining a cleaning mode of the area to be cleaned according to the description information of the area to be cleaned;

determining preset cleaning parameter information corresponding to the cleaning mode;

and adjusting the preset cleaning parameter information according to the description information of the area to be cleaned, and determining the cleaning parameter information corresponding to the cleaning mode.

Optionally, the determining the cleaning manner of the area to be cleaned according to the description information of the area to be cleaned includes:

and inputting the description information of the area to be cleaned into a substituted cleaning mode prediction model, and determining the cleaning mode of the area to be cleaned.

Optionally, the determining the cleaning manner of the area to be cleaned according to the description information of the area to be cleaned includes:

and determining a preset cleaning mode matched with the description information of the area to be cleaned according to the description information of the area to be cleaned, and determining the cleaning mode of the area to be cleaned based on the successfully matched preset cleaning mode.

Optionally, the cleaning means comprises: a cleaning mode, a mopping mode and a dust collection mode;

the ground parameter information includes: the ground surface drying degree, the ground surface roughness degree, the ground surface smoothness degree and the ground surface dirt degree corresponding to the ground surface image pixel points in the area to be cleaned.

Optionally, when the cleaning mode is a sweeping mode, and the ground dryness degree in the ground parameter information is not less than a first preset threshold value;

the determining the cleaning parameter information of the area to be cleaned according to the description information of the area to be cleaned includes:

determining dust diffusion areas corresponding to different preset sweeping modes according to the description information of the area to be cleaned;

and determining cleaning parameter information according to a preset cleaning mode corresponding to the dust diffusion area meeting the preset condition.

Optionally, the cleaning parameter information includes a cleaning path, and the cleaning path is determined by path planning based on a connection area between adjacent floors in the area to be cleaned in the description information.

Optionally, when the cleaning mode is a mopping mode and the floor roughness in the floor parameter information is not greater than a second preset threshold, the cleaning parameter information includes: water spray and mopping paths;

the mopping path penetrates through a dirty area in the area to be cleaned, and the dirty area is obtained by clustering ground image pixel points in the area to be cleaned according to the ground dirty degree corresponding to the ground image pixel points in the area to be cleaned.

Optionally, when the cleaning mode is a dust collection mode, and the ground smoothness degree and the ground dryness degree in the ground parameter information are not less than a third preset threshold and a fourth preset threshold, the cleaning parameter information includes: suction strength, dust collection times and dust collection speed.

In a second aspect, the present invention provides a sweeper based cleaning apparatus, comprising:

the cleaning device comprises an acquisition module, a cleaning module and a cleaning module, wherein the acquisition module is used for acquiring description information of an area to be cleaned, and the description information comprises space parameter information and ground parameter information;

the parameter determining module is used for determining cleaning parameter information of the area to be cleaned according to the description information of the area to be cleaned;

and the control module is used for controlling the sweeper to clean the area to be cleaned according to the cleaning parameter information of the area to be cleaned.

In a third aspect, the invention provides a readable medium comprising executable instructions, which when executed by a processor of an electronic device, perform the method according to any of the first aspect.

In a fourth aspect, the present invention provides an electronic device, comprising a processor and a memory storing execution instructions, wherein when the processor executes the execution instructions stored in the memory, the processor performs the method according to any one of the first aspect.

The invention provides a cleaning method and device based on a sweeper, a computer readable storage medium and electronic equipment. In summary, the technical solution provided by the present invention cleans based on the space of the area to be cleaned and the actual situation of the floor, and ensures the cleaning effect of the area to be cleaned.

Further effects of the above-mentioned unconventional preferred modes will be described below in conjunction with specific embodiments.

Drawings

In order to more clearly illustrate the embodiments or the prior art solutions of the present invention, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a schematic flow chart of a cleaning method based on a sweeper according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a cleaning device based on a sweeper according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail and completely with reference to the following embodiments and accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The cleaning method based on the sweeper provided by the embodiment of the invention can be applied to electronic equipment, particularly to a sweeping robot, a server or a general computer, and is not limited herein. As shown in fig. 1, a cleaning method based on a sweeper is provided in an embodiment of the present invention. In the embodiment of the invention, the method specifically comprises the following steps:

step 101, obtaining description information of an area to be cleaned, wherein the description information comprises space parameter information and ground parameter information.

