TW202300082A - Method, mobile device and cleaning robot for specifying cleaning areas - Google Patents

Abstract

A method for specifying a cleaning area is disclosed. A mobile device captures a two-dimensional code label arranged on a top of a cleaning robot parked on a charging base, obtains a relative position relationship between the mobile device and the cleaning robot through the captured image, and controls the cleaning robot to enter a following mode. A user can use the mobile device to capture an indoor environment, and specify a cleaning area through a touch display screen to control the cleaning robot to go to the specified cleaning area for cleaning. The mobile device and the cleaning robot employing the method are also disclosed.

Description

Cleaning area designation method, mobile terminal, and sweeping robot

The invention relates to the technical field of robots, in particular to a method for specifying a cleaning area, a mobile terminal and a sweeping robot.

In the existing control method of the sweeping robot, an application program can be installed on the mobile terminal, and a certain area can be designated on the indoor map pre-built by the sweeping robot through the application program, and the sweeping robot can be controlled to only clean the area. However, this control method is only applicable to mobile terminals installed with applications, and can only divide designated areas on the indoor map, which is not convenient for all members of the family to use.

Therefore, how to make the mobile terminal without installing the application program can also control the sweeping robot to perform cleaning work in the designated area has become a problem.

In view of this, the purpose of the present invention is to provide a cleaning area designation method, mobile terminal and sweeping robot, which can facilitate the user to set a designated area to control the sweeping robot to perform cleaning work.

An embodiment of the present invention provides a cleaning area designation method, wherein the method includes: the camera of the mobile terminal captures the image of the two-dimensional code label on the top of the sweeping robot parked on the charging stand; the mobile terminal according to the The image is used to obtain the relative positional relationship between the mobile terminal and the sweeping robot, wherein the relative positional relationship includes a horizontal distance and an angle; the mobile terminal judges that the mobile terminal is at The position information of the initial position on the indoor two-dimensional map of the sweeping robot; the mobile terminal transmits the position information of the initial position to the sweeping robot, and starts the following mode of the sweeping robot; the camera of the mobile terminal Taking pictures of the cleaning area, and receiving the user's circle selection input in the cleaning area of the cleaning area through the touch display screen of the mobile terminal; coordinate data; and the mobile terminal transmits the plurality of coordinate data to the sweeping robot, and activates a cleaning mode of the sweeping robot.

An embodiment of the present invention also provides a method for specifying a cleaning area, wherein the method includes: setting a two-dimensional code label on the top of the sweeping robot, wherein the two-dimensional code carrying information of the two-dimensional code label includes the sweeping area The robot’s identification information and wireless communication establishment method; the sweeping robot establishes a wireless communication connection with the mobile terminal according to the identification information and the wireless communication establishment method; A two-dimensional map is given to the mobile terminal, wherein the location information includes X-axis coordinate values, Y-axis coordinate values, and map angle values; the sweeping robot obtains the initial location information of the mobile terminal on the indoor two-dimensional map; the The sweeping robot starts the following mode according to the following instruction of the mobile terminal and the initial position information; the sweeping robot receives a plurality of coordinate data corresponding to the indoor two-dimensional map sent by the mobile terminal; and, the sweeping robot The robot starts a cleaning mode according to the cleaning instruction of the mobile terminal, and moves to the area corresponding to the plurality of coordinate data for cleaning.

An embodiment of the present invention also provides a mobile terminal for specifying a cleaning area, wherein the mobile terminal includes a processor and a memory, the memory is used to store at least one instruction, and the processor is used to execute the at least An instruction implements the following steps: capture the image of the two-dimensional code label on the top of the sweeping robot parked on the charging stand; according to the image, obtain the relative positional relationship between the mobile terminal and the sweeping robot, wherein , the relative positional relationship includes horizontal distance and angle; the relative positional relationship determines the positional information of the initial position of the mobile terminal on the indoor two-dimensional map of the sweeping robot; transmits the positional information of the initial position to the sweeping robot, and start the following mode of the sweeping robot; photograph the cleaning area, and receive the user’s circle selection input in the cleaning range of the cleaning area through the touch display screen of the mobile terminal; obtain the cleaning range in A plurality of coordinate data of the indoor two-dimensional map; and, transmitting the plurality of coordinate data to the sweeping robot, and starting a cleaning mode of the sweeping robot.

