Edge cleaning methods

Abstract

This application discloses an edge cleaning method, which includes: determining the boundary type to be cleaned by the cleaning equipment; and determining an edge cleaning mode based on the boundary type. Therefore, this application can first determine the boundary type to be cleaned by the cleaning equipment, and then determine different cleaning parameters for different edge cleaning modes according to different boundary types, which is highly targeted and thus improves cleaning quality.

Description

Technical Field

[0001] This application relates to the technical field of cleaning equipment, and more specifically, to a method for cleaning along edges. Background Technology

[0002] In the existing technology, there are many types of cleaning equipment. Among them, cleaning equipment adopts a relatively global cleaning mode when performing cleaning tasks. For example, for household cleaning, there are automatic mode, edge cleaning, spot cleaning, and manual cleaning, all of which are relatively global cleaning modes, but they cannot effectively clean walls, furniture, carpets, etc. Summary of the Invention

[0003] The purpose of this application is to provide an edge cleaning method and cleaning equipment that can determine cleaning parameters for different edge cleaning modes according to different boundary types.

[0004] The embodiments of this application are implemented as follows:

[0005] In a first aspect, this application provides an edge cleaning method, comprising:

[0006] Determine the type of boundary that the cleaning equipment needs to clean along its edges;

[0007] Based on the boundary type, the cleaning parameters for the edge cleaning mode are determined.

[0008] Optionally, the cleaning parameters of the edge cleaning mode include one or more combinations of the following: edge distance, cleaning component rotation speed of the cleaning device, and suction power of the cleaning device.

[0009] Optionally, determining the cleaning parameters for the edge cleaning mode based on the boundary type includes:

[0010] When the boundary type is one in which the height of the object on the boundary side is higher than the height of the chassis of the cleaning equipment, in the edge cleaning mode, the moving side of the cleaning equipment maintains a first preset distance from the boundary.

[0011] When the boundary type is one in which the height of the object on the boundary side is not higher than the height of the chassis of the cleaning equipment, in the edge cleaning mode, the moving side of the cleaning equipment maintains a second preset distance from the boundary, and the second preset distance is less than the first preset distance.

[0012] Optionally, determining the cleaning parameters for the edge cleaning mode based on the boundary type includes:

[0013] When the boundary type is determined to be the first type of vulnerable object on the boundary side, in the edge cleaning mode, the moving side of the cleaning device maintains a third preset distance from the boundary, and / or, the cleaning component of the cleaning device maintains a fourth preset distance from the boundary, and / or, the rotation speed of the cleaning component maintains a third preset speed;

[0014] When the boundary type is determined to be the second type of non-vulnerable boundary-side object, in the edge cleaning mode, the moving side of the cleaning device maintains a fifth preset distance from the boundary, and / or, the cleaning component of the cleaning device maintains a sixth preset distance from the boundary, and / or, the rotation speed of the cleaning component maintains a fourth preset speed;

[0015] Wherein, the fifth preset distance is less than the third preset distance; the sixth preset distance is less than the fourth preset distance; and the fourth preset speed is less than the third preset speed.

[0016] The first type includes one or more of the following: vulnerable wall type without baseboard, vulnerable furniture type, and vulnerable floor type; the second type includes one or more of the following: wall type with baseboard, non-vulnerable wall type without baseboard, non-vulnerable furniture type, non-vulnerable floor type, and carpet type.

[0017] Optionally, determining the cleaning parameters for the edge cleaning mode based on the boundary type includes:

[0018] When the boundary type is a long-pile carpet, in the edge cleaning mode, the cleaning component of the cleaning device maintains a first preset speed, and / or the suction power of the cleaning device maintains a first preset suction power;

[0019] When the boundary type is a short-pile carpet, in the edge cleaning mode, the cleaning component of the cleaning device maintains a second preset speed, and / or the suction of the cleaning device maintains a second preset suction; wherein the second preset speed is greater than the first preset speed, and the second preset suction is greater than the first preset suction.

[0020] Optionally, determining the cleaning parameters for the edge cleaning mode based on the boundary type includes:

[0021] When the boundary type is floor type, the cleaning equipment cleaning component covers the boundary.

[0022] Optionally, determining the boundary type to be cleaned along the edge by the cleaning equipment includes:

[0023] Acquire image data of the boundary;

[0024] The image data is divided into two sub-images according to the direction of the boundary;

[0025] Determine whether the similarity between the two subgraphs exceeds a preset threshold;

[0026] If the similarity between the two subgraphs exceeds a preset threshold, the boundary type is determined to be a floor type.

[0027] If the similarity between the two subgraphs does not exceed a preset threshold, the boundary type is determined to be a non-floor type.

[0028] Optionally, after determining that the boundary type is a non-floor type, the process includes:

[0029] Extract the texture features of the two sub-images;

[0030] Based on the texture features, determine which of the following is the boundary type: carpet, wall, or furniture.

[0031] Optionally, determining the boundary type to be cleaned along the edge by the cleaning equipment includes:

[0032] When the boundary type is a wall type, determine whether there is a long strip area between the wall and the ground in the image data;

[0033] If there is a long strip area between the wall and the ground in the image data, the boundary type is determined to be a wall type with skirting boards;

[0034] If there is no long strip area between the wall and the ground in the image data, the boundary type is determined to be a wall type without skirting boards;

[0035] When the boundary type is determined to be a wall type without skirting boards, based on the texture features, it is determined whether the boundary type is a non-vulnerable wall type without skirting boards or a vulnerable wall type without skirting boards.

[0036] Optionally, determining the boundary type to be cleaned along the edge by the cleaning equipment includes:

[0037] When the boundary type is furniture type, the boundary type is determined to be either fragile furniture type or non-fragile furniture type based on the texture features;

[0038] When the boundary type is carpet type, the boundary type is determined to be either long-pile carpet type or short-pile carpet type based on the texture features.