In particular, the area to be cleaned refers to the floor to be cleaned, typically the floor in front of the sweeper; the description information refers to information describing relevant conditions of the area to be cleaned, and includes parameter values corresponding to the description parameters, the description parameters include but are not limited to space parameters and ground parameters, and correspondingly, the description information includes space parameter information and ground parameter information. The space parameter is the dust content in the space, the dust content in the space refers to the dust content in the air above the area to be cleaned, and the dust content in the air above the area to be cleaned can be detected through a dust content detector, wherein the dust content detector is generally integrated with a sweeper for detecting the dust content in the air before cleaning; the ground parameters are not limited to parameters such as ground material, ground drying degree, ground wetting degree, ground cleaning degree, ground dirt degree, ground dust content and positions of connection areas between floors, as some possible conditions, parameter values corresponding to the ground parameters can acquire humidity information based on some humidity sensors, the ground dirt amount is detected based on a dust amount detector, environment images acquired by a visual sensor are identified based on an image identification technology, and data such as the ground material, the connection areas between the floors and the ground, the ground cleaning degree and the ground dirt degree are obtained, wherein the image identification technology is the prior art, and limitation is not performed at this place. It should be noted that the description information may be represented as [ x1, x2, …, xi, …, xn ], where xi represents the parameter value corresponding to the ith description parameter.

In a specific embodiment, after the environment image is obtained by the vision sensor during the traveling process of the sweeper, the image can be identified by a pre-trained deep learning model (or called a deep learning algorithm) to obtain the ground parameter information.

And 102, determining cleaning parameter information of the area to be cleaned according to the description information of the area to be cleaned.

Specifically, the cleaning parameter information refers to parameter values corresponding to cleaning parameters required for cleaning the floor, for example, when the floor needs to be cleaned, the cleaning parameters include a cleaning path, a cleaning intensity, a cleaning speed, a cleaning frequency and the like, when the floor needs to be mopped, the cleaning parameters include a water sprinkling amount, a mopping intensity, a mopping path, a mopping speed and the like, and when the floor needs to be cleaned, the cleaning parameters include a suction force, a dust suction speed, a dust suction time and the like.

In some possible implementations, step 102 includes:

determining a cleaning mode of the area to be cleaned according to the description information of the area to be cleaned;

determining preset cleaning parameter information corresponding to the cleaning mode;

and adjusting the preset cleaning parameter information according to the description information of the area to be cleaned, and determining the cleaning parameter information corresponding to the cleaning mode.

Here, the cleaning method refers to a method for treating the floor, and may be, for example, cleaning, mopping, and dust collection, or strong cleaning, weak cleaning, strong mopping, weak mopping, strong dust collection, and weak dust collection, and the method is specifically set according to actual conditions.

Specifically, cleaning parameter information is obtained by determining a cleaning mode and adjusting preset cleaning parameter information corresponding to the cleaning mode based on the description information of the area to be cleaned, so that the cleaning effect is ensured. Specifically, each description parameter in the description information corresponds to reference cleaning parameter information, and the preset cleaning reference information that does not conform to the reference cleaning parameter information is adjusted based on a comparison between the reference cleaning parameter information corresponding to each description parameter in the description information and the preset cleaning parameter information. It should be noted that the method for correcting the preset cleaning parameter information needs to be determined by combining with the actual situation, and is not specifically limited here.

Optionally, the cleaning manner may be determined by a cleaning manner prediction model, and specifically, the cleaning manner may be determined by:

and substituting the description information of the area to be cleaned into the cleaning mode prediction model to determine the cleaning mode of the area to be cleaned.

Specifically, the sample description information of the ground to be cleaned of the sample is used as the model input, and the sample cleaning mode is used as the output to perform the model training to obtain the cleaning mode prediction model. It should be noted that, the model training is the prior art, and will not be described in detail herein. Here, the sample cleaning manner should be a cleaning manner that the sweeper can realize. The sample description information of the sample to-be-cleaned floor is consistent with a plurality of description parameters corresponding to the description information of the to-be-cleaned floor.

Optionally, a preset cleaning mode matched with the description information of the area to be cleaned is determined according to the description information of the area to be cleaned, and the cleaning mode of the area to be cleaned is determined based on the successfully matched preset cleaning mode.

The cleaning mode can be determined by presetting the parameter value range of the description parameter corresponding to the cleaning mode; specifically, for each preset cleaning mode, matching a parameter value range of a description parameter corresponding to the preset cleaning mode with a parameter value of the description parameter in the description information of the area to be cleaned, and taking the successfully matched preset cleaning mode as the cleaning mode of the area to be cleaned. The matching can be understood as that, for the parameter value of each description parameter in the description information of the area to be cleaned, whether the parameter value of the description parameter is within the parameter value range of the description parameter is judged, if yes, the description parameter is matched, and if not, the description parameter is not matched. For the preset cleaning mode which is successfully matched, the parameter values of all the description parameters in the description information of the area to be cleaned are located in the corresponding parameter value range.

