Peri-implant cleaning method and device and cleaning apparatus, computer readable storage medium

Abstract

The application provides a pile surrounding cleaning method and device, a cleaning equipment and a computer readable storage medium. The method comprises the following steps: detecting whether a pile area where a charging pile of the cleaning equipment is located and a cleaned area have an intersection; and if the pile area and the cleaned area have the intersection, performing a cleaning process based on a surrounding point of the pile area. The technical scheme of the application can automatically identify a cleanable area that is missed in cleaning due to the double obstacles of the pile area and obstacles near the pile area, and improves the adaptability of the cleaning equipment to the cleaning environment with obstacles around the pile, so that the cleaning capacity of the cleaning equipment is effectively improved.

Description

[Technical Field]

[0001] This application relates to the field of intelligent electrical appliance technology, and in particular to a method and apparatus for cleaning around piles, cleaning equipment, and a computer-readable storage medium. [Background Technology]

[0002] After cleaning, sweeping robots, mopping robots, and floor scrubbers often need to automatically return to their charging stations to recharge. The area where the charging station is located, known as the charging station zone, is generally designated as a no-go zone for the cleaning equipment. Furthermore, if there are obstacles around the charging station, the cleaning equipment can easily miss areas that should be cleaned near the charging station due to the combined obstruction of the charging station zone and the obstacles.

[0003] In one possible scenario, such as Figure 1 As shown, there is an obstacle 'a' in front of the charging pile, and the charging pile area is 'b'. After the cleaning equipment exits the charging pile, it performs cleaning and travels along obstacle 'a' to position 'c' near the charging pile area 'b'. Because the distance between obstacle 'a' and the edge of the charging pile area 'b' at position 'c' is less than the maximum width of the cleaning equipment, the cleaning equipment's movement is restricted, and it cannot pass through position 'c' to clean area 'd' in the diagram. This results in the cleaning equipment missing area 'd'.

[0004] In another possible scenario, such as Figure 2 As shown, the charging station is located in area b. There are obstacles e and f on either side in front of the charging station. The cleaning equipment performs cleaning after exiting the charging station. Due to the influence of obstacles e and f, and because the distances between obstacles e and f and the edges of area b are less than the maximum width of the cleaning equipment, the cleaning equipment cannot pass through the gaps between obstacle e and area b, nor can it pass through the gaps between obstacle f and area b. Ultimately, the cleaning area only cleans a small portion in front of area b before returning to the charging station, resulting in a very low cleaning coverage and poor cleaning effectiveness.

[0005] In summary, areas with obstacles nearby often affect the normal cleaning route of cleaning equipment, causing the cleaning equipment to miss areas that can be cleaned, reducing the cleaning area and affecting the final cleaning effect.

[0006] Therefore, how to avoid cleaning equipment missing areas due to obstacles around the pile area has become an urgent technical problem to be solved. [Summary of the Invention]

[0007] This application provides a method, apparatus, and cleaning equipment for cleaning around piles, as well as a computer-readable storage medium, aiming to solve the technical problem in related technologies where cleaning equipment misses areas that can be cleaned due to obstacles around the pile area.

[0008] In a first aspect, embodiments of this application provide a method for cleaning the perimeter of a charging pile, comprising: detecting whether the area where the charging pile of the cleaning equipment is located intersects with the cleaned area; if the area where the charging pile intersects with the cleaned area, performing cleaning processing based on the peripheral points of the charging pile area.

[0009] In one embodiment of this application, optionally, the cleaning process based on the perimeter points of the pile area includes: determining a cleanable area based on the perimeter points of the pile area; and cleaning the cleanable area according to a preset cleaning strategy.

[0010] In one embodiment of this application, optionally, determining the cleanable area based on the surrounding points of the pile area includes: clustering the surrounding points of the pile area to obtain multiple clustering results; for each clustering result, if the area where the clustering result is located meets preset cleaning conditions, the area where the clustering result is located is determined as a cleanable area, wherein the preset cleaning conditions are used to reflect the characteristics that the area where the clustering result is located has when it can be effectively cleaned by the cleaning equipment.

[0011] In one embodiment of this application, optionally, detecting whether the area where the charging pile of the cleaning equipment is located intersects with the cleaned area includes: when cleaning a first area is completed, detecting whether the first area intersects with the area where the charging pile of the cleaning equipment is located; or when cleaning multiple second areas is completed, detecting whether at least one second area intersects with the area where the charging pile of the cleaning equipment is located; or when cleaning a third area including a designated point is completed, detecting whether the third area intersects with the area where the charging pile of the cleaning equipment is located, wherein the designated point is a point outside the charging pile area whose distance from the edge point of the charging pile area is less than or equal to a first designated distance.

[0012] Optionally, if the pile area intersects with the cleaned area, before clustering the peripheral points of the pile area, the method further includes: determining an extended area of ​​the pile area based on the edge points of the pile area, wherein the extended area is distributed around the pile area and is obtained by extending each edge point of the pile area a second specified distance in the vertical direction of the corresponding edge; obtaining points with cleanable characteristics in the extended area as peripheral points of the pile area, wherein the cleanable characteristics are used to reflect the characteristics of points located around the pile area that have not been cleaned due to the combined obstruction of the pile area and obstacles.

