Automatic cleaning device and cleaning method

Abstract

An automatic cleaning device includes: a sensor system for collecting a pre-set environment parameter of surroundings of the automatic cleaning device; and an application processor. The application processor includes a central processing unit electrically coupled to the sensor system to acquire the pre-set environment parameter collected by the sensor system. The application processor further includes a graphic processing unit electrically coupled to the central processing unit. The graphic processing unit obtains the pre-set environment parameter from the central processing unit and then generates a map of the surroundings of the automatic cleaning device based on the pre-set environment parameter.

What is claimed is: 
     
         1 . An automatic cleaning device comprising:
 a sensor system configured to collect a pre-set environment parameter of surroundings of the automatic cleaning device; and   an application processor;   wherein the application processor includes a central processing unit electrically coupled to the sensor system; the central processing unit is configured to acquire the pre-set environment parameter collected by the sensor system; the application processor further includes a graphic processing unit electrically coupled to the central processing unit; and the graphic processing unit is configured to obtain the pre-set environment parameter from the central processing unit and then generate a map of the surroundings of the automatic cleaning device based on the pre-set environment parameter.   
     
     
         2 . The automatic cleaning device of  claim 1 , wherein the sensor system comprises a laser ranging device; and distance data between the laser ranging device and surrounding objects, collected by the laser ranging device, is taken as the pre-set environment parameter. 
     
     
         3 . The automatic cleaning device of  claim 2 , wherein the laser ranging device comprises a point laser emitter; and the point laser emitter obtains the distance data between the laser ranging device and surrounding objects by generating a point laser. 
     
     
         4 . The automatic cleaning device of  claim 2 , wherein the laser ranging device comprises a line laser emitter; and the line laser emitter obtains the distance data between the laser ranging device and surrounding objects by generating a line laser. 
     
     
         5 . The automatic cleaning device of  claim 1 , wherein the sensor system comprises an image acquisition device; and image data of surrounding objects collected by the image acquisition device is taken as the pre-set environment parameter. 
     
     
         6 . The automatic cleaning device of  claim 1 , wherein the graphic processing unit comprises:
 a memory module configured to store a positioning algorithm based on particle filter; and   a computing module coupled to the memory module and configured to call the positioning algorithm and calculate and process the pre-set environment parameter to obtain the map of the surroundings of the automatic cleaning device.   
     
     
         7 . The automatic cleaning device of  claim 1 , further comprising a pre-processing unit;
 wherein the pre-processing unit is coupled to the sensor system and the central processing unit respectively, and is configured to pre-process the pre-set environment parameter, thereby allowing the central processing unit to obtain the pre-set environment parameter after the pre-processing.   
     
     
         8 . The automatic cleaning device of  claim 7 , wherein the pre-processing unit comprises a digital signal processor (DSP). 
     
     
         9 . The automatic cleaning device of  claim 1 , wherein the automatic cleaning device is a sweeping robot or a mopping robot. 
     
     
         10 . A cleaning method for an automatic cleaning device comprising:
 a data acquisition step of using a sensor system to collect a pre-set environment parameter of surroundings of the automatic cleaning device;   a data pre-processing step of using a pre-processing unit to pre-process the pre-set environment parameter and provide the pre-set environment parameter after pre-processing to a central processing unit; and   a data processing step of providing, by the central processing unit, the pre-set environment parameter after pre-processing to a graphic processing unit and generating, by the graphic processing unit, map data of the surroundings of the automatic cleaning device based on the pre-set environment parameter after pre-processing.   
     
     
         11 . The method of  claim 10 , wherein the graphic processing unit comprises a memory module and a computing module coupled to the memory module; and the data processing step further comprises:
 calling, by the computing module, a positioning algorithm based on particle filter stored in the memory module, calculating and processing the pre-set environment parameter after pre-processing to obtain the map of the surroundings of the automatic cleaning device.   
     
     
         12 . The method of  claim 10 , wherein the data acquisition step comprises: using a laser ranging device to collect distance data between the laser ranging device and surrounding objects. 
     
     
         13 . The method of  claim 12 , wherein the data acquisition step comprises: taking the distance data collected by the laser ranging device as the pre-set environment parameter. 
     
     
         14 . The method of  claim 10 , wherein the data acquisition step comprises: using an image acquisition device to collect image data of surrounding objects, and taking the image data collected by the image acquisition device as the pre-set environment parameter. 
     
     
         15 . The method of  claim 11 , wherein the data acquisition step comprises: using an image acquisition device to collect image data of surrounding objects, and taking the image data collected by the image acquisition device as the pre-set environment parameter. 
     
     
         16 . A control system for an automatic cleaning device comprising:
 a central processing unit;   a graphic processing unit;   a sensor system; and   a pre-processing unit;   wherein the central processing unit, the graphic processing unit, the sensor system and the pre-processing unit are connected through a communication bus; the sensor system is configured to collect a pre-set environment parameter of surroundings of the automatic cleaning device; the central processing unit is configured to acquire the pre-set environment parameter collected by the sensor system; and the graphic processing unit is configured to obtain the pre-set environment parameter from the central processing unit and then generate a map of the surroundings of the automatic cleaning device based on the pre-set environment parameter.   
     
     
         17 . The control system of  claim 16 , wherein the sensor system comprises a laser ranging device; and distance data between the laser ranging device and surrounding objects, collected by the laser ranging device, is taken as the pre-set environment parameter. 
     
     
         18 . The control system of  claim 17 , wherein the laser ranging device comprises a point laser emitter; and the point laser emitter obtains the distance data between the laser ranging device and surrounding objects by generating a point laser. 
     
     
         19 . The control system of  claim 17 , wherein the laser ranging device comprises a line laser emitter; and the line laser emitter obtains the distance data between the laser ranging device and surrounding objects by generating a line laser. 
     
     
         20 . The control system of  claim 16 , wherein the sensor system comprises an image acquisition device; and image data of surrounding objects collected by the image acquisition device is taken as the pre-set environment parameter.