CN115969281A - Ground cleaning method, device, electronic equipment and storage medium - Google Patents

Abstract

The invention relates to the technical field of ground cleaning equipment, and provides a ground cleaning method, a ground cleaning device, electronic equipment and a storage medium, wherein the ground cleaning method comprises the following steps: the sweeper acquires map information; the sweeper cleans the ground based on the map information; the sweeper sends the map information to a scrubber; the scrubber cleans the ground based on the map information. According to the floor cleaning method provided by the embodiment of the invention, the map information is sent to the floor cleaning machine through the floor cleaning machine, so that the program is simplified, and the floor cleaning process have relevance, so that the cleaning efficiency is improved.

Description

Ground cleaning method, device, electronic equipment and storage medium

technical field

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

Background technique

Ground cleaning equipment usually includes a sweeper and a floor washing machine. When working, the sweeper is used to clean up the garbage on a certain piece of ground first, and then the floor washer is used to clean the dust, water stains or oil stains on the ground. Since the sweeping machine and the washing machine work independently, the program redundancy is caused, and the sweeping process and the washing process are not related, and the cleaning efficiency is low.

Contents of the invention

The present invention provides a ground cleaning method, device, electronic equipment and storage medium, which are used to solve the defects of program redundancy in the prior art, and the sweeping process and the washing process are not related, and the cleaning efficiency is low, so as to realize simplification. Moreover, the sweeping process and the washing process are related to improve cleaning efficiency.

The invention provides a ground cleaning method, comprising:

The sweeper obtains map information;

The sweeper sweeps the ground based on the map information;

The sweeping machine sends the map information to the washing machine;

The floor washing machine cleans the ground based on the map information.

A ground cleaning method according to the present invention further includes: controlling the floor washing machine to follow the movement of the floor sweeper.

According to a ground cleaning method provided by the present invention, the controlling the floor washing machine to follow the movement of the floor sweeper includes:

The washing machine detects the distance from the sweeping machine in real time;

The distance between the washing machine and the sweeping machine is guaranteed to be less than a preset distance during the moving process.

According to a ground cleaning method provided by the present invention, the sweeping machine obtains map information, including:

The sweeper collects environmental images of the area to be cleaned;

The environmental image of the area to be cleaned is recognized, the environmental objects are removed, and the map information, the position of the object to be cleaned and the position of the first object to be cleaned are obtained.

According to a ground cleaning method provided by the present invention, the sweeping machine cleans the ground based on the map information, including:

The sweeper removes the location of the first object to be cleaned in the map information to determine a cleaning path, and the cleaning path includes the location of the object to be cleaned;

The sweeper sweeps the ground on the sweeping path.

According to a kind of ground cleaning method provided by the present invention, also comprise:

The sweeper sends the position of the object to be cleaned and the position of the first object to be cleaned to the scrubber.

According to a ground cleaning method provided by the present invention, the floor washing machine determines a cleaning path based on the map information, the position of the object to be cleaned, and the position of the first object to be cleaned, and the cleaning path includes the object to be cleaned position and the position of the first object to be cleaned;

The floor scrubber cleans the ground at least partially on the cleaning path.

According to a ground cleaning method provided by the present invention, the floor washing machine cleans the ground at least partially on the cleaning path, including:

The scrubber judges in real time whether there is an object to be cleaned in the area to be cleaned based on the cleaning path and the real-time position of the scrubber;

Scrubbers clean on the floor area where the objects to be cleaned are present.

According to a ground cleaning method provided by the present invention, the floor washing machine judges in real time whether there is an object to be cleaned in the area to be cleaned based on the cleaning path and the real-time position of the floor washing machine, including:

The floor washing machine collects environmental images of the area to be cleaned while cleaning the ground;

Recognizing the environmental image of the area to be cleaned to obtain the second position of the object to be cleaned;

Based on the position of the second object to be cleaned, the scrubbing path is updated.

According to a kind of ground cleaning method provided by the present invention, also comprise:

Between the sweeping machine and the washing machine, the map information is interacted and updated in real time.

The present invention also provides a ground cleaning device for performing any of the above-mentioned ground cleaning methods, including: a sweeping machine and a washing machine,

Wherein, the sweeper includes:

A cleaning module, the cleaning module is used to clean the ground;

An acquisition module, the acquisition module is used to acquire map information;

A sending module, the sending module is used to send the map information to the washing machine;

The washing machine includes:

a receiving module, configured to receive the map information;

A cleaning module, the cleaning module is used for cleaning the ground based on the map information.