[0013] In one embodiment of this application, optionally, the cleanable feature includes one or more of the following: the width of the uncleaned area in at least one direction of the point's location is greater than the maximum body width of the cleaning device; the point is an uncleaned non-obstacle point; the points adjacent to the point are all uncleaned non-obstacle points; the point is outside a preset restricted area, the preset restricted area including the carpet area, the stake area, and the self-defined safety zone.

[0014] In one embodiment of this application, optionally, the preset cleaning conditions include one or more of the following: the width of the area where the clustering result is located is greater than the maximum body width of the cleaning device in at least one direction; the area of ​​the uncleaned area in the area where the clustering result is located is greater than or equal to a first specified area; the area of ​​the cleaned area in the area where the clustering result is located is less than or equal to a second specified area; the area where the clustering result is located includes at least a specified number of points that are at a distance greater than or equal to a third specified distance from obstacles.

[0015] In one embodiment of this application, optionally, cleaning the cleanable area according to a preset cleaning strategy includes: performing a cross-area action on the cleanable area; when the cross-area action is successful, cleaning the cleanable area; when the cross-area action fails, returning to the step of detecting whether the charging pile area of ​​the cleaning device intersects with the cleaned area, to re-determine whether the cleanable area exists around the charging pile area; and cleaning the cleanable area if the cleanable area is re-determined to exist around the charging pile area.

[0016] Optionally, in one embodiment of this application, cleaning the cleanable area when it is determined again that there is a cleanable area around the pile area includes: obtaining an uncleaned area within a specified distance range centered on the current position of the cleaning device; and cleaning the cleanable area if the area of ​​the uncleaned area is greater than or equal to a third specified area.

[0017] Secondly, this application provides a pile perimeter cleaning device, including: a region intersection detection unit, used to detect whether the pile area where the charging pile of the cleaning device is located intersects with the cleaned area; and a cleaning execution unit, used to perform cleaning processing based on the peripheral points of the pile area if the pile area intersects with the cleaned area.

[0018] In one embodiment of this application, optionally, the cleaning execution unit includes: a cleanable area determination unit, configured to determine a cleanable area based on the surrounding points of the pile area; the cleaning execution unit is configured to: clean the cleanable area according to a preset cleaning strategy.

[0019] In one embodiment of this application, optionally, the cleanable area determination unit is used to: cluster the surrounding points of the pile area to obtain multiple clustering results; for each clustering result, if the area where the clustering result is located meets preset cleaning conditions, the area where the clustering result is located is determined as a cleanable area, wherein the preset cleaning conditions are used to reflect the characteristics that the area where the clustering result is located can be effectively cleaned by the cleaning equipment.

[0020] In one embodiment of this application, optionally, the region intersection detection unit is configured to: detect whether the first region intersects with the charging pile area of ​​the cleaning equipment when cleaning the first region is completed; or detect whether at least one second region intersects with the charging pile area of ​​the cleaning equipment when cleaning multiple second regions is completed; or detect whether the third region intersects with the charging pile area of ​​the cleaning equipment when cleaning the third region including a specified point is completed, wherein the specified point is a point outside the charging pile area whose distance from the edge point of the charging pile area is less than or equal to a first specified distance.

[0021] Optionally, in one embodiment of this application, the pile perimeter cleaning device further includes: an extension area determination unit, configured to determine an extension area of ​​the pile area based on the edge points of the pile area before clustering the peripheral points of the pile area if the pile area intersects with the cleaned area, wherein the extension area is distributed around the pile area and is obtained by extending each edge point of the pile area a second specified distance in the corresponding edge vertical direction; and a peripheral point determination unit, configured to obtain points with cleanable characteristics in the extension area as peripheral points of the pile area, wherein the cleanable characteristics are used to reflect the characteristics of points located around the pile area that have not been cleaned due to the combined obstruction of the pile area and obstacles.

[0022] In one embodiment of this application, optionally, the cleanable feature includes one or more of the following: the width of the uncleaned area in at least one direction of the point's location is greater than the maximum body width of the cleaning device; the point is an uncleaned non-obstacle point; the points adjacent to the point are all uncleaned non-obstacle points; the point is outside a preset restricted area, the preset restricted area including the carpet area, the stake area, and the self-defined safety zone.

[0023] In one embodiment of this application, optionally, the preset cleaning conditions include one or more of the following: the width of the area where the clustering result is located is greater than the maximum body width of the cleaning device in at least one direction; the area of ​​the uncleaned area in the area where the clustering result is located is greater than or equal to a first specified area; the area of ​​the cleaned area in the area where the clustering result is located is less than or equal to a second specified area; the area where the clustering result is located includes at least a specified number of points that are at a distance greater than or equal to a third specified distance from obstacles.

[0024] In one embodiment of this application, optionally, the cleaning execution unit is further configured to: perform a cross-regional action on the cleanable area; when the cross-regional action is successfully performed, clean the cleanable area; when the cross-regional action fails, return to the step of detecting whether the charging pile area of ​​the cleaning device intersects with the cleaned area, so as to determine again whether there is a cleanable area around the charging pile area; and if it is determined again that there is a cleanable area around the charging pile area, clean the cleanable area.