[0039] The advantages of this application compared to the prior art are:

[0040] The edge cleaning method and equipment of this application can first determine the type of boundary to be cleaned by the cleaning equipment, and then determine the cleaning parameters of different edge cleaning modes according to different boundary types. This is highly targeted and improves the cleaning quality. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the structure of a cleaning device according to an embodiment of this application.

[0043] Figure 2 This is a schematic diagram of the structure of a cleaning device according to an embodiment of this application.

[0044] Figure 3 This is a schematic flowchart illustrating an edge cleaning method according to an embodiment of this application.

[0045] Figure 4 This is a schematic flowchart illustrating an edge cleaning method according to an embodiment of this application.

[0046] Figure 5 This is a schematic flowchart illustrating an edge cleaning method according to an embodiment of this application.

[0047] Figure 6 As shown in one embodiment of this application Figure 3 A detailed flowchart of step S110 in the corresponding embodiment is shown.

[0048] Figure 7 As shown in one embodiment of this application Figure 6 A schematic diagram of the image to be processed in the corresponding embodiment.

[0049] Figure 8 As shown in one embodiment of this application Figure 6 A detailed flowchart of step S117 in the corresponding embodiment is shown.

[0050] Figure 9 This is a schematic diagram of a wall type with skirting boards, as shown in one embodiment of this application.

[0051] Figure 10 This is a schematic diagram illustrating the boundary of a carpet-type cleaning device according to an embodiment of this application.

[0052] Figure 11This is a schematic diagram illustrating the boundary of a carpet-type cleaning device according to an embodiment of this application.

[0053] Icons: 100-Cleaning equipment; 110-Bus; 100a-Moving side; 120-Cleaning component; 121-Mop; 121a-Mop edge; 122-Brush; 122a-Brush edge; 130-Motor; 140-Memory; 150-Processor; 160-Housing; 170-Collection device; 200-Boundary; 300-Wall; 310-Long strip area; 400-Carpet; 400a-Carpet edge. Detailed Implementation

[0054] Please refer to Figure 1 This is a schematic diagram of the structure of a cleaning device 100 according to an embodiment of this application. The cleaning device 100 can be a mechanical device for cleaning, such as a robot. The cleaning device 100 includes: a cleaning component 120, a motor 130, a memory 140, and at least one processor 150. Figure 1 Taking a processor 150 as an example. The motor 130, memory 140 and processor 150 are connected via bus 110. The cleaning component 120 may include a mop 121 and / or a brush 122. The motor 130 is used to drive the cleaning component 120 to move for cleaning. The memory 140 stores instructions that can be executed by the processor 150. The processor 150 executes the instructions to execute a computer program to implement the methods of any of the above embodiments, so as to control the operation of the motor 130 and enable the cleaning device 100 to perform all or part of the process of the methods in the following embodiments to improve the cleaning quality.

[0055] In one embodiment, the processor 150 may be a general-purpose processor 150, including but not limited to a central processing unit (CPU), a network processor (NP), etc., or a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor 150 may be a microprocessor 150, or any conventional processor 150. The processor 150 is the control center of the cleaning equipment 100, connecting various parts of the cleaning equipment 100 via various interfaces and lines. The processor 150 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0056] In one embodiment, the memory 140 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, including but not limited to, random access memory (RAM), read-only memory (ROM), static random access memory (SRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (EEPROM).

[0057] Please refer to Figure 2 This is a schematic diagram of the structure of a cleaning device 100 according to an embodiment of this application. The cleaning device 100 can be a robotic vacuum cleaner, including a housing 160. The housing 160 houses a motor 130, a memory 140, and a processor 150. The bottom surface of the housing 160 is provided with cleaning components 120 and rollers, etc. The outer surface of the housing 160 is provided with acquisition devices 170, such as a laser sensor, an infrared rangefinder, and / or a camera. In this embodiment, the acquisition device 170 is a monocular camera.

[0058] Because the outer casing 160 moves under the drive of the rollers during cleaning, the outer surface of the outer casing 160 can be referred to as the moving side 100a of the cleaning device 100.

[0059] The edge of the cleaning component 120 is not on the same baseline as the movable side 100a of the cleaning device 100. In this embodiment, the edge of the cleaning component 120 extends beyond the movable side 100a of the cleaning device 100. Alternatively, the edge of the cleaning component 120 may not extend beyond the movable side 100a of the cleaning device 100, and the cleaning component 120 may be disposed inward relative to the housing 160.

[0060] The cleaning component 120 includes a mop 121 and a brush 122; the edges 121a of the mop and 122a of the brush are not located on the same baseline. In this embodiment, the edge 122a of the brush extends beyond the moving side 100a of the cleaning device 100 relative to the edge 121a of the mop, and the distance between the edge 122a of the brush and the moving side 100a of the cleaning device 100 is relatively large, while the distance between the edge 121a of the mop and the moving side 100a of the cleaning device 100 is relatively small or equal. Alternatively, the edges 121a of the mop and 122a of the brush may also be located on the same baseline.

[0061] In another embodiment, the cleaning device 100 includes not only the aforementioned sweeping robot, but also a peripheral main controller. The main controller also includes components such as a memory 140, a processor 150, and a transceiver. The main controller is connected to the sweeping robot and can control the sweeping robot.

[0062] Please refer to Figure 3 This is a schematic flowchart illustrating an edge cleaning method according to an embodiment of this application. The method can be... Figure 1 or Figure 2 The cleaning equipment 100 shown performs the cleaning to improve the cleaning quality. The method includes the following steps: steps S110-S120.

[0063] Step S110: Determine the type of boundary that the cleaning equipment 100 needs to clean along the edge.

[0064] In this step, the boundary 200 that the cleaning equipment 100 needs to clean along the edge can be an indoor environment or an outdoor road. The following explanation uses an indoor environment as an example. The boundary 200 can be one or more of the following: the boundary line between the wall 300 and the ground, the boundary line between the carpet 400 and the ground, the boundary line between furniture such as cabinets and the ground, the gap between two adjacent wooden boards in a wooden floor, and the gap between two adjacent tiles in a tiled floor.