The present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the program, any of the above-mentioned floor cleaning can be realized. method steps.

The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the above ground cleaning methods are realized.

In the ground cleaning method provided by the embodiment of the present invention, the sweeping machine sends the map information to the washing machine, which simplifies the procedure, and the sweeping process and the washing process are associated, which improves the cleaning efficiency.

In the floor cleaning device, electronic equipment and storage medium provided by the embodiments of the present invention, since the above-mentioned floor cleaning method is applied, it also has the above-mentioned various advantages, which will not be repeated here.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the For some embodiments of the present invention, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Fig. 1 is one of schematic flow charts of the floor cleaning method provided by the present invention;

Fig. 2 is the second schematic flow chart of the floor cleaning method provided by the present invention;

Fig. 3 is the structural representation of the floor cleaning device provided by the present invention;

Fig. 4 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Now, various embodiments provided by the present invention will be described with reference to FIG. 1 to FIG. 4 . It should be understood that the following are only schematic implementations of the present invention, and do not constitute any special limitation to the present invention.

Fig. 1 is one of the flow diagrams of the ground cleaning method provided by the present invention, please refer to Fig. 1 . This floor cleaning method includes:

101. The sweeper obtains map information.

102. The sweeper sweeps the ground based on the map information.

103. The sweeper sends the map information to the scrubber.

104. The floor washing machine cleans the ground based on the map information.

In the ground cleaning method provided by the embodiment of the present invention, the sweeping machine sends the map information to the washing machine, which simplifies the procedure, and the sweeping process and the washing process are associated, which improves the cleaning efficiency. The above-mentioned sweeping machine and washing machine are a kind of cleaning machine. Through the joint use of the sweeping machine and the washing machine, the use of the sweeping machine to clean the ground and the washing machine to clean the ground have been realized, and the performance of each cleaning machine has been improved. Function, which solves the problem that the functions of all parts are weakened due to the collection of all functions on the same machine.

In an embodiment provided by the present invention, it also includes: controlling the washing machine to follow the movement of the sweeping machine.

In an embodiment provided by the present invention, controlling the washing machine to follow the sweeping machine to move includes:

The washing machine detects the distance between it and the sweeping machine in real time;

During the moving process, ensure that the distance between the washing machine and the sweeping machine is less than the preset distance.

In an embodiment provided by the present invention, the sweeper acquires map information, including:

The sweeper collects environmental images of the area to be cleaned;

The environmental image of the area to be cleaned is recognized, the environmental objects are removed, and the map information, the location of the object to be cleaned and the location of the first object to be cleaned are obtained.

In an embodiment provided by the present invention, the sweeping machine cleans the ground based on map information, including:

The sweeper removes the location of the first object to be cleaned in the map information, and determines the cleaning path, which includes the location of the object to be cleaned;

The sweeper sweeps the floor on its sweeping path.

In one embodiment provided by the present invention, also include:

The floor sweeper sends the location of the object to be cleaned and the location of the first object to be cleaned to the floor scrubber.

In an embodiment provided by the present invention, the floor scrubber determines the cleaning path based on the map information, the location of the object to be cleaned and the location of the first object to be cleaned, and the cleaning path includes the location of the object to be cleaned and the location of the first object to be cleaned;

The floor scrubber cleans the ground at least partially on the cleaning path.

In one embodiment provided by the present invention, the floor washing machine cleans the ground at least partially on the cleaning path, including:

Based on the cleaning path and the real-time position of the scrubber, the scrubber judges in real time whether there are objects to be cleaned in the area to be cleaned;

Scrubbers clean on the floor area where the objects to be cleaned are present.

In an embodiment provided by the present invention, the scrubber judges in real time whether there is an object to be cleaned in the area to be cleaned based on the cleaning path and the real-time position of the scrubber, including:

The floor scrubber collects environmental images of the area to be cleaned while cleaning the ground;

Recognize the environmental image of the area to be cleaned to obtain the second position of the object to be cleaned;

Based on the position of the second object to be cleaned, the scrubbing path is updated.

In one embodiment provided by the present invention, also include:

Between the sweeper and the scrubber, the map information is interacted and updated in real time.

