Patent ID: 11877716
Assignee: HANGZHOU EZVIZ SOFTWARE CO., LTD.
Field: Furniture, games (Other fields)
Classification: CPC A  G | IPC A  G

Claim 17:
18. An intelligent cleaning system, comprising:
a mobile terminal; and
an intelligent cleaning device,
wherein the mobile terminal is configured to:
display a target map;
obtain a user instruction about a marker line sent by a user for the target map, and
send the user instruction to the intelligent cleaning device, and

wherein the intelligent cleaning device is configured to:
based on the user instruction received from the mobile terminal, identify the marker line in the target map;
determine, based on the identified marker line and an auxiliary object in the target map, an unenclosed region with a first position as a reference point and an enclosed region in the target map, wherein the auxiliary object includes a map boundary and an obstacle, wherein the first position is a position of a preset reference object in the target map;
determine the enclosed region as a user-defined cleaning region, and determine the unenclosed region as a normal cleaning region;
clean the target scene based on the determined user-defined cleaning region and normal cleaning region,
wherein the marker line comprises a polygon, the polygon is a rectangle, and the intelligent cleaning device is further configured to:
obtain current obstacle coordinate information in the to-be-cleaned target scene, wherein the obstacle coordinate information is obtained through:
detecting, by the intelligent cleaning device, coordinates of the obstacle in a coordinate system with the intelligent cleaning device as a origin on the to-be-cleaned target scene by with one or more of a radar, a laser, an ultrasound, a visual camera of the intelligent cleaning device, and
converting the coordinates of the obstacle in the coordinate system with the intelligent cleaning device as the origin into coordinates of the obstacle in a world coordinate system;

perform boundary refinement processing on the user-defined cleaning region based on the obstacle coordinate information and the marker line; and
modify the normal cleaning region based on a processing result obtained by performing the boundary refinement processing;

wherein performing the boundary refinement processing on the user-defined cleaning region based on the obstacle coordinate information and the marker line comprises:
determining, based on the obstacle coordinate information, a position relationship between the obstacle and a scene region corresponding to the marker line; and
performing boundary refinement processing on the user-defined cleaning region based on the position relationship and a number of obstacles,
wherein, for cleaning the target scene based on the user-defined cleaning region and the normal cleaning region, coordinates of the intelligent cleaning device in the world coordinate system at a moment next to a current moment is determined based on the coordinates of the intelligent cleaning device in the world coordinate system at the current moment, respective distances travelled by a left wheel and a right wheel of the intelligent cleaning device, travelling direction of the intelligent cleaning device, and a distance between the left wheel and the right wheel.