[0065] This step involves collecting data about the boundary 200 using acquisition devices 170 such as laser sensors, infrared sensors, ultrasonic sensors, and cameras installed on the cleaning equipment 100, and then analyzing and processing the data to determine the type of the boundary 200.

[0066] The data acquisition device 170 can acquire data about the boundary 200, including image data of the boundary 200 and / or size and distance data of the boundary 200. For example, the boundary 200 can be photographed using a monocular camera, or the boundary 200 can be measured using a monocular camera to determine the size of the boundary 200, the distance between the monocular camera and the boundary 200, and the angle between the monocular camera and the boundary 200. Alternatively, an infrared / ultrasonic sensor mounted on the bottom of the robot can be used to detect the carpet boundary, and an infrared sensor mounted on the side of the robot can be used to detect the wall boundary.

[0067] Step S120: Determine the cleaning parameters for the edge cleaning mode based on the boundary type.

[0068] In this step, based on the boundary type determined in step S110 and according to the calibrated mapping relationship, the corresponding cleaning parameters for the edge cleaning mode are selected or set. Then, the cleaning equipment 100 can be controlled to perform cleaning according to the determined edge cleaning mode cleaning parameters.

[0069] It should be noted that when the edge cleaning method is applied... Figure 2 In the illustrated embodiment, steps S110 and S120 are both executed by the processor 150 located within the housing 160. When the edge cleaning method is applied to a cleaning device 100 including a robotic vacuum cleaner and a peripheral main controller, steps S110 and S120 are both executed by the peripheral main controller. For example, the front-end acquisition device 170 on the robotic vacuum cleaner collects data about the boundary 200, and then sends this data to the peripheral main controller. After processing the data, the peripheral main controller determines the cleaning parameters of the edge cleaning mode and then sends corresponding instructions to the robotic vacuum cleaner, controlling the robotic vacuum cleaner to clean according to the determined edge cleaning mode cleaning parameters.

[0070] In addition, the cleaning parameters for the edge cleaning mode include one or more combinations of the following: edge distance, rotational speed of the cleaning component 120 of the cleaning device 100, and suction power of the cleaning device 100. The edge distance includes one or more combinations of the following: the distance between the moving side 100a of the cleaning device 100 and the boundary 200, the distance between the cleaning component 120 and the boundary 200, and other distances.

[0071] Please refer to Figure 4 This is a schematic flowchart illustrating an edge cleaning method according to an embodiment of this application. The method can be... Figure 1 or Figure 2 The cleaning equipment 100 shown performs the cleaning process to improve cleaning quality. The method includes the following steps: steps S210-S230.

[0072] Step S210: Determine whether the boundary type to be cleaned by the cleaning equipment 100 is type A based on whether the height of the object on the boundary side is higher than the chassis height of the cleaning equipment 100.

[0073] Boundary objects generally include: walls, furniture, carpets, tiled floors, or wood-based floors. The chassis height of the cleaning device 100 is the distance between the bottom surface of the outer casing 160 and the ground when the robot vacuum is placed on the floor. Boundary types where the height of the boundary objects is higher than the chassis height of the cleaning device 100 are referred to as Type A. Boundary types where the height of the boundary objects is less than or equal to the chassis height of the cleaning device 100 are referred to as Type B. Type A can include one or more wall types and furniture types. Type B can include one or more floor types and carpet types.

[0074] In the operation of a robotic vacuum cleaner, if an object on the boundary side is too tall, exceeding the height of the cleaning device 100's chassis, it can collide with the moving side 100a of the cleaning device 100. Since the edge of the cleaning component 120 and the moving side 100a of the cleaning device 100 are not on the same baseline, if the robotic vacuum cleaner's path is still planned based on the cleaning component 120, the boundary object will collide with the moving side 100a of the cleaning device 100, interfering with the operation of the cleaning device 100 and potentially causing the robotic vacuum cleaner to tip over.

[0075] Therefore, in this embodiment, the boundary type can be determined based on whether the height of the object on the boundary side is higher than the height of the chassis of the cleaning device 100 to determine whether the boundary type is restricted by the interference of the moving side 100a of the cleaning device 100, and then the planning reference for the moving path of the sweeping robot can be determined.

[0076] During operation, based on whether the height of the object on the boundary side is higher than the chassis height of the cleaning device 100, it is determined whether the boundary type to be cleaned by the cleaning device 100 is type A. If so, the boundary type is determined to be A, and the cleaning device 100 will be restricted by the interference of the moving side 100a when cleaning. Then, step S220 is executed, in which the cleaning device 100 plans the movement path of the sweeping robot based on the moving side 100a, so that the moving side 100a maintains a first preset distance from the boundary 200 for edge cleaning. If not, the boundary type is determined to be B, and the cleaning device 100 will not be restricted by the interference of the moving side 100a when cleaning. Then, step S230 is executed, in which the cleaning device 100 plans the movement path of the sweeping robot based on the cleaning component 120, so that the moving side 100a maintains a second preset distance from the boundary 200 for edge cleaning. The second preset distance is less than the first preset distance, and the values ​​of both the first and second preset distances are greater than 2 cm and less than 5 cm.

[0077] Step S220: In edge cleaning mode, the moving side 100a of the cleaning device 100 maintains a first preset distance from the boundary 200.

[0078] In this step, the boundary type is B. The cleaning device 100 plans the movement path of the sweeping robot based on the moving side 100a. The first preset distance can be set manually. The setting of the first preset distance can refer to the basic parameters of the sweeping robot, the sweeping robot's tipping data, and the distance between the edge of the cleaning component 120 and the moving side 100a of the cleaning device 100.

[0079] Step S230: In edge cleaning mode, the moving side 100a of the cleaning device 100 maintains a second preset distance from the boundary 200.

