A cleaning method, device, apparatus and storage medium

Abstract

The application provides a cleaning method, device, equipment and storage medium. The cleaning method obtains a detection result of an obstacle in the process of edge cleaning along a first planned route. When the detection result indicates that the obstacle exists, edge cleaning around the obstacle is performed along the edge of the obstacle, and a closed distance of the cleaning equipment and the first planned route which has completed the edge cleaning part is detected. When the closed distance reaches a preset value, a second planned route is generated by taking the nearest point of the first planned route which has completed the edge cleaning part as a closed position point. Even if a new obstacle appears and the cleaning equipment cannot pass through the obstacle after the edge cleaning around the obstacle, the second planned route can still be generated for cleaning. The cleaning effect is improved compared with the existing scheme in which the cleaning equipment continuously circles around the obstacle due to the inability to pass through the obstacle to complete the edge cleaning along the first planned route.

Description

Technical Field

[0001] This application relates to the field of cleaning, and more particularly to a cleaning method, apparatus, equipment and storage medium. Background Technology

[0002] Existing cleaning equipment typically generates a planned cleaning route based on the area's boundaries and obstacles when performing a cleaning task. For example, one planned route might involve first cleaning the area along the edges in a U-shape, and then cleaning the interior of the U-shape. However, when a new obstacle suddenly appears in the cleaning area, the existing cleaning equipment, which can only follow the pre-generated planned route, will simply circle around the new obstacle, preventing the cleaning from continuing and affecting the cleaning effect. Summary of the Invention

[0003] This application provides a cleaning method, apparatus, device, and storage medium to solve at least one problem existing in the related art. The technical solution is as follows:

[0004] In a first aspect, embodiments of this application provide a cleaning method, including:

[0005] Obtain obstacle detection results during the edge cleaning process following the first planned route;

[0006] When the detection result indicates the presence of an obstacle, the obstacle is cleared around the edge of the obstacle, and the closing distance between the cleaning equipment and the first planned route is detected.

[0007] When the closing distance reaches a preset value, a second planned route is generated using the nearest point of the edge-fitting portion of the first planned route as the closing position point;

[0008] Cleaning will be carried out along the second planned route.

[0009] In one embodiment, detecting the closed gap between the cleaning device and the first planned route at the edge includes:

[0010] In the part of the first planned route that has been edged, filter out the part that the cleaning equipment has just traveled within a preset length or preset time to obtain the remaining part;

[0011] Detect the distance between the current position of the cleaning equipment and the nearest point in the remaining portion.

[0012] In one embodiment, the step of cleaning along the second planned route includes:

[0013] The cleaning process is completed along the edge-following route from the current position of the cleaning equipment to the closed position point.

[0014] The second planned route is used to cover and clean the portion of the edge of the second planned route. The edge of the second planned route includes the portion of the first planned route from the closed position point to the position where the cleaning device encounters the obstacle, the portion of the first planned route used for obstacle avoidance cleaning along the edge of the obstacle, and the portion from the current position of the cleaning device to the closed position point.

[0015] In one embodiment, the method further includes:

[0016] When the closing distance does not reach the preset value, after cleaning around the obstacle along the edge of the obstacle and bypassing the obstacle, continue to complete the edge cleaning along the first planned route.

[0017] After completing the edge cleaning, cover cleaning is performed along the first planned route.

[0018] In one embodiment, the method further includes:

[0019] After completing the cleaning of the second planned route, obtain the first detection result of the obstacles;

[0020] When the first detection result indicates the presence of an obstacle, the specified action is executed.

[0021] In one implementation, performing the specified action includes:

[0022] Stop cleaning and send a reminder message;

[0023] or,

[0024] The system acquires an image of the obstacle, sends the image to the user terminal, and stops cleaning in response to a control command generated by the user terminal.

[0025] or,

[0026] The system impacts the obstacle and obtains a second detection result of the obstacle. When the second detection result does not meet the obstacle conditions, the remaining cleaning area is determined based on the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route. A third planned route is generated based on the remaining cleaning area and cleaning is performed using the third planned route.

[0027] or,

[0028] Stop cleaning and send a reminder message. After stopping cleaning and sending the reminder message, obtain the third detection result of the obstacle at a preset interval. When the third detection result does not meet the obstacle condition, determine the remaining cleaning area according to the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route. Generate a third planned route according to the remaining cleaning area and clean according to the third planned route.

[0029] The third planned route includes a route for cleaning the remaining cleaning area along the edges and a route for cleaning the remaining cleaning area covering the entire area. The obstacle condition is an obstacle that prevents the cleaning equipment from continuing to complete the first planned route.

[0030] In one embodiment, the method further includes:

[0031] When the first detection result indicates that there are no obstacles, the remaining cleaning area is determined based on the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route.

[0032] A third planned route is generated based on the remaining cleaning area, and cleaning is carried out using the third planned route;

[0033] The third planned route includes a route for cleaning the remaining cleaning area along the edges and a route for cleaning the remaining cleaning area covering the entire area.