Fig. 2 is the second schematic flow diagram of the ground cleaning method provided by the present invention, please refer to Fig. 2 . This floor cleaning method includes:

201. The sweeper collects environmental images of the area to be cleaned.

In this step, the sweeping machine can use its internal camera to collect environmental images. Specifically, the camera may be a high-definition camera, and the images captured by the high-definition camera are of high definition, which is convenient for identifying obstacles, garbage, water stains, stains, etc. therefrom.

In this step, the sweeping machine may collect while cleaning, or collect separately, which is not limited in this embodiment.

During multiple uses of the sweeper, after the above-mentioned environmental image is collected for the first time, the environmental image can be stored for multiple use.

202. The sweeper recognizes the environmental image of the area to be cleaned, removes environmental objects, and obtains map information, the location of the object to be cleaned, and the location of the first object to be cleaned.

Wherein, the environment image may include environment objects, map information, positions of objects to be cleaned, and positions of first objects to be cleaned. Specifically, the environmental objects include obstacles set on the ground, that is, objects that do not need to be cleaned, for example, sofas, cabinets, table legs, and the like. For environment objects, just bypass. Since the above-mentioned environmental objects do not need to be cleaned, by removing them, the map information of the area to be cleaned is constructed to guide the sweeper and the scrubber to avoid obstacles.

For objects that need to be cleaned, the cleaning strategy can be determined according to the material of the object, so as to achieve a better cleaning effect. For example, the above-mentioned objects to be cleaned are garbage that needs to be cleaned, such as packaging bags, waste paper, dust, etc., which can be cleaned only, or cleaned first, and then cleaned. The above-mentioned first object to be cleaned refers to water stains or oil stains, etc. For the first object to be cleaned, it may not be cleaned, but only cleaned.

It should be noted that, during multiple uses of the sweeper, after the above map information is acquired each time, the map information can be stored for multiple uses. During the second and subsequent use of the sweeper, the map information can be acquired again, or any map information in at least one version of the map information that has been stored can be used. If using stored map information, it can be updated during the work process.

203. The sweeper sweeps the ground based on the map information.

Specifically, it may include: in order to prevent the first object to be cleaned such as water stains or oil stains from being cleaned by the sweeper, in this step, the sweeper removes the position of the first object to be cleaned in the map information to determine the cleaning route. That is to say, the cleaning path includes the position of the object to be cleaned, but does not include the first position of the object to be cleaned. Then, the floor sweeper cleans the ground on the cleaning path, which can achieve a better cleaning effect, and also facilitates the subsequent cleaning work of the floor sweeper.

It should be noted that the cleaning path refers to the walking path of the sweeper. On the walking path, the sweeper may clean all the time or only clean the area to be cleaned, which is not limited in this embodiment.

It should be noted that, during multiple uses of the sweeper, after the above-mentioned cleaning path is obtained each time, the cleaning path can be stored for multiple uses. During the second and subsequent use of the sweeper, the cleaning path can be acquired again, or any one of at least one version of the cleaning path that has been stored can be used. If you use a stored sweep path, it can be updated during the job.

204. The sweeper sends the map information to the scrubber.

This step may be carried out while cleaning by the sweeper, or may be carried out after the sweeper completes cleaning and returns to the base station, which is not limited in this embodiment. After the sweeper starts cleaning, it can also send a trigger signal to the scrubber, so that the scrubber starts to clean the ground after receiving the information.

The map information can be transmitted through household IoT technologies such as a WiFi (wireless fidelity, wireless Internet access) module or a Bluetooth module in the floor sweeper and the floor washing machine. It can also be transmitted through the base station.

It should be noted that, during the multiple uses of the floor washing machine, after the above map information is obtained each time, the map information can be stored for multiple uses. During the second and subsequent use of the scrubber, the map information can be acquired again, or any map information in at least one version of the map information that has been stored can be used. If using stored map information, it can be updated during the work process.

In one embodiment provided by the present invention, also include:

205. The floor sweeper sends the location of the object to be cleaned and the location of the first object to be cleaned to the floor scrubber.

In this step, the position of the object to be cleaned and the first position of the object to be cleaned are the positions where the floor scrubber needs to be cleaned.

206. The floor scrubber determines a cleaning path based on the map information, the location of the object to be cleaned, and the location of the first object to be cleaned.

It should be noted that the cleaning path refers to the walking path of the floor washing machine. On this walking path, the floor washing machine can clean all the time or only clean the area to be cleaned, which is not limited in this embodiment .