[0080] In this step, the boundary type is B. When cleaning, the cleaning device 100 is not restricted by interference from its moving side 100a. Therefore, the cleaning device 100 plans the robot's movement path based on the cleaning component 120. The second preset distance can be manually set, and it is less than the first preset distance. The setting of the second preset distance can refer to the basic parameters of the robot. In one embodiment, the difference between the first and second preset distances is related to the distance between the cleaning component 120 and the moving side 100a.

[0081] It should be noted that, as Figure 2As shown, when the edge 121a of the mop and the edge 122a of the brush are not on the same baseline, the edge cleaning mode can be distinguished between sweeping and mopping. When the robot vacuum is in sweeping mode, in this step S230, the cleaning device 100 plans the robot vacuum's movement path based on the brush 122 to perform edge cleaning. When the robot vacuum is in mopping mode, in this step S230, the cleaning device 100 plans the robot vacuum's movement path based on the mop 121 to perform edge cleaning.

[0082] Please refer to Figure 5 This is a schematic flowchart illustrating an edge cleaning method according to an embodiment of this application. The method can be... Figure 1 or Figure 2 The cleaning equipment 100 shown performs the cleaning to improve the cleaning quality. The method includes the following steps: steps S310-S330.

[0083] Step S310: Determine whether the boundary type to be cleaned by the cleaning equipment 100 is the first type based on whether the object on the boundary side is easily damaged.

[0084] The boundary type where the boundary object is vulnerable is called the first type, and the boundary type where the boundary object is not vulnerable is called the second type. The first type includes one or more of the following: vulnerable wall type without skirting board, vulnerable furniture type, and vulnerable floor type. The second type includes one or more of the following: wall type with skirting board, non-vulnerable wall type without skirting board, non-vulnerable furniture type, and non-vulnerable floor type.

[0085] This step can determine whether a boundary-side object is fragile based on its material. For example, boundary-side objects made of tiles, ceramics, or fabric are not fragile, while boundary-side objects made of wood or painted walls are fragile.

[0086] In the operation scenario of a robot vacuum cleaner, if the object on the boundary side is fragile, the contact between the cleaning component 120 and the object on the boundary side or the excessive rotation speed of the cleaning component 120 can easily damage the object on the boundary side, causing property damage to the user.

[0087] During an operation, based on whether the object on the boundary side is fragile, it is determined whether the boundary type to be cleaned by the cleaning equipment 100 is of type one. If yes, the boundary type is determined to be type one, and step S320 is executed. If no, the boundary type is determined to be type two, and step S330 is executed.

[0088] Step S320: In the edge cleaning mode, the moving side 100a of the cleaning device 100 maintains a third preset distance from the boundary 200, and / or, the cleaning component 120 of the cleaning device 100 maintains a fourth preset distance from the boundary 200, and / or, the rotation speed of the cleaning component 120 maintains a third preset speed.

[0089] In one embodiment, this step involves maintaining a third preset distance between the moving side 100a of the cleaning device 100 and the boundary 200, and a fourth preset distance between the cleaning component 120 of the cleaning device 100 and the boundary 200. This configuration avoids interference between the boundary-side object and the moving side 100a of the cleaning device 100, while also preventing contact between the cleaning component 120 and the boundary-side object. Therefore, the cleaning parameters of this edge-cleaning mode can be adapted to situations where boundary-side objects are relatively high, such as those found on vulnerable walls or furniture.

[0090] In one embodiment, this step involves maintaining a third preset distance between the moving side 100a of the cleaning device 100 and the boundary 200, and maintaining a third preset rotational speed for the cleaning component 120. This configuration avoids interference between the boundary-side object and the moving side 100a of the cleaning device 100, while reducing the rotational speed of the cleaning component 120 to prevent damage to the boundary-side object due to excessive rotational speed. Therefore, the cleaning parameters of this edge-cleaning mode can be adapted to situations where boundary-side objects are relatively high, such as those found in fragile walls or furniture.

[0091] In one embodiment, this step involves maintaining a third preset distance between the moving side 100a of the cleaning device 100 and the boundary 200, and a fourth preset distance between the cleaning component 120 of the cleaning device 100 and the boundary 200, while maintaining a third preset speed at the rotational speed of the cleaning component 120. This configuration avoids interference between the boundary-side object and the moving side 100a of the cleaning device 100, thus preventing damage to the boundary-side object. Therefore, the cleaning parameters of this edge-cleaning mode can be adapted to situations where boundary-side objects are relatively high, such as those found in fragile walls or furniture.

[0092] In one embodiment, this step may also involve maintaining a fourth preset distance between the cleaning component 120 of the cleaning device 100 and the boundary 200. This arrangement avoids contact between the cleaning component 120 and objects on the boundary side. Therefore, the cleaning parameters of this edge-cleaning mode can be adapted not only to situations where the boundary side objects are high, such as vulnerable wall types and vulnerable furniture types, but also to situations where the boundary side objects are low, such as vulnerable flooring.

[0093] In one embodiment, this step may also maintain the rotation speed of the cleaning component 120 at only the third preset speed. This setting reduces the rotation speed of the cleaning component 120 to prevent excessive rotation speed from damaging the boundary-side object. Therefore, the cleaning parameters of this edge-cleaning mode can be adapted to situations where the boundary-side object is relatively low, such as on fragile floors.

[0094] In one embodiment, this step can also involve maintaining only a third preset distance between the moving side 100a of the cleaning device 100 and the boundary 200. This arrangement avoids contact between the cleaning component 120 and the boundary-side object. Therefore, the cleaning parameters of this edge-cleaning mode can be adapted to situations where boundary-side objects are relatively high, such as those found on vulnerable walls or furniture.

[0095] Step S330: In the edge cleaning mode, the moving side 100a of the cleaning device 100 maintains a fifth preset distance from the boundary 200, and / or, the cleaning component 120 of the cleaning device 100 maintains a sixth preset distance from the boundary 200, and / or, the rotation speed of the cleaning component 120 maintains a fourth preset speed.