In some possible implementations, the cleaning includes: a cleaning mode, a mopping mode and a dust collection mode; the ground parameter information includes: the ground surface drying degree, the ground surface smoothness degree, the ground surface roughness degree and the ground surface dirt degree corresponding to the ground surface image pixel points in the area to be cleaned. The cleaning parameter information may be specifically determined by three implementations as follows:

in a first implementation manner, the ground dryness degree in the ground parameter information is not less than a first preset threshold, the first preset threshold is a minimum value for determining the dryness degree of the ground which can be cleaned, when the ground is wet, the ground can be cleaned more dirty, and only when the ground is dry, the ground can be cleaned, therefore, when the ground dryness degree meets the condition of being capable of cleaning the ground, the ground can be cleaned, and the cleaning parameter information can be determined specifically by the following method:

determining dust diffusion areas corresponding to different preset sweeping modes according to the description information of the area to be cleaned; and determining cleaning parameter information according to a preset cleaning mode corresponding to the dust diffusion area meeting the preset condition.

The preset sweeping mode can be a preset mode on the sweeper, for example, the preset sweeping mode can be normal sweeping, quick sweeping, standard sweeping, soft sweeping, power-saving sweeping, powerful sweeping and deep sweeping, and can be determined by combining the actual situation on the sweeper and the actual requirement of a user. The cleaning intensity of different cleaning modes on the ground is different, the dust diffusion areas caused by the different cleaning modes are different, and when the dust diffusion areas are large, the home environment is poor easily, and the user experience is influenced. Therefore, for each preset cleaning mode, the sample description information of the ground to be cleaned of the sample and the preset cleaning model can be used as model inputs, and the sample dust diffusion area is used as an output to perform model training to obtain the dust diffusion area prediction model. It should be noted that, the model training is the prior art, and will not be described in detail herein. Here, the cleaning mode should be a cleaning manner that the sweeper can realize. The dust diffusion area can be understood as the area of an area where dust may diffuse when the sweeper cleans the area to be cleaned. Specifically, for each preset cleaning mode, when the simulation sweeper cleans the ground to be cleaned under the preset cleaning model and the description information of the area to be cleaned, points are uniformly scattered in a diffusion space of dust to determine a plurality of diffusion points, the respective dust amount of each diffusion point is determined, curve fitting is performed on the dust amount meeting a fifth preset threshold, and the area of a closed area formed by the curve obtained through fitting is determined as the dust diffusion area. Here, the fifth preset threshold is a threshold for determining whether the amount of dust has an influence on the home environment, and may be preset. It should be noted that, the sample description information of the ground to be cleaned of the sample and the preset cleaning model may be determined by manually labeling the corresponding sample dust diffusion area, or may be determined by the simulation method, where the determination is not specifically limited and specifically needs to be determined in combination with an actual situation.

And then, determining preset cleaning parameter information corresponding to a preset cleaning mode corresponding to the dust diffusion area meeting the preset condition as cleaning parameter information of the area to be cleaned. Here, the preset condition is a condition for judging that the influence of the dust diffusion area on the home environment is minimum, and the cleaning parameter information is determined according to a preset cleaning mode with the minimum influence on the home environment. Specifically, the preset cleaning parameter information corresponding to the preset sweeping mode with the minimum dust diffusion area is determined as the cleaning parameter information of the area to be swept.

In some possible implementations, the cleaning parameter information includes a cleaning path, and the cleaning path is determined based on a path plan of a connection area between adjacent floors in the area to be cleaned in the description information.

It is understood that, in order to ensure the cleaning effect, the cleaning path is determined by planning the path based on the connection area between the adjacent floor boards in the cleaning area in the description information of the cleaning area, wherein the floor in the cleaning area is usually formed by a plurality of floor boards, the floor boards are connected with the floor boards, the connection area is arranged between the floor boards, and the cleaning path is determined based on the important cleaning area to ensure the cleaning effect considering that the connection area between the floor boards is usually a concave area which is easy to gather dust and is therefore an important cleaning area.

