CN-121970999-A - Cleaning method, electronic device, and computer-readable storage medium

CN121970999ACN 121970999 ACN121970999 ACN 121970999ACN-121970999-A

Abstract

The application discloses a cleaning method, electronic equipment and a computer readable storage medium, wherein the method comprises the steps of obtaining laser detection characteristic data, carrying out candidate region division processing on a current working environment according to the magnitude relation between laser reflection intensity and intensity threshold value of each laser reflection position in the laser detection characteristic data to obtain a first target candidate region and/or a first other region, carrying out candidate region division processing on the current working environment according to fluctuation information of the laser reflection intensity of each laser reflection position in the laser detection characteristic data to obtain a second target candidate region and/or a second other region, determining at least one type of cleaning region according to the first target candidate region and/or the first other region and/or the second target candidate region and/or the second other region, and carrying out cleaning processing on the corresponding cleaning region according to cleaning strategies corresponding to the various cleaning regions. Thereby enabling to improve the cleaning effect.

Inventors

CHEN YIBIN
MA ZIANG
TU SHUGUANG
QIAN JIE

Assignees

杭州华橙软件技术有限公司

Dates

Publication Date: 20260505
Application Date: 20260127

Claims (10)

1. A cleaning method, the cleaning method comprising: The method comprises the steps of acquiring laser detection characteristic data, wherein the laser detection characteristic data is obtained by detecting the current working environment by a laser radar, and the laser detection characteristic data comprises laser reflection intensity of at least one laser reflection position; Performing candidate region division processing on the current working environment according to the magnitude relation between the laser reflection intensity of each laser reflection position and the intensity threshold value to obtain a first target candidate region and/or a first other region; Performing candidate region division processing on the current working environment according to fluctuation information of laser reflection intensity of each laser reflection position to obtain a second target candidate region and/or a second other region; and determining at least one type of cleaning area according to the first target candidate area and/or the first other areas and/or the second target candidate area and/or the second other areas, and cleaning the corresponding cleaning areas according to the cleaning strategies corresponding to the various types of cleaning areas.
2. The cleaning method according to claim 1, wherein the step of performing candidate region division processing on the current working environment according to the magnitude relation between the laser reflection intensity and the intensity threshold value of each laser reflection position to obtain a first target candidate region and/or a first other region includes: dividing the laser reflection position into the first target candidate region in response to the laser reflection intensity corresponding to the laser reflection position being less than the intensity threshold; And dividing the laser reflection position to the first other area in response to the laser reflection intensity corresponding to the laser reflection position being greater than or equal to the intensity threshold.
3. The cleaning method according to claim 1, wherein before the step of performing candidate region division processing on the current working environment according to the magnitude relation between the laser reflection intensity and the intensity threshold value of each laser reflection position to obtain a first target candidate region and/or a first other region, the method further comprises: under a preset working environment, a control instruction is sent to the laser radar, so that the laser radar detects the preset working environment to obtain standard laser reflection intensity of each laser reflection position; the intensity threshold is determined based on the standard laser reflection intensity for each laser reflection location.
4. A cleaning method according to claim 3, wherein the step of determining the intensity threshold from standard laser reflection intensity values for each laser reflection location comprises: Carrying out average value calculation on the standard laser reflection intensity of each laser reflection position to obtain a standard reflection intensity average value; Standard deviation calculation is carried out on the standard laser reflection intensity of each laser reflection position, and standard deviation of the standard reflection intensity is obtained; And determining the difference value between the standard reflection intensity mean and the standard reflection intensity standard deviation of a preset multiple as the intensity threshold.
5. The cleaning method according to claim 1, wherein the step of performing candidate region division processing on the current working environment according to fluctuation information of laser reflection intensity of each laser reflection position to obtain a second target candidate region and/or a second other region comprises: calculating fluctuation values according to the laser reflection intensities corresponding to the laser reflection positions and the laser reflection intensities corresponding to the adjacent laser reflection positions of the laser reflection positions, so as to obtain the fluctuation values corresponding to the laser reflection positions; Dividing the laser reflection position into the second target candidate region in response to the fluctuation value corresponding to the laser reflection position being greater than or equal to a preset fluctuation threshold; And dividing the laser reflection position into the second other areas in response to the fluctuation value corresponding to the laser emission position being smaller than the preset fluctuation threshold value.
6. The cleaning method according to claim 1, wherein the step of determining at least one type of cleaning area from the first target candidate area and/or the first other area and/or the second target candidate area and/or the second other area comprises: in response to the first and second target candidate regions being present in the current working environment, determining an intersection region between the first and second target candidate regions as a target class cleaning region and determining other regions of the current working environment other than the target class cleaning region as other class cleaning regions, the at least one class of cleaning regions including the target class cleaning region and the other class cleaning region; in response to the first or second target candidate region not being present in the current working environment, the current working environment is determined to be the other cleaning region.
7. The cleaning method according to claim 1, wherein the step of determining at least one type of cleaning area from the first target candidate area and/or the first other area and/or the second target candidate area and/or the second other area comprises: acquiring an intersection region between the first target candidate region and the second target candidate region in response to the existence of the first target candidate region and the second target candidate region in the current working environment; determining an area except a preset misleading area in the intersection area as a target class cleaning area, and determining other areas except the target class cleaning area in the current working environment as other class cleaning areas, wherein at least one class of cleaning areas comprises the target class cleaning area and the other class cleaning areas; in response to the first or second target candidate region not being present in the current working environment, the current working environment is determined to be the other type of cleaning region.
8. The method of cleaning of claim 1, wherein the laser detection signature data includes an initial laser reflection intensity of the spot data, the step of obtaining the laser detection signature data comprising: Rasterizing the current working environment to obtain at least one grid; Carrying out statistical treatment on the initial laser reflection intensity of the point data in each grid to obtain the laser reflection intensity corresponding to each grid; and determining the laser reflection intensity of each laser reflection position in the laser detection characteristic data according to the laser reflection intensity corresponding to each grid.
9. An electronic device comprising a memory and a processor, wherein the memory stores program instructions and the processor invokes the program instructions from the memory to perform the method of any of claims 1-8.
10. A computer readable storage medium, characterized in that program data is stored, which program data, when being executed by a processor, is adapted to carry out the method according to any one of claims 1-8.

