Search

EP-4353137-B1 - CLEANING DEVICE, CLEANING PATH, CLEANING MAP GENERATION METHOD, AND CLEANING MAP GENERATION SYSTEM

EP4353137B1EP 4353137 B1EP4353137 B1EP 4353137B1EP-4353137-B1

Inventors

  • CONG, Yiming
  • XIAO, Fujian
  • SUN, Jianbin

Dates

Publication Date
20260513
Application Date
20220324

Claims (15)

  1. A method for generating a cleaning route of a cleaning device, comprising: determining (S101) a moving route of the cleaning device; determining (S102) a state mode of the cleaning device; determining (S103) a water consumption of the cleaning device; and generating (S104) the cleaning route of the cleaning device based on the moving route of the cleaning device, the state mode of the cleaning device, and the water consumption of the cleaning device, wherein the state mode of the cleaning device comprises one or more of a sweeping state mode, a mopping state mode, a sweeping and mopping state mode, and a sweeping and mopping idle state mode; and the cleaning route comprises one or more of a sweeping route, a mopping route, a sweeping and mopping route, and a sweeping and mopping idle route that correspond to the state mode of the cleaning device.
  2. The method according to claim 1, wherein the determining the moving route of the cleaning device comprises: generating an environmental map based on acquired environmental data; and generating the moving route of the cleaning device based on movement data about moving from a coordinate point in the environmental map to a next coordinate point.
  3. The method according to claim 1, wherein the determining the state mode of the cleaning device comprises: determining that the cleaning device is in the sweeping state mode in response to a sweeping module of the cleaning device being in a working state and a mopping module of the cleaning device being in an idle state.
  4. The method according to claim 1, wherein the determining the state mode of the cleaning device comprises: determining that the cleaning device is in the mopping state mode in response to a mopping module of the cleaning device being in a working state and a sweeping module of the cleaning device being in an idle state.
  5. The method according to claim 1, wherein the determining the state mode of the cleaning device comprises: determining that the cleaning device is in the sweeping and mopping state mode in response to both a sweeping module and a mopping module being in the working state.
  6. The method according to claim 1, wherein the determining the state mode of the cleaning device comprises: determining that the cleaning device is in the sweeping and mopping idle state mode in response to both a sweeping module and a mopping module being in the idle state.
  7. The method according to claim 1, wherein the determining the water consumption of the cleaning device comprises: determining the water consumption of the cleaning device in response to the cleaning device being in the sweeping state mode; and/or determining the water consumption of the cleaning device in response to the cleaning device being in the mopping state mode; and/or determining the water consumption of the cleaning device in response to the cleaning device being in the sweeping and mopping state mode; and/or determining the water consumption of the cleaning device in response to the cleaning device being in the sweeping and mopping idle state mode.
  8. The method according to claim 1, wherein the determining the cleaning route of the cleaning device based on the moving route of the cleaning device, the state mode of the cleaning device, and the water consumption of the cleaning device comprises: determining the sweeping route in response to the cleaning device being in the sweeping state mode, based on the moving route of the cleaning device in the sweeping state mode, and the water consumption of the cleaning device in the sweeping state mode; and/or determining the mopping route in response to the cleaning device being in the mopping state mode, based on the moving route of the cleaning device in the mopping state mode, and the water consumption of the cleaning device in the mopping state mode; and/or determining the sweeping and mopping route in response to the cleaning device being in the sweeping and mopping state mode, based on the moving route of the cleaning device in the sweeping and mopping state mode, and the water consumption of the cleaning device in the sweeping and mopping state mode; and/or determining the sweeping and mopping idle route in response to the cleaning device being in the sweeping and mopping idle state mode, based on the moving route of the cleaning device in the sweeping and mopping idle state mode, and the water consumption of the cleaning device in the sweeping and mopping idle state mode.
  9. The method according to claim 1, wherein the cleaning route is used for being displayed on an environmental map, and the cleaning route comprises moving route information, water consumption information, and cleaning mode information.
  10. The method according to claim 1, wherein the mopping route is to be displayed in different displaying effects depending on different water consumptions.
  11. A method for generating a cleaning map of a cleaning device, comprising: determining a cleaning route using the method for generating the cleaning route of the cleaning device according to any one of claims 1 to 10; acquiring an environmental map; and generating the cleaning map by superimposing the cleaning route on the environmental map.
  12. A cleaning device, comprising: a processor and a memory, wherein the processor is configured to implement the method for generating the cleaning map of the cleaning device according to claim 11 by executing an executable instruction stored in the memory, in order to generate the cleaning map.
  13. A system for generating a cleaning map of a cleaning device, comprising: the cleaning device according to claim 12; a terminal, configured to display the cleaning map generated by the cleaning device; and a server, in signal connection with the cleaning device and the terminal separately, configured to receive and store the cleaning map sent by the cleaning device, and further configured to send the cleaning map to the terminal.
  14. The system for generating the cleaning map of the cleaning device according to claim 13, wherein a sweeping route in the cleaning map displayed by the terminal is line-shaped.
  15. The system for generating the cleaning map of the cleaning device according to claim 13, wherein a mopping route in the cleaning map displayed by the terminal is flake-shaped.