Optionally, a target walking model may be determined from a plurality of preset walking modes based on the description information of the area to be cleaned, and a path may be planned based on the target walking model and the description information of the area to be cleaned, so as to determine the cleaning path. The walking mode comprises a random walking mode, a fixed point spiral walking mode, a Z-shaped walking model, a polygonal walking mode and an automatic planning walking mode. Specifically, setting a parameter value range of at least one description parameter for each preset walking mode, thereby determining a target walking mode; here, the at least one description parameter includes, but is not limited to, a ground cleanliness degree, a ground smoothness degree, and a ground dryness degree, and parameter value ranges of the same description parameter corresponding to each preset walking mode are not overlapped; then, aiming at each preset walking mode, matching the parameter value range of at least one description parameter corresponding to the preset walking mode with the description information of the area to be cleaned, and taking the successfully matched preset walking model as a target walking mode. Matching means that the parameter values lie within a range of parameter values.

In a second implementation manner, when the cleaning manner is a mopping manner and the floor roughness in the floor parameter information is not greater than a second preset threshold, the cleaning parameter information includes: water spray and mopping paths; the mopping path penetrates through a dirty area in the area to be cleaned, and the dirty area is obtained by clustering ground image pixel points in the area to be cleaned according to the ground dirty degree corresponding to the ground image pixel points in the area to be cleaned.

It can be understood that the ground roughness in the ground parameter information is not greater than the second preset threshold, the second preset threshold is the maximum value of the ground roughness that can not damage the floor mopping material on the sweeper, when the ground is rough, that is, the friction resistance is large, mopping the ground, the floor mopping material on the sweeper may cause large damage, the service life of the floor mopping material is reduced, meanwhile, when the ground is rough, the ground is also easy to accumulate dust, and is not easy to clean, and the mopping effect is difficult to achieve. Then, based on the description information of the area to be cleaned, determining the water spraying amount which can partially absorb the dust content in the space and can adsorb more dust on the ground so as to ensure the mopping effect; then, based on the ground pollution degree corresponding to the ground image pixel points in the region to be cleaned, clustering the ground image pixel points in the region to be cleaned so as to determine at least two polluted ground regions, planning a ground dragging path which can pass through all the polluted regions, and ensuring the ground dragging effect on the polluted ground regions. It should be noted that, based on the image recognition technology, the respective ground pollution degrees corresponding to the respective pixels on the ground in the ground image can be recognized, based on the ground pollution degrees, the pixels on the ground are clustered, the connected polluted ground areas are determined, and then the path planning is performed based on the polluted ground areas.

In a third mode, the cleaning mode is a dust collection mode, and when the ground smoothness degree in the ground parameter information is not less than a third preset threshold and the ground dryness degree in the ground parameter information is not less than a fourth preset threshold, the cleaning parameter information includes: suction strength, dust collection times and dust collection speed.

It can be understood that, the ground smoothness in the ground parameter information is not less than the third preset threshold, the third preset threshold is the minimum value of the smoothness of the ground which is difficult to adsorb dust, when the ground is rough, that is, the frictional resistance is large, dust is not easy to adsorb dust on the ground, otherwise, when the ground is smooth, dust is easy to adsorb dust on the ground, therefore, only when the ground is not rough, and the frictional resistance is small, the dust-adsorbing effect can be ensured when dust is adsorbed on the ground, meanwhile, the ground dryness in the ground parameter information is not less than the fourth preset threshold, the fourth preset threshold is the minimum value of the dryness of the ground which is dry and is not beneficial to adsorbing dust, when the ground is wet, dust is adsorbed on the ground, and dust-adsorbing work is difficult to carry out, therefore, when the ground smoothness and the ground dryness satisfy the condition of dust-adsorbing, the cleaning can be carried out by adopting a dust absorption mode. Then, the size of the suction force, the dust collection times and the dust collection speed can be determined according to the dust content on the ground and the dust content in the space. And 103, controlling the sweeper to clean the area to be cleaned according to the cleaning parameter information.

The cleaning parameter information in the embodiment comprehensively considers the actual condition of the area to be cleaned, so that the cleaning parameter information has relatively high reference value, and subsequently, based on the cleaning parameter information, the cleaning work is performed on the area to be cleaned, so that the cleaning effect can be ensured.

According to the technical scheme, the beneficial effects of the embodiment are as follows: the cleaning can be carried out based on the space of the area to be cleaned and the actual condition of the ground, and the cleaning effect of the area to be cleaned is ensured.

Based on the same concept as the method embodiment of the present invention, referring to fig. 2, an embodiment of the present invention further provides a cleaning device based on a sweeper, including:

an obtaining module 201, configured to obtain description information of an area to be cleaned, where the description information includes spatial parameter information and ground parameter information;

a parameter determining module 202, configured to determine cleaning parameter information of the area to be cleaned according to the description information of the area to be cleaned;

and the control module 203 is used for controlling the sweeper to clean the area to be cleaned according to the cleaning parameter information of the area to be cleaned.