[0025] In one embodiment of this application, optionally, the cleaning execution unit is further configured to: acquire an uncleaned area within a specified distance range centered on the current position of the cleaning device; and clean the cleanable area if the area of ​​the uncleaned area is greater than or equal to a third specified area.

[0026] Thirdly, embodiments of this application provide a cleaning device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being configured to perform the method described in the first aspect above.

[0027] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions for performing the method described in the first aspect above.

[0028] The above technical solution addresses the problem in related technologies where cleaning equipment misses cleanable areas due to obstacles surrounding the charging station. By identifying whether the area where the charging station is located intersects with the already cleaned area, it determines whether the cleaned area is part of the charging station perimeter. When the cleaned area is indeed part of the charging station perimeter, it uses points around the charging station perimeter that indicate the presence of obstacles to identify areas missed due to the combined obstruction of the charging station and the charging station itself. This automatically identifies areas missed due to the combined obstruction of the charging station and the charging station, improving the cleaning equipment's adaptability to environments with obstacles around the charging station, increasing the cleaning area, effectively enhancing its cleaning capacity, improving overall cleaning performance, and enhancing the user experience. [Attached Image Description]

[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A schematic diagram is shown of a cleaning device in the related art whose cleaning path is blocked by obstacles around the pile area;

[0031] Figure 2 A schematic diagram is shown of another cleaning device in the related art whose cleaning path is blocked by obstacles around the pile area;

[0032] Figure 3 A flowchart of a pile perimeter cleaning method according to an embodiment of this application is shown;

[0033] Figure 4 A flowchart of a pile perimeter cleaning method according to another embodiment of this application is shown;

[0034] Figure 5 A flowchart of a pile perimeter cleaning method according to another embodiment of this application is shown;

[0035] Figure 6 A block diagram of a pile perimeter cleaning device according to an embodiment of this application is shown;

[0036] Figure 7 A block diagram of a computer device according to one embodiment of this application is shown;

[0037] Figure 8 A block diagram of a computer device according to one embodiment of this application is shown.

Detailed Implementation Methods

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Figure 3 A flowchart of a pile perimeter cleaning method according to an embodiment of this application is shown.

[0040] like Figure 3 As shown, a pile perimeter cleaning method according to an embodiment of this application includes:

[0041] Step 302: Detect whether the area where the charging pile of the cleaning equipment is located overlaps with the cleaned area.

[0042] The cleaned area refers to the area that has been cleaned by the cleaning equipment. As described in the background section above, if there are obstacles around the pile area, the cleaning equipment may miss some areas that can be cleaned. Therefore, after cleaning the cleaned area, it can be determined whether the cleaned area is adjacent to the pile area by judging whether the cleaned area intersects with the pile area.

[0043] In one possible design, the cleaned area is all the areas that the cleaning equipment has cleaned in the current cleaning process.

[0044] In another possible design, the cleaned area refers to any of the multiple cleaning zones that the cleaning equipment has already cleaned in the current cleaning process. Further, optionally, the cleaned area refers to the current cleaning zone that the cleaning equipment has completed cleaning in real time. In this way, after cleaning each cleaning zone, the cleaning equipment checks whether any areas that could be cleaned have been missed due to obstacles around the cleaning area. This allows for timely supplementary cleaning of any missed areas throughout the entire cleaning process, reducing the path length of the cleaning equipment during supplementary cleaning and lowering power consumption.

[0045] In another possible design, the cleaned area refers to all areas or cleaning zones that have been cleaned by the cleaning equipment in the historical cleaning process, thereby enabling the cleaning equipment to supplement the cleaning of areas that were missed in the historical cleaning process and improve the cleaning effect.

[0046] Step 304: If the pile area intersects with the cleaned area, perform cleaning based on the surrounding points of the pile area.

[0047] If the area where the charging station of the cleaning equipment is located intersects with the already cleaned area, it means that the cleaned area and the charging station area are adjacent. In this case, there is a possibility that there are obstacles around the charging station area. Accordingly, the cleaning equipment may miss a cleanable area due to the dual obstruction of obstacles near the charging station area and the charging station area itself. Therefore, if the area where the charging station of the cleaning equipment is located intersects with the already cleaned area, further cleaning can be triggered so that if there is a missed cleanable area, that area can be cleaned in a supplementary manner.

[0048] Of course, if the area where the charging station of the cleaning equipment is located does not overlap with the area that has been cleaned, it means that the area that has been cleaned is not close to the charging station area. There is no possibility that the area that can be cleaned will be missed due to the double obstruction of obstacles near the charging station area and the charging station area itself. The next cleaning process can proceed normally.

[0049] Furthermore, the perimeter points of the pile area can reflect important characteristics of whether there are obstacles around the pile area. Therefore, based on the perimeter points of the pile area, we can determine the cleanable areas around the pile area that have been missed due to the dual obstruction of obstacles and the pile area.