[0096] When the object on the boundary side is not fragile, the moving side 100a of the cleaning device 100 can get closer to the object, the cleaning component 120 can contact the object, and the rotational speed of the cleaning component 120 can be higher. Therefore, in this step, the fifth preset distance is less than the third preset distance. The sixth preset distance is less than the fourth preset distance; the fourth preset speed is less than the third preset speed. The second, fifth, and sixth preset distances can be equal or unequal.

[0097] Please refer to Figure 6 This is an embodiment shown in this application. Figure 3 A detailed flowchart of step S110 in the corresponding embodiment is shown below. Please refer to... Figure 7 This is an embodiment shown in this application. Figure 6 A schematic diagram of the image to be processed in the corresponding embodiment. This method can be derived from... Figure 1 or Figure 2 The cleaning device 100 shown is used to perform the cleaning. Step S110 includes the following steps: Step S111-Step S117.

[0098] Step S111: Obtain image data with boundary 200.

[0099] This step can acquire image data of the boundary 200 in real time through a camera or other acquisition device 170 mounted on the housing 160.

[0100] Step S112: Divide the image data into two sub-images along the direction of the boundary 200.

[0101] Step S112 may include the following steps: Steps S1121-S1124. Step S1121: Perform boundary 200 detection and extraction processing on the image data acquired by the acquisition device 170 to obtain an image to be processed marked with the boundary 200. Step S1122: Determine the direction of the boundary 200 relative to the image to be processed, such as horizontal, vertical, or at a 45-degree angle. Step S1123: Using the boundary 200 as the center, extract an image within a preset range around the boundary 200 in the image to be processed, forming a boundary 200 region map. Step S1124: Divide the boundary 200 region map in half according to the direction of the edge, forming two sub-images, either left and right or top and bottom.

[0102] Wherein, boundary 200 can be a straight line or a curve. When boundary 200 is a straight line, step S1121 may include the following steps: steps S11211-S11215. Step S11211: Convert the image data acquired by the acquisition device 170 to grayscale to obtain a Gray image. Step S11212: Apply Gaussian blur to the Gray image to obtain a Gray.g image. Step S11213: Use the Gray image and the Gray.g image to obtain a weighted new image (Inew), for example, Inew = Gray - Grayg. Step S11214: Perform boundary 200 detection and binarization on the weighted new image. Step S11215: Perform straight line fitting detection and filter out straight lines exceeding a threshold. Step S11216: Obtain the gap straight line sequence and the image to be processed marked with boundary 200.

[0103] It should be noted that the image to be processed obtained in step S1121 can be as follows: Figure 7 As shown, where, Figure 7 The boundary type of part 'a' in the diagram is floor type. Figure 7 The boundary type of part b in the text is furniture type. Figure 7 The boundary type of part c in the diagram is wall type.

[0104] Step S113: Determine whether the similarity between the two subgraphs exceeds a preset threshold.

[0105] like Figure 7 As shown, when the boundary type is floor type, the shapes and object materials in the two sub-graphs are the same or similar. When the boundary type is a non-floor type such as carpet type, wall type, or furniture type, the shapes and object materials in the two sub-graphs are quite different. Therefore, this embodiment can determine the boundary type based on the similarity between the two sub-graphs.

[0106] During the operation, it is determined whether the similarity between two sub-graphs exceeds a preset threshold. If so, step S114 is executed to determine the boundary type as floor type; otherwise, steps S115-S117 are executed to determine the boundary type as non-floor type. The preset threshold in this step can be manually set or calculated by a computer.

[0107] Step S114: Determine the boundary type as floor type.

[0108] Since the height of the floor is lower than the height of the chassis of the cleaning equipment 100, when the specific boundary type is determined to be the floor type, there is no need to consider the interference between the floor and the moving side 100a of the cleaning equipment 100. The edge cleaning mode of step S230 in the above embodiment can be executed, or the cleaning parameters of the corresponding edge cleaning mode can be determined as "making the cleaning part 120 of the cleaning equipment 100 cover the boundary 200".

[0109] Furthermore, since the distribution of the boundary 200 of the floor type is quite different from that of the non-floor type, the boundary 200 of the floor type is generally cross-shaped, while that of the non-floor type is long and linear. Therefore, when the boundary type is determined to be floor type, the step S120 of determining the cleaning parameters of the corresponding edge cleaning mode may include the following steps: first, obtaining the size information of the boundary 200; then, based on the size information of the boundary 200, dividing the boundary 200 into long and short sides; finally, in the edge cleaning mode, instructing the robot to clean the long side first, and then clean the short side.

[0110] In a specific embodiment, the size information of the boundary 200 and the division of the boundary 200 into long and short sides can be obtained by processing the slit line sequence obtained in step S11216 and the image to be processed marked with the boundary 200. For example, first, the slit line sequence is combined and judged, and the T-shaped / cross-shaped intersecting lines are combined into a boundary 200. Then, the pixel-level size of all lines of each boundary 200 in the image to be processed is calculated. Next, it is determined which direction of the T-shaped / cross-shaped line is longer and marked accordingly. Then, after determining that the boundary 200 in the horizontal or vertical direction is the long side, the size of the boundary 200 is calculated. Finally, the horizontal distance Dis between the acquisition device 170 and the boundary 200 can be calculated based on the pose of the acquisition device 170 and the angular relationship between the acquisition device 170 and the boundary 200.

[0111] At this point, the cleaning parameters for the edge cleaning mode can be designed with reference to the horizontal distance Dis between the collection device 170 and the boundary 200, the dimensions of the boundary 200, and the long and short sides of the boundary 200. In the edge cleaning mode, the robot vacuum first moves to the edge of the long side at the horizontal distance Dis, with the center of the robot vacuum directly above the boundary 200. The straight brush 122 at the front center of the robot vacuum's chassis is raised, allowing it to clean the boundary 200. Next, the collection device 170 performs a liveness detection to check for any living organisms. If no living organisms are present, the suction power of the robot vacuum is increased from the usual 1500pa to 2000-2500pa, so that the dust swept out of the boundary 200 by the vertical brush 122 can be sucked into the dustbin of the robot vacuum. After the long side is cleaned, the robot vacuum cleans the seam of the second long side and then turns to clean the short side. After the short side is cleaned, the robot vacuum returns to the hanging point, and the above process is repeated until the entire boundary 200 is cleaned.