An embodiment of the present invention also provides a sweeping robot with a designated cleaning area, wherein a two-dimensional code label is set on the top of the sweeping robot, wherein the two-dimensional code carrying information of the two-dimensional code label includes the sweeping robot The identification information and wireless communication establishment method, the sweeping robot also includes a processor and a memory, the memory is used to store at least one instruction, and the processor is used to execute the at least one instruction to implement the following steps: according to the Identify information and the wireless communication establishment method to establish a wireless communication connection with the mobile terminal; transmit an indoor two-dimensional map including coordinate origin position information to the mobile terminal, wherein the position information includes X-axis coordinate value, Y-axis coordinate value and map angle value; obtain the initial position information of the mobile terminal on the indoor two-dimensional map; start the following mode according to the follow instruction of the mobile terminal and the initial position information; receive the corresponding information sent by the mobile terminal a plurality of coordinate data of the indoor two-dimensional map; and, start the cleaning mode according to the cleaning instruction of the mobile terminal, and move to the area corresponding to the plurality of coordinate data for cleaning.

Please refer to FIG. 1 , which shows a flowchart of a mobile terminal in a method for specifying a cleaning area according to an embodiment of the present invention. In this embodiment, the method for specifying a cleaning area can be applied to a mobile terminal. It should be noted that the mobile terminal may be a terminal device such as a mobile phone or a tablet computer. As shown in FIG. 1 , the method for specifying the cleaning area specifically includes the following steps. According to different requirements, the order of the steps in the flow chart can be changed, and some steps can be omitted or added.

It is understandable that when the sweeping robot is used for the first time, the sweeping robot establishes a coordinate system with the current position of the charging stand as the coordinate origin O, and builds an indoor two-dimensional map after completing multiple cleaning tasks.

。其中，二維碼包括快速回應矩陣圖碼。快速回應矩陣碼的特點是在二維碼的三個角落上，存在3個像回字的圖案，可以用於唯一確定二維碼的角度，如圖2所示。在本實施例中，以掃地機器人停駐於充電座時二維碼的零度方向作為地圖的零度方向，亦即，

。 In one embodiment, while the sweeping robot builds the indoor two-dimensional map, it selects multiple reference points and records the location information of the multiple reference points, wherein the selection principles of the multiple reference points include: narrow passages, obstacles turning places and necessary passageways. In this embodiment, a two-dimensional code label is provided on the top of the sweeping robot near the docking element of the charging stand, wherein the two-dimensional code label includes identification information of the sweeping robot. In this embodiment, the location information includes the X-axis coordinate value, the Y-axis coordinate value and the map angle value. For example, the location information of the sweeping robot when it is charging and/or parked on the charging stand (coordinate origin O) is marked as

. Wherein, the two-dimensional code includes a quick response matrix image code. The characteristic of the quick response matrix code is that there are three patterns resembling Chinese characters on the three corners of the two-dimensional code, which can be used to uniquely determine the angle of the two-dimensional code, as shown in Figure 2. In this embodiment, the zero-degree direction of the two-dimensional code when the sweeping robot is parked on the charging stand is used as the zero-degree direction of the map, that is,

.

Step S102, the camera of the mobile terminal captures the image of the two-dimensional code label on the top of the sweeping robot parked on the charging stand, establishes a wireless communication connection with the sweeping robot, and obtains an indoor two-dimensional map.

In this embodiment, the user holds the mobile terminal and scans the two-dimensional code label on the top of the sweeping robot parked on the charging stand through the camera of the mobile terminal. The camera of the mobile terminal captures the image containing the two-dimensional code label and The two-dimensional code of the two-dimensional code label is recognized through an image algorithm to obtain information carried by the two-dimensional code, wherein the information carried by the two-dimensional code includes identification information of the sweeping robot and a wireless communication establishment method.

In one embodiment, the mobile terminal establishes a wireless communication connection with the sweeping robot according to the identification information of the sweeping robot and a wireless communication establishment method, and acquires an indoor two-dimensional map of the sweeping robot. Wherein, the wireless communication establishment method includes bluetooth, WiFi and the like.