Wherein, the cleaning path includes a position of objects to be cleaned and a first position of objects to be cleaned. Certainly, the cleaning path of the washing machine may also include other areas to be cleaned, and the areas to be cleaned may be set by the user, for example, the user may also set the washing machine to clean the whole house. The area to be cleaned may also be independently judged by the scrubber, which is not limited in this embodiment. When scrubbing operations are required in multiple areas, the scrubber performs the planned cleaning path of the operating areas in sequence.

It should be noted that, during multiple uses of the floor scrubber, after each acquisition of the above cleaning path, the cleaning path may be stored for multiple uses. During the second and subsequent use of the floor scrubber, the cleaning path can be obtained again, or any cleaning path in at least one version of the cleaning path that has been stored can be used. If a stored cleaning path is used, it can be updated during the job.

207. The floor washing machine cleans the ground at least partially on the cleaning path.

It should be noted that, in this step, while the floor scrubber is cleaning the ground, it may also include: controlling the floor scrubber to follow the sweeper to move.

In one embodiment, the floor washing machine can detect the distance between the floor washing machine and the floor sweeping machine in real time through the sensor; the floor washing machine ensures that the distance between the floor washing machine and the floor sweeper is less than the preset distance during the moving process.

In another embodiment, the sweeping machine can also send coordinates to the washing machine in real time, so that the washing machine can follow the movement of the sweeping machine.

In another embodiment, the sweeper can also send velocity and angular velocity information to the scrubber in real time, so that the scrubber can follow the sweeper based on the velocity and angular velocity information.

In this way, cleaning and cleaning are carried out successively in a short period of time, which shortens the working time and improves the working efficiency.

In an embodiment provided by the present invention, step 207 specifically includes:

2071. Based on the cleaning path and the real-time location of the scrubber, the scrubber judges in real time whether there is an object to be cleaned in the area to be cleaned.

This step 2071 specifically includes: the floor scrubber collects the environmental image of the area to be cleaned while cleaning the ground; recognizes the environmental image of the area to be cleaned to obtain the position of the second object to be cleaned; based on the position of the second object to be cleaned, update the floor scrubbing path.

Specifically, the floor washing machine can also collect the environmental image of the area to be cleaned in real time, and by recognizing the environmental image, it can be judged whether there is a second object to be cleaned in the area to be cleaned. The second object to be cleaned refers to water stains or oil stains, etc. Substances that don't need to be swept up just need to be cleaned. Update the scrubbing path based on this. Through the collection and identification of the washing machine, the washing operation of the washing machine's independent judgment within the preset range is realized, and the work efficiency is improved.

2072. The floor washing machine cleans the ground area where objects to be cleaned exist.

The above-mentioned objects to be cleaned include the first object to be cleaned identified by the sweeper and the second object to be cleaned identified by the scrubber. This step 2072 is to perform cleaning along the updated scrubbing path.

In one embodiment provided by the present invention, also include:

208. Interact and update the map information in real time between the sweeper and the scrubber.

Since the environmental image in the environment may change at any time, the sweeper can collect the environmental image while cleaning, and then update the map information stored inside it. Correspondingly, the washing machine can also collect environmental images while cleaning, and then update the map information stored in it, and interact in real time between the sweeping machine and the washing machine to realize the sharing and synchronous update of map information.

Of course, the map information can be transmitted through home IoT technologies such as WiFi (wireless fidelity, wireless Internet access) modules or Bluetooth modules in the sweeping machine and the washing machine. It may also be transmitted through the base station, which is not limited in this embodiment.

Further, the sweeper and scrubber return to the base station after finishing their work.

In the base station, sweepers and scrubbers can be charged, trash removed, water changed and detergent added.

In the ground cleaning method provided by the embodiment of the present invention, the sweeping machine sends the map information to the washing machine, which simplifies the procedure, and the sweeping process and the washing process are associated, which improves the cleaning efficiency.

Further, the above-mentioned sweeping machine and washing machine are a kind of cleaning machine. Through the joint use of the sweeping machine and the washing machine, the use of the sweeping machine to clean the ground and the washing machine to clean the ground have been realized, and each cleaning has been improved. The function of the machine itself solves the problem that the functions of all parts are weakened due to the collection of all functions on the same machine.