[0112] Step S115: Determine the boundary type as non-floor type.

[0113] After this step, you can continue to perform steps S116 and S117 to determine which of the non-floor types the boundary type is.

[0114] Step S116: Extract the texture features of the two sub-images.

[0115] Since non-floor types generally include carpet, wall, and furniture types, and these types differ significantly in texture features, this embodiment can further determine which non-floor type the boundary type belongs to based on the texture features of the sub-image.

[0116] Step S117: Based on the texture features, determine which of the following is the boundary type: carpet, wall, or furniture.

[0117] In this step, a feature library can be established in advance. The texture features extracted in step S116 are compared with the feature library to determine which of the following boundary types—carpet, wall, or furniture—the boundary type belongs to. In another embodiment, image recognition can be performed using a neural network model to further determine which of the non-floor types the boundary type belongs to.

[0118] Since the height of the furniture is higher than the height of the chassis of the cleaning equipment 100, when the specific boundary type is determined to be the furniture type, it is necessary to consider the interference between the furniture and the moving side 100a of the cleaning equipment 100. The edge cleaning mode of step S220 in the above embodiment can be executed.

[0119] Furthermore, given the wide variety of furniture types, including fabric sofas, wooden furniture, and ceramic furniture, some, such as wooden furniture, are easily scratched by the cleaning device 120 and are considered fragile. Therefore, to prevent the cleaning device 100 from damaging the furniture, further image recognition can be performed on the sub-image. Based on whether the furniture is fragile, the boundary type can be further divided, and cleaning parameters for different edge cleaning modes can be determined accordingly. That is, when determining the specific boundary type as furniture type, this step S117 can also include the following step: based on texture features, determine whether the boundary type is a fragile furniture type or a non-fragile furniture type.

[0120] When the boundary type is non-fragile furniture, it is not necessary to consider whether the edge of the cleaning component 120 exceeds the moving side 100a of the cleaning device 100, that is, whether the cleaning component 120 will damage the furniture. At this time, it is only necessary to consider whether the furniture is too high and will interfere with the cleaning device 100. The edge cleaning mode of step S220 in the above embodiment is executed, with the moving side 100a of the cleaning device 100 as the reference.

[0121] When the boundary type is fragile furniture, if the edge of the cleaning component 120 does not extend beyond the moving side 100a of the cleaning device 100, then only the possibility of the furniture being too tall interfering with the cleaning device 100 needs to be considered, and the edge cleaning mode of step S220 in the above embodiment can be executed. In this edge cleaning mode, since the edge of the cleaning component 120 does not extend beyond the moving side 100a of the cleaning device 100, the cleaning component 120 will not contact the furniture and will not damage the furniture.

[0122] When the boundary type is fragile furniture, if the edge of the cleaning component 120 extends beyond the moving side 100a of the cleaning device 100, it is necessary to consider not only whether the excessive height of the furniture will interfere with the cleaning device 100, but also to avoid the cleaning component 120 damaging the furniture. The edge cleaning mode can be combined according to steps S220 and S320 in the above embodiments. For example: the moving side 100a of the cleaning device 100 maintains a third preset distance from the boundary 200, and the cleaning component 120 of the cleaning device 100 maintains a fourth preset distance from the boundary 200; or, the moving side 100a of the cleaning device 100 maintains a third preset distance from the boundary 200, and the rotation speed of the cleaning component 120 maintains a third preset speed; or, the moving side 100a of the cleaning device 100 maintains a third preset distance from the boundary 200, and the cleaning component 120 of the cleaning device 100 maintains a fourth preset distance from the boundary 200, and the rotation speed of the cleaning component 120 maintains a third preset speed.

[0123] Please refer to Figure 8 This is an embodiment shown in this application. Figure 6 A detailed flowchart of step S117 in the corresponding embodiment is shown below. Please refer to... Figure 9This is a schematic diagram of a wall type with skirting boards shown in one embodiment of this application.

[0124] Since the height of the wall 300 is higher than the height of the chassis of the cleaning equipment 100, when the specific boundary type is determined to be carpet type, it is necessary to consider the interference between the wall 300 and the moving side 100a of the cleaning equipment 100. The edge cleaning mode of step S220 in the above embodiment can be executed.

[0125] Furthermore, since there are many types of walls 300, including painted walls and tiled walls, painted walls are more easily scratched by the cleaning device 120 and are therefore considered vulnerable walls 300, while tiled walls are considered non-vulnerable walls 300. However, painted walls are generally equipped with tiled baseboards, which also provide protection against scratches from the cleaning device 120. Therefore, painted walls with baseboards are less likely to be scratched by the cleaning device 120. Therefore, to prevent the cleaning device 100 from damaging the wall 300, when the specific boundary type is determined to be a wall type, the following steps S1171-S1174 can be performed after step S117 to further perform image recognition on the image data or sub-image, further classify the boundary type, and determine the cleaning parameters for different edge cleaning modes.

[0126] Step S1171: Determine whether there is a long strip region 310 between the wall 300 and the ground in the image data.

[0127] like Figure 9 As shown, when there is a baseboard on the wall 300, the image data will show a long strip area 310 on one side of the boundary 200 between the wall 300 and the ground. Therefore, step S1171 determines whether there is a baseboard on the wall 300 based on whether there is a clear long strip area 310 between the wall 300 and the ground in the image data. If yes, proceed to step S1172; otherwise, proceed to steps S1173-S1174.

[0128] Step S1172: Determine the boundary type as a wall with skirting boards.