Step S104, the mobile terminal obtains the relative positional relationship between the mobile terminal and the sweeping robot according to the captured image, and determines the initial position information of the mobile terminal's initial position on the indoor two-dimensional map.

Specifically, the mobile terminal can use the camera lens principle or other ranging algorithms to calculate the distance between the camera and the two-dimensional code label, which is equivalent to the distance between the mobile terminal and the sweeping robot. According to the distance between the mobile terminal and the sweeping robot The horizontal distance between the mobile terminal and the sweeping robot can be calculated according to the distance between the mobile terminal and the sweeping robot. According to the horizontal distance between the mobile terminal and the sweeping robot and the angle of the QR code in the captured image, the relative distance between the mobile terminal and the sweeping robot can be obtained. positional relationship, and determine the initial positional information of the mobile terminal on the indoor two-dimensional map according to the relative positional relationship.

為移動終端301相對於Z軸的傾斜角度，因此，利用二維碼標籤到攝像頭中心的連線會垂直於移動終端301，可以計算取得

=90度-Ө ₁，利用D、

及下列公式可以計算出移動終端301與掃地機器人302之間的水平距離

: As shown in FIG. 3 a , the mobile terminal 301 first uses the focal length of the camera to estimate the distance D between the mobile terminal 301 and the cleaning robot 302 . Secondly,

is the inclination angle of the mobile terminal 301 relative to the Z axis, therefore, the line connecting the two-dimensional code label to the center of the camera will be perpendicular to the mobile terminal 301, and can be calculated to obtain

=90°-Ө ₁ , using D,

and the following formula can calculate the horizontal distance between the mobile terminal 301 and the sweeping robot 302

:

。 Use the gyro sensor of the mobile terminal to obtain the rotation angle of the mobile terminal, and calculate the angle between the mobile terminal and the sweeping robot according to the rotation angle of the mobile terminal and the angle of the QR code in the captured image

.

、移動終端301與掃地機器人302之間的角度

等相對位置關係，可以計算移動終端於室內二維地圖上的初始位置303的X軸座標值

及Y軸座標值

，取得移動終端於室內二維地圖上初始位置的初始位置資訊(

，

，

)。 According to the horizontal distance between the mobile terminal 301 and the sweeping robot 302

, the angle between the mobile terminal 301 and the sweeping robot 302

and other relative positional relationships, the X-axis coordinate value of the initial position 303 of the mobile terminal on the indoor two-dimensional map can be calculated

and Y-axis coordinate value

, to obtain the initial position information of the initial position of the mobile terminal on the indoor two-dimensional map (

,

,

).

Step S106, sending the initial position information to the cleaning robot and starting the following mode of the cleaning robot.

In one embodiment, the information carried by the two-dimensional code further includes webpage link information, and the mobile terminal connects to the webpage to activate the following mode of the sweeping robot through webpage operations.

Step S108, the mobile terminal regularly records the moving distance and rotation angle of the mobile terminal relative to the initial position and notifies the sweeping robot.

及轉動角度

，掃地機器人根據接收到的移動距離(

及轉動角度

及室內二維地圖執行障礙物迴避的跟隨模式。 In one embodiment, the mobile terminal uses the inertial measurement unit to obtain the moving distance and rotation angle of the mobile terminal during the movement process, and periodically notifies the sweeping robot of the moving distance according to the initial position information

and rotation angle

, the sweeping robot according to the received moving distance (

and rotation angle

And indoor two-dimensional map to implement the following mode of obstacle avoidance.

In one embodiment, the mobile terminal also updates the current location information of the mobile terminal according to the initial location information, the moving distance and the rotation angle.

In one embodiment, the cleaning robot also uses the position information of multiple reference points to correct the real-time position information of the mobile terminal during the movement process, and notifies the mobile terminal to correct the position error.

Step S110 , the user uses the camera of the mobile terminal to photograph the cleaning area, and circles the area to be cleaned on the touch display screen of the mobile terminal.

Step S112, the mobile terminal determines the coordinates of the center point of the cleaning area on the indoor two-dimensional map, and obtains a plurality of coordinate data of the cleaning area circled by the user.