Description

Cleaning method, electronic device, and computer-readable storage medium Technical Field The present invention relates to the field of robotic processing technology, and in particular, to a cleaning method, an electronic device, and a computer readable storage medium. Background A cleaning device is a device that is capable of autonomously performing an environmental cleaning. In cleaning work, hair is a light and tiny cleaning object, and is easy to generate larger adsorptivity with the ground or other objects, so that different cleaning strategies are required for the hair area and the non-hair area to ensure the cleaning effect. Conventional cleaning methods typically employ visual sensors to identify areas of hair in the current operating environment, thereby controlling the cleaning device to clean the areas of hair using a corresponding hair cleaning strategy. However, the vision sensor is dependent on illumination, color, etc., and is prone to problems such as dim light failure, color misleading, etc., resulting in erroneous recognition of hair regions. Disclosure of Invention The application mainly solves the technical problem of providing a cleaning method, electronic equipment and a computer readable storage medium, which can improve the cleaning effect. The technical scheme includes that the cleaning method comprises the steps of obtaining laser detection characteristic data, detecting a current working environment by a laser radar, wherein the laser detection characteristic data comprise laser reflection intensity of at least one laser reflection position, performing candidate region division processing on the current working environment according to the magnitude relation between the laser reflection intensity of each laser reflection position and an intensity threshold value to obtain a first target candidate region and/or a first other region, performing candidate region division processing on the current working environment according to fluctuation information of the laser reflection intensity of each laser reflection position to obtain a second target candidate region and/or a second other region, determining at least one type of cleaning region according to the first target candidate region and/or the first other region, and/or the second target candidate region and/or the second other region, and performing cleaning processing on the corresponding cleaning region according to cleaning strategies corresponding to the various cleaning regions. In order to solve the technical problem, the application adopts another technical scheme that the electronic equipment comprises a memory and a processor, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the cleaning method. In order to solve the above technical problem, another technical solution adopted by the present application is to provide a computer readable storage medium storing program data, wherein the program data is used for implementing the cleaning method when being executed by a processor. The cleaning method comprises the steps of obtaining laser detection characteristic data, wherein the laser detection characteristic data are obtained by detecting a current working environment through a laser radar, the laser detection characteristic data comprise laser reflection intensity of at least one laser reflection position, carrying out candidate region division processing on the current working environment according to the size relation between the laser reflection intensity of each laser reflection position and an intensity threshold value to obtain a first target candidate region and/or a first other region, carrying out candidate region division processing on the current working environment according to fluctuation information of the laser reflection intensity of each laser reflection position to obtain a second target candidate region and/or a second other region, determining at least one type of cleaning region according to the first target candidate region and/or the first other region, and/or the second target candidate region and/or the second other region, and carrying out cleaning processing on the corresponding cleaning region according to cleaning strategies corresponding to various cleaning regions. According to the scheme, the laser reflection intensity can directly reflect the surface characteristics of the object, so that the cleaning areas of the current working environment can be accurately distinguished by combining the laser reflection intensity and the fluctuation information, and the cleaning areas are cleaned by different cleaning strategies, so that the cleaning effect can be improved. Drawings For a clearer description of an embodiment of the application or of the solutions of the prior art, the drawings that are needed in the embodiment will be briefly described, it being obvious that the drawings in the following description are only s