[0050] The above technical solution identifies whether the cleaned area is a perimeter area of ​​the charging station by checking if there is an intersection between the charging station area and the cleaned area. When the cleaned area is a perimeter area, it uses perimeter points that indicate the presence of obstacles around the charging station to determine areas that were missed due to both obstacles near the station and the station itself. This automatically identifies areas missed due to both obstacles, improving the cleaning equipment's adaptability to cleaning environments with obstacles around the charging station, increasing the cleaning area, effectively enhancing its cleaning capacity, improving overall cleaning results, and enhancing the user experience.

[0051] Specifically, it is possible to determine the cleanable area based on the surrounding points of the pile area, and then clean the cleanable area according to the preset cleaning strategy to achieve supplementary cleaning of the cleanable area, improve the adaptability of the cleaning equipment to the environment, and obtain a better cleaning effect.

[0052] In one possible design, the surrounding points of the pile area can be directly connected in pairs to form a surrounding area. If the maximum width of this surrounding area is greater than the maximum body width of the cleaning equipment, it means that the cleaning equipment can pass through the surrounding area. In this case, the surrounding area is considered a cleanable area, and the cleaning equipment can move to the surrounding area to perform supplementary cleaning.

[0053] In another possible design, the surrounding points can be clustered, and the cleanliness feasibility of each cluster result can be judged. The following is a demonstration... Figure 4 This proposal will be described in detail.

[0054] like Figure 4 As shown, a pile perimeter cleaning method according to another embodiment of this application includes:

[0055] Step 402: Detect whether the area where the charging pile of the cleaning equipment is located overlaps with the cleaned area.

[0056] Step 404: If the pile area intersects with the cleaned area, cluster the surrounding points of the pile area to obtain multiple clustering results.

[0057] If the area where the charging station of the cleaning equipment is located intersects with the already cleaned area, it means that the cleaned area and the charging station area are adjacent. In this case, there is a possibility that there are obstacles in the area surrounding the charging station area. Accordingly, the cleaning equipment may miss a cleanable area due to the dual obstruction of obstacles near the charging station area and the charging station area itself. Since the perimeter points of the charging station area reflect important characteristics of whether there are obstacles around the charging station area, the area where the perimeter points are located may be a missed cleanable area.

[0058] At this point, the surrounding points of the pile area are clustered to obtain multiple clustering results. Each clustering result contains an area that may have been missed and is available for cleaning.

[0059] Optionally, the methods for clustering surrounding points include, but are not limited to, any computational method capable of clustering points, such as k-means clustering algorithm, k-means++ clustering algorithm, bi-kmeans clustering algorithm, kernel k-means clustering algorithm, DBSCAN clustering algorithm, and OPTICS clustering algorithm.

[0060] Step 406: For each clustering result, if the region where the clustering result is located meets the preset cleaning conditions, the region where the clustering result is located is determined as a cleanable region.

[0061] The preset cleaning conditions reflect the characteristics that the area containing the clustering results must possess to be effectively cleaned by the cleaning equipment. If a clustering result meets the preset cleaning conditions, it indicates that the area containing the clustering result can be effectively cleaned by the cleaning equipment, and therefore the area containing the clustering result can be identified as a cleanable area.

[0062] Furthermore, the preset cleaning conditions include one or more of the following: the width of the area where the clustering result is located is greater than the maximum body width of the cleaning device in at least one direction; the area of ​​the uncleaned area in the area where the clustering result is located is greater than or equal to a first specified area; the area of ​​the cleaned area in the area where the clustering result is located is less than or equal to a second specified area; the area where the clustering result is located includes at least a specified number of points that are at a distance greater than or equal to a third specified distance from obstacles.

[0063] If the width of the clustered area is greater than the maximum width of the cleaning equipment in at least one direction, it indicates that the clustered area can accommodate the cleaning equipment in at least one direction and has the necessary conditions for effective cleaning.

[0064] The first designated area is the smallest area large enough to drive cleaning equipment to supplement cleaning. If the area of ​​the uncleaned area in the region where the clustering result is located is greater than or equal to the first designated area, it means that the region where the clustering result is located is large enough to warrant supplementary cleaning.

[0065] The second specified area is the maximum area of ​​the area that has already been cleaned when it is necessary for the cleaning equipment to come and clean it. If the area of ​​the cleaned area in the region where the cluster result is located is less than or equal to the second specified area, it means that although the region where the cluster result is located has a cleaned part, its remaining part is still large enough to need to be cleaned.

[0066] The third specified distance refers to the minimum distance between a point and an obstacle so that it can be effectively cleaned without being affected by the obstacle. If the area where the clustering result is located includes at least a specified number of points that are at a distance greater than or equal to the third specified distance from the obstacle, it means that the area where the clustering result is located has enough points that are far enough away from the obstacle, and this area has the necessary conditions to be effectively cleaned by the cleaning equipment.

[0067] Optionally, the first specified area is 10cm². 2 30cm 2 Or 50cm 2 .

[0068] Optionally, the second specified area is 5cm². 2 25cm 2 Or 10cm 2 .

[0069] Optionally, the quantity can be specified as 30, 45, or 70.

[0070] Optionally, the third specified distance is 0.5cm, 1cm or 1.5cm.

[0071] Of course, the values ​​mentioned above can be any size that meets actual cleaning needs, and are not limited to the examples above.