While the floor scrubber is cleaning the ground, it can also move with the sweeper. In this way, cleaning and cleaning are carried out successively in a short period of time, which shortens the working time and improves the working efficiency. The floor scrubber can also collect the environmental image of the area to be cleaned in real time, and by identifying the environmental image, judge whether there is a second object to be cleaned in the area to be cleaned. The second object to be cleaned refers to water stains or oil stains that do not need to be cleaned. Substances that only need to be cleaned. Based on this update the scrubbing path. Through the collection and identification of the washing machine, the washing operation of the washing machine's independent judgment within the preset range is realized, and the work efficiency is improved. Since the environmental image in the environment may change at any time, the sweeper can collect the environmental image while cleaning, and then update the map information stored inside it. Correspondingly, the washing machine can also collect environmental images while cleaning, and then update the map information stored in it, and interact in real time between the sweeping machine and the washing machine to realize the sharing and synchronous update of map information.

The floor cleaning device provided by the present invention is described below, and the floor cleaning device described below and the floor cleaning method described above can be referred to in correspondence.

Fig. 3 is a schematic structural view of the floor cleaning device provided by the present invention, please refer to Fig. 3 . The ground cleaning device is used to implement any one of the above ground cleaning methods, and the ground cleaning device 300 includes: a sweeping machine 310 and a washing machine 320 .

The sweeping machine 310 mentioned above includes: a cleaning module 311 , an acquisition module 312 and a sending module 313 . Wherein, the cleaning module 311 is used to clean the ground based on the cleaning path, and specifically may include a cleaning brush and a dust collection unit, etc., sweep dust and garbage to the suction port of the suction unit through the cleaning brush, and suck the dust and garbage through the suction port Trash container. The acquisition module 312 is used to collect environmental images to obtain map information, including a camera, which can be used to collect environmental images. Specifically, the camera may be a high-definition camera, and the images captured by the high-definition camera are of high definition, which is convenient for identifying garbage, water stains, stains, etc. therefrom. Further, the camera is a rotatable laser emitting head and a matching receiver, which scans the distance from itself to each point of the boundary by emitting laser light to generate a digital map, which can also be updated in real time according to changes in the position of furniture in the house.

The sending module 313 is used to send the map information to the floor washing machine 320. Specifically, the sending module 313 can be a WiFi (wireless fidelity, wireless Internet access) module or a Bluetooth module.

The acquisition module 312 of the sweeper 310 may also include a sensor, and the sensor assists the camera in identifying objects to be cleaned and objects to be cleaned during the sweeping process of the sweeper 310 .

The above-mentioned washing machine 320 includes: a receiving module 321 and a cleaning module 322 . Wherein, receiving module 321 is used for receiving map information, specifically, receiving module 321 can be WiFi (wireless fidelity, wireless Internet access) module or bluetooth module etc., based on the map information that receives, planning cleaning route; Cleaning module 322 is used for based on The cleaning path corresponding to the map information cleans the ground. The cleaning module 322 includes a wiping mechanism, a humidifying mechanism and a suction mechanism. Mechanical cleaning is performed, and the suction mechanism recycles the sewage into the waste water tank of the scrubber 320 through the suction port.

Further, the floor washing machine 320 also includes an acquisition module and a sending module, the acquisition module is used to collect environmental images and obtain map information, and the send module is used to share the obtained map information with the sweeper 310 .

Further, the ground cleaning device also includes: a base station, which is electrically connected to the sweeper 310 and the scrubber 320 through electrical connections, water pipes, etc., for enabling the sweeper 310 and the scrubber 320 to charge, remove garbage, Change water and add detergent etc.

The ground cleaning device provided by the embodiment of the present invention sends the map information to the washing machine 320 through the sweeping machine 310, which simplifies the procedure, and the sweeping process and the washing process are associated, which improves the cleaning efficiency. The above-mentioned sweeping machine 310 and the washing machine 320 are both types of cleaning machines. Through the joint use of the sweeping machine 310 and the washing machine 320, the use of the sweeping machine 310 to clean the ground and the washing machine 320 to clean the ground have been achieved, improving the The function of each cleaning machine solves the problem that the function of each part is weakened due to the collection of all functions on the same machine.