、

、…、

。 Specifically, the mobile terminal can use the camera lens principle or other ranging algorithms to calculate the distance between the camera and the center point of the shooting area, which is equivalent to the distance between the mobile terminal and the center point of the cleaning area. The distance between the center point of the area can calculate the horizontal distance between the mobile terminal and the center point of the cleaning area, according to the horizontal distance between the mobile terminal and the center point of the cleaning area, the cumulative rotation angle recorded by the mobile terminal and the corresponding map of the mobile terminal With a rotation angle of zero degrees, the mobile terminal can obtain the relative positional relationship between the mobile terminal and the center point of the cleaning area, and judge the position of the center point of the cleaning area on the indoor two-dimensional map according to the relative positional relationship and the current position information of the mobile terminal. coordinate. According to the coordinates of the center point of the cleaning area, the focal length of the shooting and the photos taken, multiple coordinate data corresponding to the indoor two-dimensional map of the user's circled cleaning area can be obtained

,

,...,

.

In step S114, the mobile terminal notifies the sweeping robot of multiple coordinate data of the cleaning range, and at the same time starts the cleaning mode of the sweeping robot.

After receiving multiple coordinate data of the cleaning range, the sweeping robot goes to the cleaning area designated by the user to perform cleaning mode according to the indoor two-dimensional map. As shown in FIG. 4 , the user can circle the cleaning range 401 on the touch display screen of the mobile terminal 400 .

Please refer to FIG. 5 , which shows a flow chart of the cleaning robot in the cleaning area designation method according to an embodiment of the present invention. In this embodiment, the method for specifying a cleaning area can be applied to a sweeping robot. As shown in FIG. 5 , the method for specifying the cleaning area specifically includes the following steps. According to different requirements, the order of the steps in the flow chart can be changed, and some steps can be omitted or added.

In step S502, the sweeping robot establishes a wireless communication connection with the mobile terminal and transmits an indoor two-dimensional map including coordinate origin location information.

Step S504, acquiring the initial location information of the mobile terminal on the indoor two-dimensional map, and starting the follow mode according to the following instruction of the mobile terminal and the initial location information.

In the following mode, the sweeping robot regularly receives the moving distance and rotation angle transmitted by the mobile terminal, and executes the following mode of obstacle avoidance according to the moving distance, rotation angle and indoor two-dimensional map.

Step S506, the cleaning robot judges whether the user of the mobile terminal passes one of the multiple reference points. When it is determined that the user has passed one of the multiple reference points, step S508 is performed; when it is determined that the user has not passed one of the multiple reference points, step S510 is performed.

In one embodiment, the cleaning robot includes a photographing unit for capturing environmental images. The sweeping robot can judge whether the user has passed one of multiple reference points according to the captured environment image.

Step S508, using the coordinates of the reference point passed by the user to correct the current location information of the mobile terminal, and notify the mobile terminal of the correction information.

Step S510, the sweeping robot receives a plurality of coordinate data corresponding to the indoor two-dimensional map, starts the cleaning mode according to the cleaning instruction of the mobile terminal, and moves to the area corresponding to the plurality of coordinate data for cleaning.

Please refer to FIG. 6 , which is a block diagram of a mobile terminal 600 according to an embodiment of the present invention.

The mobile terminal 600 includes at least one processor 602 , memory 604 , communication unit 606 , camera 608 , display 610 and sensor unit 612 . Those skilled in the art should understand that the composition of the mobile terminal 600 shown in FIG. 6 does not constitute a limitation of this embodiment of the present application. The mobile terminal 600 may also include more or less other hardware or software, or different component arrangements than those shown.

In an embodiment, the at least one processor 602 may be composed of an integrated circuit, for example, may be composed of a single packaged integrated circuit, or may be composed of multiple integrated circuits with the same function or different functions. , including one or more central processing units (Central Processing unit, CPU), microprocessors, digital document processing chips, graphics processors and combinations of various control chips. The at least one processor 602 is the control core (Control Unit) of the mobile terminal 600, which uses various interfaces and lines to connect various components of the mobile terminal 600, and runs or executes programs or modules stored in the memory 604. group, and call the data stored in the memory 604 to execute various functions of the mobile terminal 600 and process data, for example, to execute the function of specifying the cleaning area. Processor 602 is also used to interact with other elements.