[0072] Step 408: Clean the cleanable area according to the preset cleaning strategy.

[0073] The preset cleaning strategy refers to a pre-defined cleaning method used to supplement cleanable areas that have been missed during cleaning. Cleaning the cleanable areas according to the preset cleaning strategy can supplement the cleaning of cleanable areas that were missed due to the dual obstruction of obstacles near the pile area and the pile area itself. This improves the adaptability of the cleaning equipment to cleaning environments with obstacles around the pile, increases the cleaning area of ​​the cleaning equipment, effectively enhances its cleaning ability, and thus improves the overall cleaning effect and enhances the user experience.

[0074] Specifically, the preset cleaning strategy includes: performing cross-regional actions on the cleanable area; and cleaning the cleanable area when the cross-regional actions are successfully performed.

[0075] Cross-area operation refers to the movement of cleaning equipment from a currently cleaned area to another uncleaned area. When the cross-area operation is successfully executed, it means that the cleaning equipment has successfully entered the cleanable area, at which point it can directly perform supplementary cleaning on the cleanable area.

[0076] When the cross-regional action fails, the process returns to the step of detecting whether the charging pile area of ​​the cleaning equipment intersects with the cleaned area, in order to determine again whether there is a cleanable area around the charging pile area; if it is determined again that there is a cleanable area around the charging pile area, the cleanable area is cleaned.

[0077] If the cross-regional action fails at this point, it indicates that the cleanable area may be too small for the cleaning equipment to pass through smoothly due to factors such as insufficient length in the direction of travel. In this case, the cleanable area can be redefined.

[0078] The step of cleaning the cleanable area when it is determined again that there is a cleanable area around the pile area includes: obtaining an uncleaned area within a specified distance range centered on the current position of the cleaning equipment; and cleaning the cleanable area if the area of ​​the uncleaned area is greater than or equal to a third specified area.

[0079] This means that the cleanable area near the cleaning equipment will only be cleaned if the uncleaned area near the cleaning equipment is large enough. The third specified area refers to the minimum area of ​​the cleanable area where cleaning is necessary, and can be selected as 50cm². 2 80cm 2 Or 90cm 2Of course, the third specified area can be any size that meets the actual cleaning needs, and is not limited to the examples mentioned above.

[0080] In any of the above embodiments, optionally, adjacent points of the pile area can be randomly selected as peripheral points of the pile area, or points between the pile area and surrounding obstacles can be randomly selected as peripheral points of the pile area. Figure 5 As shown, a pile perimeter cleaning method according to another embodiment of this application includes:

[0081] Step 502: Detect whether the area where the charging pile of the cleaning equipment is located overlaps with the cleaned area.

[0082] Step 504: If the pile area intersects with the cleaned area, determine the extension area of ​​the pile area based on the edge points of the pile area, wherein the extension area is distributed around the periphery of the pile area.

[0083] In the extended region of the pile area, there may be cleanable areas that have been missed due to the dual obstruction caused by obstacles near the pile area and the pile area itself.

[0084] In one possible design, the extended region is obtained by extending a second specified distance from each edge point of the pile region in the corresponding edge vertical direction.

[0085] In one possible design, the extended region is obtained by extending a second specified distance from each edge point of the pile region in a direction that is offset clockwise by 30° in the vertical direction of the corresponding edge.

[0086] The second specified distance can be any distance greater than the maximum width of the cleaning equipment body, thus ensuring that the width of the extended area can accommodate the passage of the cleaning equipment body. An area can only be cleaned if it can be passed through by the cleaning equipment; therefore, selecting any distance greater than the maximum width of the cleaning equipment body satisfies the necessary condition for the cleaning equipment to perform supplementary cleaning of the extended area.

[0087] Optionally, the second specified distance is 35m, 45cm, or 48cm. Of course, this value can be any size that meets actual cleaning needs, and is not limited to the examples mentioned above.

[0088] Step 506: Obtain points with cleanable features in the extended region as peripheral points of the pile area, wherein the cleanable features are used to reflect the characteristics of points located on the periphery of the pile area that have not been cleaned due to the combined obstruction of the pile area and obstacles.

[0089] The cleanable features include one or more of the following: the width of the uncleaned area in at least one direction of the point's location is greater than the maximum body width of the cleaning device; the point is an uncleaned non-obstacle point; the points adjacent to the point are all uncleaned non-obstacle points; the point is outside a preset restricted area, which includes a carpet area, the stake area, and a self-defined safety zone.

[0090] If the width of the uncleaned area in at least one direction at the location of the point is greater than the maximum width of the cleaning equipment, it indicates that the location of the point can accommodate the cleaning equipment to pass through smoothly and has the basis for effective cleaning. Screening uncleaned non-obstacle points avoids repeated cleaning of already cleaned points, reducing redundant work by the cleaning equipment. Furthermore, if all adjacent points of the point are uncleaned non-obstacle points, it indicates that the cleaning feasibility and cleaning demand of the area where the point is located are sufficiently high. Additionally, if the point is located outside a preset restricted area, it avoids the preset restricted area restricting the movement of the cleaning equipment and affecting the re-cleaning effect. The preset restricted area includes, but is not limited to, carpet areas, pile areas, and self-defined safety zones.