Fig. 4 is a schematic structural diagram of an electronic device provided by the present invention. As shown in Fig. 4, the electronic device may include: a processor (processor) 410, a communication interface (Communications Interface) 420, a memory (memory) 430 and a communication bus 440, Wherein, the processor 410 , the communication interface 420 , and the memory 430 communicate with each other through the communication bus 440 . The processor 410 can call the logic instructions in the memory 430 to execute the ground cleaning method. The method includes: the sweeper obtains map information; the sweeper cleans the ground based on the map information; the sweeper sends the map information to the scrubber; the scrubber Clean the ground based on map information.

In addition, the above logic instructions in the memory 430 may be implemented in the form of software function units and be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .

On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by the computer, the computer can execute The ground cleaning method provided by each of the above methods includes: the sweeper obtains map information; the sweeper cleans the ground based on the map information; the sweeper sends the map information to the floor washing machine; the floor scrubber cleans the ground based on the map information.

In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the above-mentioned ground cleaning methods provided by each, the method comprising: sweeping the floor The machine obtains map information; the sweeper cleans the ground based on the map information; the sweeper sends the map information to the washing machine; the washing machine cleans the ground based on the map information.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place , or can also be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.

Through the above description of the implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic Discs, optical discs, etc., include several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods of various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (13)

1. A method of cleaning a floor surface, comprising:

the sweeper acquires map information;

the sweeper cleans the ground based on the map information;

the sweeper sends the map information to a scrubber;

the scrubber cleans the ground based on the map information.

2. A method of cleaning a floor as claimed in claim 1, further comprising: and controlling the floor cleaning machine to move along with the floor cleaning machine.

3. The method of claim 2, wherein the controlling the scrubber machine to move with the sweeper machine comprises:

the floor cleaning machine detects the distance between the floor cleaning machine and the floor sweeping machine in real time;

the distance between the floor cleaning machine and the floor sweeping machine is ensured to be less than the preset distance in the moving process of the floor cleaning machine.

4. A floor cleaning method according to any of claims 1 to 3, wherein the sweeper acquires map information comprising:

the sweeper collects an environment image of an area to be cleaned;

and identifying the environment image of the area to be cleaned, removing the environment object, and obtaining the map information, the position of the object to be cleaned and the position of the first object to be cleaned.

5. The floor cleaning method of claim 4, wherein the sweeper is sweeping the floor based on the map information, comprising:

the sweeper removes the position of a first object to be cleaned in the map information, and determines a cleaning path, wherein the cleaning path comprises the position of the object to be cleaned;

the sweeper cleans the ground on the cleaning path.

6. A method of floor cleaning according to claim 4, further comprising:

the sweeper will wait to clean the thing position and first object position that waits to wash send to the scrubber.

7. The floor cleaning method according to claim 6, characterized in that the floor cleaning machine determines a cleaning path based on the map information, an object position to be cleaned and the first object position, the cleaning path comprising the object position to be cleaned and the first object position to be cleaned;

the scrubber machine cleans the floor in at least partial sections of the cleaning path.

8. The floor cleaning method of claim 7, wherein the scrubber cleans the floor in at least partial sections of the cleaning path, comprising:

the floor cleaning machine judges whether the to-be-cleaned area has the to-be-cleaned object in real time based on the cleaning path and the real-time position of the floor cleaning machine;

the scrubber machine cleans an area of the floor where objects to be cleaned are present.

9. The floor cleaning method of claim 8, wherein the real-time determination of the presence of items to be cleaned in the area to be cleaned based on the cleaning path and the real-time position of the floor cleaning machine comprises:

the floor cleaning machine collects an environment image of an area to be cleaned while cleaning the ground;

identifying the environment image of the area to be cleaned to obtain a second object position to be cleaned;

and updating the ground washing path based on the position of the second object to be cleaned.

10. A method of cleaning a floor as claimed in claim 1, further comprising:

and the map information is interacted and updated in real time between the sweeper and the scrubber.

11. A floor cleaning device for performing the floor cleaning method of any one of claims 1 to 10, comprising: a sweeper and a floor washing machine,

wherein, the sweeper includes:

the sweeping module is used for sweeping the ground;

the acquisition module is used for acquiring map information;

the sending module is used for sending the map information to a ground washing machine;

the floor scrubber includes:

a receiving module for receiving the map information;

a cleaning module to clean a floor based on the map information.

12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, carries out the steps of the floor cleaning method according to any one of claims 1 to 10.

13. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the floor cleaning method according to any one of claims 1 to 10.

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