The memory 604 is used to store program codes and various data, and realize high-speed and automatic access to programs or data during the operation of the mobile terminal 600 . The memory 604 includes a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable Read-Only Memory, PROM), an erasable programmable read-only memory (Erasable Programmable Read -Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically-Erasable Programmable Read-Only Memory (EEPROM) , CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other optical disk memory, disk memory, tape memory, or any other computer-readable storage medium that can be used to carry or store data.

The memory 604 stores program codes, and the at least one processor 602 can invoke the program codes stored in the memory 604 to perform related functions. For example, the program code of the method flow in FIG. 1 is executed by the at least one processor 602 to implement the functions of the various modules to achieve the purpose of specifying the cleaning area.

In one embodiment, the memory 604 stores one or more instructions (that is, at least one instruction), and the at least one instruction is executed by the at least one processor 602 to achieve the purpose of specifying the cleaning area, specifically refer to FIG. 1.

The communication unit 606 is used for wired or wireless communication between the mobile terminal 600 and other devices. The mobile terminal 600 can access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G or 5G, or a combination thereof via the communication unit 606 . In an embodiment, the communication unit 606 further includes near field communication (NFC), radio frequency identification (RFID), ultra wideband (UWB), Bluetooth (BT) and other technologies of short distance communication technology.

The camera 608 is used to capture images.

The display 610 includes a touch display screen for receiving user instructions and displaying operation information and captured images, including receiving touch input from the user.

The sensor unit 612 includes an inertial measurement unit for sensing status information of the mobile terminal 600, including data such as acceleration, angular velocity, magnetic force, and pressure of the mobile terminal during its movement.

Please refer to FIG. 7 , which is a block diagram of a cleaning robot 700 according to an embodiment of the present invention.

The cleaning robot 700 includes at least one processor 702 , a memory 704 , a communication unit 706 , a camera unit 708 , a sensor unit 710 and a power supply unit 712 . Those skilled in the art should understand that the composition of the cleaning robot 700 shown in FIG. 7 does not constitute a limitation of the embodiment of the present application. The cleaning robot 700 may also include more or less other hardware or software than shown, or different component arrangements.

In an embodiment, the at least one processor 702 may be composed of an integrated circuit, for example, may be composed of a single packaged integrated circuit, or may be composed of multiple integrated circuits with the same function or different functions. , including one or more central processing units (Central Processing unit, CPU), microprocessors, digital document processing chips, graphics processors and combinations of various control chips. The at least one processor 702 is the control unit (Control Unit) of the sweeping robot, which uses various interfaces and lines to connect various components of the sweeping robot 700, and runs or executes programs or modules stored in the memory 704 , and call the data stored in the memory 704 to execute various functions of the cleaning robot 700 and process data, for example, to execute the function of specifying the cleaning area. Processor 702 is also used to interact with other elements.

The memory 704 is used to store program codes and various data, and realize high-speed and automatic access to programs or data during the operation of the cleaning robot 700 . The memory 704 includes a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable Read-Only Memory, PROM), an erasable programmable read-only memory (Erasable Programmable Read -Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically-Erasable Programmable Read-Only Memory (EEPROM) , CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other optical disk memory, disk memory, tape memory, or any other computer-readable storage medium that can be used to carry or store data.

The memory 704 stores program codes, and the at least one processor 702 can invoke the program codes stored in the memory 704 to execute related functions. For example, the program code of the method flow in FIG. 5 is executed by the at least one processor 702 to implement the functions of the various modules to achieve the purpose of specifying the cleaning area.

In one embodiment, the memory 704 stores one or more instructions (that is, at least one instruction), and the at least one instruction is executed by the at least one processor 702 to achieve the purpose of specifying the cleaning area, specifically referring to FIG. 5.

The communication unit 706 is used for wireless communication between the cleaning robot 700 and other devices. The cleaning robot 700 can access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G or 5G, or a combination thereof via the communication unit 706 . In an embodiment, the communication unit 706 further includes near field communication (NFC), radio frequency identification (RFID), ultra wideband (UWB), Bluetooth (BT) and other technologies of short distance communication technology.

The photographing unit 708 is used to capture images of the environment.