[0091] Step 508: Cluster the surrounding points of the pile area to obtain multiple clustering results.

[0092] Step 510: For each clustering result, if the region where the clustering result is located meets the preset cleaning conditions, the region where the clustering result is located is determined as a cleanable region.

[0093] Step 512: Clean the cleanable area according to the preset cleaning strategy.

[0094] The preset cleaning conditions reflect the characteristics that the area containing the clustering results must possess to be effectively cleaned by the cleaning equipment. If a clustering result meets the preset cleaning conditions, it indicates that the area containing the clustering result can be effectively cleaned by the cleaning equipment, and therefore the area containing the clustering result can be identified as a cleanable area.

[0095] The preset cleaning strategy refers to a pre-defined cleaning method used to supplement cleanable areas that have been missed during cleaning. Cleaning the cleanable areas according to the preset cleaning strategy can supplement the cleaning of cleanable areas that were missed due to the dual obstruction of obstacles near the pile area and the pile area itself. This improves the adaptability of the cleaning equipment to cleaning environments with obstacles around the pile, increases the cleaning area of ​​the cleaning equipment, effectively enhances its cleaning ability, and thus improves the overall cleaning effect and enhances the user experience.

[0096] Based on any of the above embodiments, in one possible design, the method for detecting whether the charging pile area of ​​the cleaning equipment intersects with the cleaned area can be selected as follows: when the cleaning work of the first area is completed, detect whether the first area intersects with the charging pile area of ​​the cleaning equipment.

[0097] The first zone is the area in the cleaning process where the cleaning equipment has the potential for supplementary cleaning.

[0098] Optionally, users can manually select areas that are likely to be missed during cleaning or areas that have been missed during historical cleaning processes as the first area.

[0099] Optionally, all cleaned areas in the current cleaning process can be set as the first area to verify the necessity of overall re-cleaning of all cleaned areas.

[0100] In another possible design, the method for detecting whether the charging pile area of ​​the cleaning equipment intersects with the cleaned area can be to detect whether at least one of the second areas intersects with the charging pile area of ​​the cleaning equipment when cleaning multiple second areas is completed.

[0101] The cleaning equipment divides the entire area to be cleaned into multiple cleaning zones during the cleaning process. Each zone refers to a single cleaning zone within the cleaning process. This allows the cleaning equipment to perform timely supplementary cleaning checks on that zone and / or other zones that were previously cleaned after cleaning, ensuring that any missed areas can be cleaned promptly.

[0102] In another possible design, the method for detecting whether the charging pile area of ​​the cleaning equipment intersects with the cleaned area can be as follows: when cleaning a third area including a designated point is completed, detect whether the third area intersects with the charging pile area of ​​the cleaning equipment.

[0103] The designated point is a point outside the pile area that is less than or equal to a first designated distance from the edge of the pile area. Optionally, the first designated distance is 0.5cm, 1cm, or 1.5cm. Of course, this value can be any size that meets actual cleaning needs and is not limited to the foregoing examples.

[0104] In other words, targeted supplementary cleaning needs can be tested for the designated area around the piles to promptly identify areas that may have been missed due to the dual obstruction caused by obstacles near the pile area and the pile area itself.

[0105] Figure 6A block diagram of a pile perimeter cleaning device according to one embodiment of this application is shown.

[0106] like Figure 6 As shown, a pile perimeter cleaning device 600 according to an embodiment of this application includes: a region intersection detection unit 602, used to detect whether the pile area where the charging pile of the cleaning device is located has an intersection with the cleaned area; and a cleaning execution unit 604, used to perform cleaning processing based on the peripheral points of the pile area if the pile area has an intersection with the cleaned area.

[0107] In one embodiment of this application, optionally, the cleaning execution unit 604 includes: a cleanable area determination unit, configured to determine a cleanable area based on the surrounding points of the pile area; the cleaning execution unit is configured to: clean the cleanable area according to a preset cleaning strategy.

[0108] In one embodiment of this application, optionally, the cleanable area determination unit is used to: cluster the surrounding points of the pile area to obtain multiple clustering results; for each clustering result, if the area where the clustering result is located meets preset cleaning conditions, the area where the clustering result is located is determined as a cleanable area, wherein the preset cleaning conditions are used to reflect the characteristics that the area where the clustering result is located can be effectively cleaned by the cleaning equipment.

[0109] In one embodiment of this application, optionally, the region intersection detection unit 602 is used to: detect whether the first region intersects with the charging pile area of ​​the cleaning equipment when cleaning the first region is completed; or detect whether at least one second region intersects with the charging pile area of ​​the cleaning equipment when cleaning multiple second regions is completed; or detect whether the third region intersects with the charging pile area of ​​the cleaning equipment when cleaning the third region including a specified point is completed, wherein the specified point is a point outside the charging pile area whose distance from the edge point of the charging pile area is less than or equal to a first specified distance.