[0129] When the boundary type is a wall type with a baseboard, there is no need to distinguish whether the wall 300 is a vulnerable wall 300 such as a painted wall or a non-vulnerable wall 300 such as a tiled wall. The baseboard will play a protective role. There is also no need to consider whether the edge of the cleaning component 120 exceeds the moving side 100a of the cleaning device 100, that is, whether the cleaning component 120 will damage the furniture. At this time, we can only consider whether the wall 300 is too high and will interfere with the cleaning device 100. Then, after this step, the edge cleaning mode of step S220 in the above embodiment can be executed, with the moving side 100a of the cleaning device 100 as the reference.

[0130] Step S1173: Determine the boundary type as a wall type without skirting boards.

[0131] When the boundary type is a wall type without skirting boards, the type can be further divided according to the material of the wall 300 to determine different edge cleaning modes in order to avoid the cleaning equipment 100 from damaging the wall 300.

[0132] Step S1174: Based on the texture features, determine whether the boundary type is a non-vulnerable wall type without skirting boards or a vulnerable wall type without skirting boards.

[0133] When the boundary type is a non-vulnerable wall type without a baseboard, it is not necessary to consider whether the edge of the cleaning component 120 exceeds the moving side 100a of the cleaning device 100, that is, whether the cleaning component 120 will damage the furniture. At this time, it is only necessary to consider whether the wall 300 is too high and will interfere with the cleaning device 100. Then, after this step, the edge cleaning mode of step S220 in the above embodiment can be executed, with the moving side 100a of the cleaning device 100 as the reference.

[0134] When the boundary type is a vulnerable wall type without baseboards, if the edge of the cleaning component 120 does not extend beyond the moving side 100a of the cleaning device 100, then only the possibility of the wall 300 being too high and interfering with the cleaning device 100 needs to be considered, and the edge cleaning mode of step S220 in the above embodiment can be executed. In this edge cleaning mode, since the edge of the cleaning component 120 does not extend beyond the moving side 100a of the cleaning device 100, the cleaning component 120 will not come into contact with the furniture and will not damage the furniture.

[0135] When the boundary type is a vulnerable wall type without baseboards, if the edge of the cleaning component 120 extends beyond the moving side 100a of the cleaning device 100, it is necessary to consider not only whether the excessive height of the wall 300 will interfere with the cleaning device 100, but also to avoid the cleaning component 120 damaging the furniture. The edge cleaning mode can be combined according to steps S220 and S320 in the above embodiments. For example: the moving side 100a of the cleaning device 100 maintains a third preset distance from the boundary 200, and the cleaning component 120 of the cleaning device 100 maintains a fourth preset distance from the boundary 200; or, the moving side 100a of the cleaning device 100 maintains a third preset distance from the boundary 200, and the rotation speed of the cleaning component 120 maintains a third preset speed; or, the moving side 100a of the cleaning device 100 maintains a third preset distance from the boundary 200, and the cleaning component 120 of the cleaning device 100 maintains a fourth preset distance from the boundary 200, and the rotation speed of the cleaning component 120 maintains a third preset speed.

[0136] Please refer to Figure 10 This is a schematic diagram illustrating the boundary 200 of a carpet-type cleaning device 100 according to an embodiment of this application. Please refer to... Figure 11 This is a schematic diagram of a cleaning device 100 cleaning a carpet type boundary 200 according to an embodiment of this application.

[0137] Since the height of the carpet 400 is lower than the height of the chassis of the cleaning device 100, when the specific boundary type is determined to be carpet type, there is no need to consider the interference between the carpet 400 and the moving side 100a of the cleaning device 100, and the edge cleaning mode of step S230 in the above embodiment can be executed.

[0138] Furthermore, due to the special nature of the carpet 400 material, the mop 121 is prone to soiling the carpet 400. Therefore, when the cleaning device 100 uses the brush 122 to clean the carpet 400, if the brush 122 gets too close to the carpet 400, the mop 121 will come into contact with the carpet 400, causing it to become soiled. Therefore, when setting the edge cleaning mode for carpet types, it is also necessary to consider maintaining a certain distance between the mop 121 and the edge 200 for close-range cleaning to avoid soiling the carpet 400. In this case, the edge 122a of the brush can be positioned at an eighth preset distance relative to the edge 400a of the carpet for close-range cleaning. The eighth preset distance can be set with reference to the distance between the edge 121a of the mop and the edge 122a of the brush. For example, the eighth preset distance is equal to 0.5-0.8 times the distance between the edge 121a of the mop and the edge 122a of the brush.

[0139] Furthermore, since carpet 400 can be categorized into long-pile carpet 400 and short-pile carpet 400 based on whether the pile length exceeds a preset value, the pile of long-pile carpet 400 and short-pile carpet 400 can interfere with cleaning equipment 100 to varying degrees. Therefore, to specifically clean long-pile carpet 400 and short-pile carpet 400 separately, further image recognition can be performed on the sub-image, and the boundary type can be further divided to determine the cleaning parameters for different edge cleaning modes. When determining the specific boundary type as carpet type, this step S117 may further include the following step: determining whether the boundary type is long-pile carpet type or short-pile carpet type based on texture characteristics.

[0140] In one embodiment, when the boundary type is a long-pile carpet, the cleaning component 120 maintains a first preset speed in the edge cleaning mode; when the boundary type is a short-pile carpet, the cleaning component 120 maintains a first preset speed in the edge cleaning mode. The second preset speed is greater than the first preset speed. This setting reduces the rotational speed of the brush 122 in the cleaning component 120 when cleaning the boundary 200 of a long-pile carpet, thereby reducing interference from the pile on the cleaning device 100 and ensuring the carpet boundary 200 is thoroughly cleaned.

[0141] In one embodiment, when the boundary type is a long-pile carpet, the suction power of the cleaning device 100 remains at a first preset suction power in the edge cleaning mode; when the boundary type is a short-pile carpet, the suction power of the cleaning device 100 remains at a second preset suction power in the edge cleaning mode. The second preset suction power is greater than the first preset suction power. With this setting, when cleaning the boundary 200 of a short-pile carpet, the rotation speed of the cleaning component 120 remains constant, increasing the suction power to reduce interference from the carpet fibers on the cleaning device 100, thus ensuring the carpet-type boundary 200 is thoroughly cleaned.