In one embodiment, the parameter determination module 202 includes: a mode determination unit and a parameter determination unit; wherein the content of the first and second substances,

the mode determining unit is used for determining the cleaning mode of the area to be cleaned according to the description information of the area to be cleaned;

the parameter determining unit is used for determining preset cleaning parameter information corresponding to the cleaning mode; and adjusting the preset cleaning parameter information according to the description information of the area to be cleaned, and determining the cleaning parameter information corresponding to the cleaning mode.

In one embodiment, the mode determination unit includes: determining a subunit in a first manner; wherein the content of the first and second substances,

the first mode determining subunit is used for firstly inputting the description information of the area to be cleaned into a cleaning mode prediction model and determining the cleaning mode of the area to be cleaned.

In one embodiment, the mode determination unit includes: a second mode determination subunit; wherein the content of the first and second substances,

and the second mode determining subunit is used for determining a preset cleaning mode matched with the second mode according to the description information of the area to be cleaned, and determining the cleaning mode of the area to be cleaned based on the successfully matched preset cleaning mode.

In one embodiment, the cleaning means comprises: a cleaning mode, a mopping mode and a dust collection mode;

the ground parameter information includes: the ground surface drying degree, the ground surface smoothness degree, the ground surface roughness degree and the ground surface dirt degree corresponding to the ground surface image pixel points in the area to be cleaned.

In one embodiment, when the cleaning mode is a sweeping mode, the ground dryness degree in the ground parameter information is not less than a first preset threshold value;

the parameter determination unit includes: a region determining subunit and a parameter determining subunit;

the area determining subunit is configured to determine, according to the description information of the area to be cleaned, respective corresponding dust diffusion areas of different preset sweeping modes;

and the parameter determining subunit is used for determining cleaning parameter information according to a preset cleaning mode corresponding to the dust diffusion area meeting preset conditions.

In one embodiment, the cleaning parameter information comprises a cleaning path, the cleaning path being determined based on a path plan for a connecting area between adjacent floors in the area to be cleaned in the description information.

In one embodiment, when the cleaning mode is a mopping mode and the ground roughness in the ground parameter information is not greater than a second preset threshold, the cleaning parameter information comprises the water sprinkling amount and a mopping path;

the mopping path penetrates through a dirty area in the area to be cleaned, and the dirty area is obtained by clustering ground image pixel points in the area to be cleaned according to the ground dirty degree corresponding to the ground image pixel points in the area to be cleaned.

In one embodiment, when the cleaning mode is a dust collection mode, the ground parameter information includes a ground smoothness degree not less than a third preset threshold and a ground dryness degree not less than a fourth preset threshold, the cleaning parameter information includes: suction strength, dust collection times and dust collection speed.

Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. On the hardware level, the electronic device includes a processor 301 and a memory 302 storing execution instructions, and optionally further includes an internal bus 303 and a network interface 304. The Memory 302 may include a Memory 3021, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory 3022 (e.g., at least 1 disk Memory); the processor 301, the network interface 304, and the memory 302 may be connected to each other by an internal bus 303, and the internal bus 303 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like; the internal bus 303 may be divided into an address bus, a data bus, a control bus, etc., which is indicated by a single double-headed arrow in fig. 3 for ease of illustration, but does not indicate only a single bus or a single type of bus. Of course, the electronic device may also include hardware required for other services. When the processor 301 executes execution instructions stored by the memory 302, the processor 301 performs the method in any of the embodiments of the present invention and at least for performing the method as shown in fig. 1.

In a possible implementation manner, the processor reads the corresponding execution instruction from the nonvolatile memory to the memory and then runs the execution instruction, and corresponding execution instructions can be obtained from other equipment, so that the cleaning device based on the sweeper is formed on a logic level. The processor executes the execution instructions stored in the memory, so that the cleaning method based on the sweeper provided by any embodiment of the invention is realized through the executed execution instructions.

The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Embodiments of the present invention further provide a computer-readable storage medium, which includes an execution instruction, and when a processor of an electronic device executes the execution instruction, the processor executes a method provided in any one of the embodiments of the present invention. The electronic device may specifically be the electronic device shown in fig. 3; the execution instruction is a computer program corresponding to the cleaning device based on the sweeper.

It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.

The embodiments of the present invention are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.