[0110] Optionally, in one embodiment of this application, the pile perimeter cleaning device 600 further includes: an extension area determination unit, configured to determine an extension area of ​​the pile area based on the edge points of the pile area before clustering the peripheral points of the pile area if the pile area intersects with the cleaned area, wherein the extension area is distributed around the pile area and is obtained by extending each edge point of the pile area a second specified distance in the corresponding edge vertical direction; and a peripheral point determination unit, configured to obtain points with cleanable characteristics in the extension area as peripheral points of the pile area, wherein the cleanable characteristics are used to reflect the characteristics of points located around the pile area that have not been cleaned due to the combined obstruction of the pile area and obstacles.

[0111] In one embodiment of this application, optionally, the cleanable feature includes one or more of the following: the width of the uncleaned area in at least one direction of the point's location is greater than the maximum body width of the cleaning device; the point is an uncleaned non-obstacle point; the points adjacent to the point are all uncleaned non-obstacle points; the point is outside a preset restricted area, the preset restricted area including the carpet area, the stake area, and the self-defined safety zone.

[0112] In one embodiment of this application, optionally, the preset cleaning conditions include one or more of the following: the width of the area where the clustering result is located is greater than the maximum body width of the cleaning device in at least one direction; the area of ​​the uncleaned area in the area where the clustering result is located is greater than or equal to a first specified area; the area of ​​the cleaned area in the area where the clustering result is located is less than or equal to a second specified area; the area where the clustering result is located includes at least a specified number of points that are at a distance greater than or equal to a third specified distance from obstacles.

[0113] In one embodiment of this application, optionally, the cleaning execution unit 604 is further configured to: perform a cross-regional action on the cleanable area; when the cross-regional action is successfully executed, clean the cleanable area; when the cross-regional action fails, return to the step of detecting whether the charging pile area of ​​the cleaning device intersects with the cleaned area, so as to determine again whether there is a cleanable area around the charging pile area; and if it is determined again that there is a cleanable area around the charging pile area, clean the cleanable area.

[0114] In one embodiment of this application, optionally, the cleaning execution unit 604 is further configured to: acquire an uncleaned area within a specified distance range centered on the current position of the cleaning device; and clean the cleanable area if the area of ​​the uncleaned area is greater than or equal to a third specified area.

[0115] The pile perimeter cleaning device 600 uses the solution described in any one of the above embodiments, and therefore has all the above-mentioned technical effects, which will not be repeated here.

[0116] In another embodiment, this application provides a computer device, which may be a server, and its internal structure diagram may be as follows. Figure 7 As shown. The computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used for communication with external clients via a network connection. When the computer program is executed by the processor, it can implement the pile perimeter cleaning method described in any of the above embodiments.

[0117] In one embodiment, this application also provides a computer device, which can be a client, and its internal structure diagram can be as follows: Figure 8 As shown, the computer device includes a processor, memory, network interface, display screen, and input device connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with an external server via a network connection. When the computer program is executed by the processor, it can implement the pile perimeter cleaning method described in any of the above embodiments.

[0118] The cleaning equipment described in this application embodiment can be any device with cleaning function, such as a sweeper, mop, floor scrubber, sweeper-mop combo, or self-propelled vacuum cleaner. Furthermore, it can exist in various forms for controlling devices with cleaning functions, including but not limited to:

[0119] (1) Mobile communication devices: These devices are characterized by their mobile communication capabilities and primarily aim to provide voice and data communication. These terminals include: smartphones (e.g., iPhones), multimedia phones, feature phones, and low-end phones, etc.

[0120] (2) Ultra-mobile personal cleaning devices: These devices fall under the category of personal computers, possessing computing and processing capabilities, and generally also have mobile internet access features. These terminals include PDAs, MIDs, and UMPCs, such as the iPad.

[0121] (3) Portable entertainment devices: These devices can display and play multimedia content. This category includes: audio and video players (such as iPods), handheld game consoles, e-books, as well as smart toys, wearable devices, and portable car navigation devices.

[0122] (4) Server: A device that provides computing services. The components of a server include a processor, hard disk, memory, system bus, etc. Servers are similar to general computer architectures, but because they need to provide highly reliable services, they have higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0123] (5) Other electronic devices with data interaction functions.

[0124] In addition, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions for performing the following steps: detecting whether the charging pile area of ​​the cleaning equipment intersects with the cleaned area; if the charging pile area intersects with the cleaned area, performing cleaning processing based on the surrounding points of the charging pile area.

[0125] It should be noted that the functions or steps that the computer-readable storage medium or cleaning device can achieve are described in the relevant descriptions in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0126] The technical solution of this application has been described in detail above with reference to the accompanying drawings. This technical solution identifies whether the cleaned area is a perimeter area of ​​the charging pile by identifying whether there is an intersection between the charging pile area and the cleaned area. When the cleaned area is a perimeter area, points around the charging pile area that indicate the presence of obstacles nearby can be used to determine areas that were missed due to the dual obstruction of the charging pile area and the charging pile itself. This automatically identifies areas missed due to the dual obstruction of the charging pile area and the charging pile itself, improving the cleaning equipment's adaptability to cleaning environments with obstacles around the charging pile, increasing the cleaning area, effectively enhancing its cleaning capacity, improving overall cleaning results, and enhancing the user experience.