[0142] In one embodiment, when the boundary type is a long-pile carpet, in the edge cleaning mode, the cleaning component 120 of the cleaning device 100 maintains a first preset speed, and the suction power of the cleaning device 100 maintains a first preset suction power. When the boundary type is a short-pile carpet, in the edge cleaning mode, the cleaning component 120 of the cleaning device 100 maintains a second preset speed, and the suction power of the cleaning device 100 maintains a second preset suction power; wherein the second preset speed is greater than the first preset speed, and the second preset suction power is greater than the first preset suction power. With this setting, when cleaning the boundary 200 of a long-pile carpet, the cleaning component 120 has a lower speed and the suction power remains unchanged; when cleaning the boundary 200 of a short-pile carpet, the cleaning component 120 has a constant speed and the suction power is higher, which can reduce the interference of pile on the cleaning device 100, so that the boundary 200 of the carpet type is cleaned thoroughly.

[0143] The apparatuses and methods disclosed in the several embodiments provided in this application can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function.

[0144] In some alternative implementations, the functions marked in the boxes may occur in a different order than those shown in the accompanying drawings. For example, two consecutive boxes may actually be executed substantially in parallel, or sometimes in reverse order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and combinations of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified functions or actions, or using a combination of dedicated hardware and computer instructions.

[0145] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0146] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0147] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for cleaning along edges, characterized in that, include: Determine the type of boundary that the cleaning equipment needs to clean along its edges; Based on the boundary type, determine the cleaning parameters for the edge cleaning mode; The determination of the boundary type to be cleaned by the cleaning equipment includes: Acquire image data of the boundary; The image data is divided into two sub-images according to the direction of the boundary; Determine whether the similarity between the two subgraphs exceeds a preset threshold; If the similarity between the two subgraphs exceeds a preset threshold, the boundary type is determined to be a floor type. If the similarity between the two subgraphs does not exceed a preset threshold, the boundary type is determined to be a non-floor type.

2. The method according to claim 1, characterized in that, The cleaning parameters for the edge cleaning mode include one or more combinations of the following: edge distance, cleaning component rotation speed of the cleaning device, and suction power of the cleaning device.

3. The method according to claim 2, characterized in that, The step of determining the cleaning parameters for the edge cleaning mode based on the boundary type includes: When the boundary type is one in which the height of the object on the boundary side is higher than the height of the chassis of the cleaning equipment, in the edge cleaning mode, the moving side of the cleaning equipment maintains a first preset distance from the boundary. When the boundary type is one in which the height of the object on the boundary side is not higher than the height of the chassis of the cleaning equipment, in the edge cleaning mode, the moving side of the cleaning equipment maintains a second preset distance from the boundary, and the second preset distance is less than the first preset distance.

4. The method according to claim 2, characterized in that, The step of determining the cleaning parameters for the edge cleaning mode based on the boundary type includes: When the boundary type is determined to be the first type of vulnerable object on the boundary side, in the edge cleaning mode, the moving side of the cleaning device maintains a third preset distance from the boundary, and / or, the cleaning component of the cleaning device maintains a fourth preset distance from the boundary, and / or, the rotation speed of the cleaning component maintains a third preset speed; When the boundary type is determined to be the second type of non-vulnerable boundary-side object, in the edge cleaning mode, the moving side of the cleaning device maintains a fifth preset distance from the boundary, and / or, the cleaning component of the cleaning device maintains a sixth preset distance from the boundary, and / or, the rotation speed of the cleaning component maintains a fourth preset speed; Wherein, the fifth preset distance is less than the third preset distance; the sixth preset distance is less than the fourth preset distance; and the fourth preset speed is less than the third preset speed. The first type includes one or more of the following: vulnerable wall type without baseboard, vulnerable furniture type, and vulnerable floor type; the second type includes one or more of the following: wall type with baseboard, non-vulnerable wall type without baseboard, non-vulnerable furniture type, non-vulnerable floor type, and carpet type.

5. The method according to claim 2, characterized in that, The cleaning parameters for determining the edge cleaning mode based on the boundary type include: When the boundary type is a long-pile carpet, in the edge cleaning mode, the cleaning component of the cleaning device maintains a first preset speed, and / or the suction power of the cleaning device maintains a first preset suction power; When the boundary type is a short-pile carpet, in the edge cleaning mode, the cleaning component of the cleaning device maintains a second preset speed, and / or the suction of the cleaning device maintains a second preset suction; wherein the second preset speed is greater than the first preset speed, and the second preset suction is greater than the first preset suction.

6. The method according to claim 2, characterized in that, The step of determining the cleaning parameters for the edge cleaning mode based on the boundary type includes: When the boundary type is floor type, the cleaning equipment cleaning component covers the boundary.

7. The method according to claim 1, characterized in that, After determining that the boundary type is a non-floor type, the process includes: Extract the texture features of the two sub-images; Based on the texture features, determine which of the following is the boundary type: carpet, wall, or furniture.

8. The method according to claim 7, characterized in that, Determining the boundary type to be cleaned by the cleaning equipment includes: When the boundary type is a wall type, determine whether there is a long strip area between the wall and the ground in the image data; If there is a long strip area between the wall and the ground in the image data, the boundary type is determined to be a wall type with skirting boards; If there is no long strip area between the wall and the ground in the image data, the boundary type is determined to be a wall type without skirting boards; When the boundary type is determined to be a wall type without skirting boards, based on the texture features, it is determined whether the boundary type is a non-vulnerable wall type without skirting boards or a vulnerable wall type without skirting boards.

9. The method according to claim 7, characterized in that, Determining the boundary type to be cleaned by the cleaning equipment includes: When the boundary type is furniture type, the boundary type is determined to be either fragile furniture type or non-fragile furniture type based on the texture features; When the boundary type is carpet type, the boundary type is determined to be either long-pile carpet type or short-pile carpet type based on the texture features.

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