The sensor unit 710 includes a distance sensor and a collision sensor for detecting distance and collision with obstacles.

The power supply unit 712 includes a docking component of the charging stand that can be docked to the charging stand, and is used to supply power to each component of the cleaning robot 700 .

To sum up, the method for specifying the cleaning area, the mobile terminal and the sweeping robot of the present invention use the camera of the mobile terminal to photograph the cleaning area and specify the cleaning range, and notify the sweeping robot to go to clean immediately.

It is worth noting that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation, although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modification or equivalent replacement without departing from the spirit and scope of the technical solutions of the present invention.

301, 400, 600: mobile terminals 302, 700: Sweeping robot 303: initial position 401: cleaning range 602, 702: Processor 604, 704: memory 606, 706: communication unit 608: Camera 610: display 612, 710: sensor unit 712: Power supply unit

Fig. 1 is a flowchart of a mobile terminal in a method for specifying a cleaning area according to an embodiment of the present invention. FIG. 2 is a schematic diagram of an angle of a two-dimensional code according to an embodiment of the present invention. Fig. 3A is a schematic diagram of relative positions between a mobile terminal and a cleaning robot according to an embodiment of the present invention. FIG. 3B is a schematic diagram of acquiring location information of a mobile terminal according to an embodiment of the present invention. FIG. 4 is a schematic diagram of a circled cleaning area according to an embodiment of the present invention. Fig. 5 is a flow chart of a cleaning robot in a method for specifying a cleaning area according to an embodiment of the present invention. FIG. 6 is a block diagram of a mobile terminal according to an embodiment of the present invention. FIG. 7 is a block diagram of a cleaning robot according to an embodiment of the present invention.

Through the following detailed description of the specific embodiments combined with the accompanying drawings, the above contents and many advantages of the present invention can be easily understood.

none

S102~S114: steps

Claims (10)