Description

TECHNICAL FIELD The present invention relates to the technical field of cleaning routes of cleaning devices, and more particularly to a cleaning device, a method and system for generating a cleaning route, and a method and system for generating a cleaning map. BACKGROUND ART At present, a sweeping robot can display a cleaned route on a generated map. However, with the diversification of functions of sweeping robots, the emergence of sweeping and mopping integrated robots makes it necessary to display a sweeping route and a mopping route on a map in a distinguished fashion. Therefore, it is necessary to develop a cleaning device capable of acquiring distinguished cleaning routes, a method and system for generating a cleaning route, and a method and system for generating a cleaning map. A method for generating a cleaning route of a cleaning device is already known e.g. from EP-A-3750464. SUMMARY OF THE INVENTION I. Object of the invention The present invention aims to provide a cleaning device capable of acquiring distinguished cleaning routes, a method and system for generating a cleaning route, and a method and system for generating a cleaning map. II. Technical solution To solve the foregoing problem, a first aspect of embodiments of the present disclosure provides a method for generating a cleaning route for a cleaning device. The method includes: determining a moving route of the cleaning device; determining a state mode of the cleaning device; determining a water consumption of the cleaning device; and generating the cleaning route of the cleaning device based on the moving route of the cleaning device, the state mode of the cleaning device, and the water consumption of the cleaning device, wherein the state mode of the cleaning device includes one or more of a sweeping state mode, a mopping state mode, a sweeping and mopping state mode, and a sweeping and mopping idle state mode; and the cleaning route includes one or more of a sweeping route, a mopping route, a sweeping and mopping route, and a sweeping and mopping idle route that correspond to the state mode of the cleaning device. In some embodiments, the determining the moving route of the cleaning device includes: generating an environmental map based on acquired environmental data; and generating the moving route of the cleaning device based on movement data about moving from a coordinate point in the environmental map to a next coordinate point. In some embodiments, the determining the state mode of the cleaning device includes: determining that the cleaning device is in the sweeping state mode in response to a sweeping module of the cleaning device being in a working state and a mopping module of the cleaning device being in an idle state. In some embodiments, the determining a working mode of the cleaning device includes: determining that the cleaning device is in the mopping state mode in response to the mopping module of the cleaning device being in a working state and the sweeping module of the cleaning device being in an idle state. In some embodiments, the determining the working mode of the cleaning device includes: determining that the cleaning device is in the sweeping and mopping state mode in response to both the sweeping module and the mopping module being in the working state. In some embodiments, it is determined that the cleaning device is in the sweeping and mopping idle state mode in response to both the sweeping module and the mopping module being in the idle state. In some embodiments, the determining the water consumption of the cleaning device includes: determining the water consumption of the cleaning device in response to the cleaning device being in the sweeping state mode; and/ordetermining the water consumption of the cleaning device in response to the cleaning device being in the mopping state mode; and/ordetermining the water consumption of the cleaning device in response to the cleaning device being in the sweeping and mopping state mode; and/ordetermining the water consumption of the cleaning device in response to the cleaning device being in the sweeping and mopping idle state mode. In some embodiments, the determining the cleaning route of the cleaning device based on the moving route of the cleaning device, the state mode of the cleaning device, and the water consumption of the cleaning device includes: determining the sweeping route in response to the cleaning device being in the sweeping state mode, based on the moving route of the cleaning device in the sweeping state mode, and the water consumption of the cleaning device in the sweeping state mode; and/ordetermining the mopping route in response to the cleaning device being in the mopping state mode, based on the moving route of the cleaning device in the mopping state mode, and the water consumption of the cleaning device in the mopping state mode; and/ordetermining the sweeping and mopping route in response to the cleaning device being in the sweeping and