[0127] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0128] It should be understood that although the terms "first," "second," etc., may be used to describe regions in the embodiments of this application, these regions should not be limited to these terms. These terms are only used to distinguish regions from each other. For example, without departing from the scope of the embodiments of this application, a first region may also be referred to as a second region, and similarly, a second region may also be referred to as a first region.

[0129] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0130] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0131] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0132] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0133] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0134] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for cleaning around piles, characterized in that, include: Check whether the area where the charging station of the cleaning equipment is located overlaps with the area that has been cleaned; If the pile area intersects with the cleaned area, cleaning is performed based on the surrounding points of the pile area; The peripheral points are determined as follows: based on the edge points of the pile area, the extended area of ​​the pile area is determined, wherein the extended area is distributed around the pile area and is obtained by extending each edge point of the pile area a second specified distance in the vertical direction of the corresponding edge; points with cleanable characteristics are obtained in the extended area as peripheral points of the pile area, wherein the cleanable characteristics are used to reflect the characteristics of points located around the pile area that have not been cleaned due to the combined obstruction of the pile area and obstacles.

2. The pile perimeter cleaning method according to claim 1, characterized in that, The cleaning process, based on the surrounding points of the pile area, includes: Based on the surrounding points of the pile area, a cleanable area is determined; The cleanable area is cleaned according to a preset cleaning strategy.

3. The pile perimeter cleaning method according to claim 2, characterized in that, The determination of the cleanable area based on the surrounding points of the pile area includes: Clustering is performed on the surrounding points of the pile area to obtain multiple clustering results; For each clustering result, if the region where the clustering result is located meets the preset cleaning conditions, the region where the clustering result is located is determined as a cleanable region. The preset cleaning conditions are used to reflect the characteristics that the region where the clustering result is located has when it can be effectively cleaned by the cleaning equipment.

4. The pile perimeter cleaning method according to claim 1, characterized in that, Whether the area where the charging pile of the detection and cleaning equipment is located overlaps with the cleaned area includes: When cleaning the first area, it is detected whether the first area intersects with the area where the charging pile of the cleaning equipment is located; or When cleaning multiple second areas is completed, it is detected whether at least one second area intersects with the area where the charging pile of the cleaning equipment is located; or When cleaning a third area including a designated point, it is detected whether the third area intersects with the charging pile area of ​​the cleaning equipment. The designated point is a point outside the charging pile area whose distance from the edge point of the charging pile area is less than or equal to a first designated distance.

5. The method for cleaning around piles according to claim 1, characterized in that, The cleanable feature includes one or more of the following: The width of the uncleaned area in at least one direction at the location of the point is greater than the maximum body width of the cleaning equipment; The point is a non-obstacle point that has not been cleaned; The neighboring points of a point are all uncleaned, non-obstacle points; The point is located outside the preset restricted area, which includes the carpet area, the stake area, and the self-defined safety zone.

6. The method for cleaning around piles according to claim 3, characterized in that, The preset cleaning conditions include one or more of the following: The width of the clustering result region is greater than the maximum body width of the cleaning equipment in at least one direction; The area of ​​the uncleaned region in the clustering result area is greater than or equal to the first specified area; The area of ​​the cleaned region in the clustering result area is less than or equal to the second specified area; The clustering result area includes at least a specified number of points that are at a distance greater than or equal to a third specified distance from the obstacle.

7. The pile perimeter cleaning method according to claim 2, characterized in that, The cleaning of the cleanable area according to the preset cleaning strategy includes: Perform cross-regional actions on the cleanable area; When the cross-regional action is successfully executed, the cleanable area is cleaned. When the cross-regional action fails, return to the step of detecting whether the charging pile area of ​​the cleaning equipment intersects with the cleaned area, so as to determine again whether there is a cleanable area around the charging pile area; If it is confirmed again that there is a cleanable area around the pile area, the cleanable area is cleaned.

8. The pile perimeter cleaning method according to claim 7, characterized in that, The step of cleaning the cleanable area after it has been determined again that a cleanable area exists around the pile area includes: The uncleaned area is obtained within a specified distance range centered on the current position of the cleaning equipment; If the area of ​​the uncleaned area is greater than or equal to the third specified area, the cleanable area shall be cleaned.

9. A pile perimeter cleaning device, characterized in that, include: The area intersection detection unit is used to detect whether the area where the charging pile of the cleaning equipment is located intersects with the cleaned area. A cleaning execution unit is used to perform cleaning processing based on the peripheral points of the pile area if the pile area intersects with the cleaned area. The peripheral points are determined as follows: based on the edge points of the pile area, the extended area of ​​the pile area is determined, wherein the extended area is distributed around the pile area and is obtained by extending each edge point of the pile area a second specified distance in the vertical direction of the corresponding edge; points with cleanable characteristics are obtained in the extended area as peripheral points of the pile area, wherein the cleanable characteristics are used to reflect the characteristics of points located around the pile area that have not been cleaned due to the combined obstruction of the pile area and obstacles.

10. A cleaning device, characterized in that, include: At least one processor; And, a memory communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor, the instructions being configured to perform the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The device stores computer-executable instructions for performing the method as described in any one of claims 1 to 8.

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