A method for specifying a cleaning area, wherein the method includes: The camera of the mobile terminal captures the image of the QR code label on the top of the sweeping robot parked on the charging stand; The mobile terminal obtains a relative positional relationship between the mobile terminal and the sweeping robot according to the image, wherein the relative positional relationship includes a horizontal distance and an angle; The mobile terminal judges the position information of the initial position of the mobile terminal on the indoor two-dimensional map of the sweeping robot according to the relative positional relationship; The mobile terminal transmits the position information of the initial position to the sweeping robot, and activates the following mode of the sweeping robot; The camera of the mobile terminal shoots the cleaning area, and receives the user's circle selection input in the cleaning area of the cleaning area through the touch display screen of the mobile terminal; The mobile terminal obtains a plurality of coordinate data of the cleaning range on the indoor two-dimensional map; and, The mobile terminal transmits the plurality of coordinate data to the sweeping robot, and starts a cleaning mode of the sweeping robot. The method for specifying the cleaning area according to claim 1, wherein the step of obtaining the relative positional relationship between the mobile terminal and the sweeping robot according to the image further includes: The sweeping robot establishes a coordinate system and the indoor two-dimensional map based on the current position of the charging stand as the origin of coordinates, wherein the zero-degree direction of the indoor two-dimensional map is when the sweeping robot is parked on the charging stand The zero-degree direction of the two-dimensional code of the two-dimensional code label; The mobile terminal calculates the horizontal distance from the sweeping robot according to the focal length of the camera; and The mobile terminal obtains the rotation angle of the mobile terminal according to the gyro sensor, and calculates the angle between the mobile terminal and the sweeping robot according to the rotation angle and the two-dimensional code angle of the image. The cleaning area designation method as described in claim 1, wherein, the method also includes: The mobile terminal regularly records the moving distance and rotation angle of the mobile terminal relative to the initial position and notifies the sweeping robot; and, The cleaning robot executes the following mode according to the received moving distance, the rotation angle and the indoor two-dimensional map. The method for specifying a cleaning area as described in claim 3, wherein said mobile terminal obtaining multiple coordinate data of said cleaning range on said indoor two-dimensional map further includes: The mobile terminal updates the current location information of the mobile terminal according to the initial location information, the moving distance and the rotation angle; Acquiring the relative positional relationship between the mobile terminal and the central point of the cleaning area; Judging the coordinates of the center point of the cleaning area on the indoor two-dimensional map according to the current location information of the mobile terminal and the relative positional relationship between the mobile terminal and the center point of the cleaning area; and, According to the coordinates of the center point on the indoor two-dimensional map and the shooting focal length of the cleaning area, a plurality of coordinate data of the cleaning range on the indoor two-dimensional map are obtained. The method for specifying a cleaning area according to claim 1, wherein the location information includes an X-axis coordinate value, a Y-axis coordinate value, and a map angle value. A method for specifying a cleaning area, wherein the method includes: A two-dimensional code label is set on the top of the sweeping robot, wherein the two-dimensional code carrying information of the two-dimensional code label includes the identification information of the sweeping robot and the wireless communication establishment method; The sweeping robot establishes a wireless communication connection with the mobile terminal according to the identification information and the wireless communication establishment method; The sweeping robot sends an indoor two-dimensional map including coordinate origin location information to the mobile terminal, wherein the location information includes X-axis coordinate values, Y-axis coordinate values and map angle values; The sweeping robot obtains the initial position information of the mobile terminal on the indoor two-dimensional map; The sweeping robot starts a follow mode according to the follow instruction of the mobile terminal and the initial position information; The sweeping robot receives a plurality of coordinate data corresponding to the indoor two-dimensional map transmitted by the mobile terminal; and, The sweeping robot starts a cleaning mode according to the cleaning instruction of the mobile terminal, and moves to the area corresponding to the plurality of coordinate data for cleaning. The method for specifying the cleaning area as described in claim 6, wherein the method also includes: The sweeping robot judges whether the user of the mobile terminal has passed one of the test points of the indoor two-dimensional map; When the cleaning robot determines that the user of the mobile terminal has passed one of the plurality of reference points, the current location information of the mobile terminal is corrected according to the coordinates of one of the plurality of reference points. The cleaning area specifying method as described in claim 7, wherein, the method also includes: When the sweeping robot builds the indoor two-dimensional map, it selects the multiple reference points and records the location information of the multiple reference points, wherein the selection principles of the multiple reference points include: narrow passages, Obstacles, turns and passages that must be passed. A mobile terminal designated by a cleaning area, wherein the mobile terminal includes a processor and a memory, the memory is used to store at least one instruction, and the processor is used to execute the at least one instruction to implement the following steps: Capture an image of the QR code label on top of the robot vacuum parked on the charging stand; According to the image, the relative positional relationship between the mobile terminal and the sweeping robot is obtained, wherein the relative positional relationship includes a horizontal distance and an angle; The relative positional relationship determines the positional information of the initial position of the mobile terminal on the indoor two-dimensional map of the sweeping robot; Sending the position information of the initial position to the sweeping robot, and starting the following mode of the sweeping robot; Taking pictures of the cleaning area, and receiving the user's circle selection input in the cleaning area of the cleaning area through the touch display screen of the mobile terminal; Obtain a plurality of coordinate data of the cleaning range on the indoor two-dimensional map; and, Sending the plurality of coordinate data to the sweeping robot, and starting a cleaning mode of the sweeping robot. A sweeping robot with a designated cleaning area, wherein a two-dimensional code label is set on the top of the sweeping robot, wherein the two-dimensional code carrying information of the two-dimensional code label includes the identification information of the sweeping robot and a wireless communication establishment method, The sweeping robot also includes a processor and a memory, the memory is used to store at least one instruction, and the processor is used to execute the at least one instruction to implement the following steps: Establishing a wireless communication connection with the mobile terminal according to the identification information and the wireless communication establishment method; Sending an indoor two-dimensional map including coordinate origin location information to the mobile terminal, wherein the location information includes X-axis coordinate values, Y-axis coordinate values and map angle values; Obtaining initial location information of the mobile terminal on the indoor two-dimensional map; Starting a follow mode according to the follow instruction of the mobile terminal and the initial location information; receiving a plurality of coordinate data corresponding to the indoor two-dimensional map transmitted by the mobile terminal; and, Start the cleaning mode according to the cleaning instruction of the mobile terminal, and move to the area corresponding to the plurality of coordinate data for cleaning.

Images