[0034] Secondly, embodiments of this application provide a cleaning device, including:

[0035] The acquisition module is used to acquire the detection results of obstacles during the edge cleaning process along the first planned route;

[0036] The detection module, when the detection result indicates the presence of an obstacle, performs obstacle bypass cleaning along the edge of the obstacle and detects the closed gap between the cleaning equipment and the first planned route at the edge.

[0037] The generation module is used to generate a second planned route when the closing distance reaches a preset value, using the nearest point of the edge-fitting part of the first planned route as the closing position point.

[0038] The cleaning module is used to clean along the second planned route.

[0039] In some implementations, the cleaning module is also used for:

[0040] When the closing distance does not reach the preset value, after cleaning around the obstacle along the edge of the obstacle and bypassing the obstacle, continue to complete the edge cleaning along the first planned route.

[0041] After completing the edge cleaning, cover cleaning is performed along the first planned route.

[0042] In some implementations, the cleaning module is also used for:

[0043] After completing the cleaning of the second planned route, obtain the first detection result of the obstacles;

[0044] When the first detection result indicates the presence of an obstacle, the specified action is executed.

[0045] In some implementations, the cleaning module is also used for:

[0046] When the first detection result indicates that there are no obstacles, the remaining cleaning area is determined based on the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route.

[0047] A third planned route is generated based on the remaining cleaning area, and cleaning is carried out using the third planned route;

[0048] The third planned route includes a route for cleaning the remaining cleaning area along the edges and a route for cleaning the remaining cleaning area covering the entire area.

[0049] Thirdly, embodiments of this application provide an electronic device, including: a processor and a memory, wherein the memory stores instructions that are loaded and executed by the processor to implement the methods in any of the above-described embodiments.

[0050] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed, implements the methods in any of the above-described embodiments.

[0051] The beneficial effects of the above technical solution include at least the following:

[0052] By acquiring obstacle detection results during edge cleaning along the first planned route, when the detection results indicate the presence of an obstacle, the system performs obstacle bypass cleaning along the edge of the obstacle and detects the closing distance between the cleaning equipment and the edge portion of the first planned route. When the closing distance reaches a preset value, a second planned route is generated using the closest point of the edge portion of the first planned route as the closing position point. Even if new obstacles appear, and the system still cannot pass through the obstacle after bypassing it, a second planned route can still be generated for cleaning, completing partial cleaning first. Compared to existing solutions where the cleaning equipment cannot bypass the obstacle to complete edge cleaning along the first planned route and thus continuously circles around the obstacle, this method improves cleaning effectiveness.

[0053] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0054] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0055] Figure 1 This is a schematic flowchart of the cleaning method according to an embodiment of this application;

[0056] Figure 2 This is a schematic diagram of the first planned route when there are no obstacles.

[0057] Figure 3 This is a schematic diagram illustrating an obstacle blocking a first planned route according to an embodiment of this application;

[0058] Figure 4 This is a schematic diagram illustrating cleaning using a second planned route according to an embodiment of this application;

[0059] Figure 5 This is a schematic diagram of the remaining cleaning area and the third planned route according to an embodiment of this application;

[0060] Figure 6 This is a structural block diagram of a cleaning device according to an embodiment of this application;

[0061] Figure 7 This is a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0062] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0063] Reference Figure 1 The flowchart illustrates a cleaning method according to an embodiment of this application, which may include at least steps S100-S400:

[0064] S100: Obtain obstacle detection results during the edge cleaning process along the first planned route.

[0065] S200. When the detection result indicates the presence of an obstacle, perform obstacle bypass cleaning along the edge of the obstacle and check the closing distance of the edge-fitting part of the cleaning equipment and the first planned route.

[0066] S300. When the closing distance reaches the preset value, the second planned route is generated using the nearest point of the edge-fitting part of the first planned route as the closing position point.

[0067] It should be noted that the closing gap is the distance between the current position of the cleaning equipment and the nearest point of the first planned route that has been edged. This preset value can be set according to the size of the cleaning equipment, for example, it can be 0.2 meters or 0.3 meters.

[0068] S400, cleaning along the second planned route.

[0069] The cleaning method of this application embodiment can be executed by the controller in the cleaning equipment, or it can be executed by a cloud server and the information is fed back to the controller for control.

[0070] The technical solution of this application embodiment obtains obstacle detection results during edge cleaning along a first planned route. When the detection result indicates the presence of an obstacle, it performs obstacle-around cleaning along the edge of the obstacle and detects the closing distance between the cleaning equipment and the edge portion of the first planned route. When the closing distance reaches a preset value, a second planned route is generated using the closest point of the edge portion of the first planned route as the closing position point. In this way, even if new obstacles appear and cannot be bypassed, cleaning can still be performed using the second planned route, completing part of the cleaning of the area to be cleaned first. Compared with the existing solution where the cleaning equipment cannot bypass the obstacle to complete the edge cleaning of the first planned route and keeps circling around the obstacle, the cleaning efficiency can be improved.

[0071] In the embodiments of this application, such as Figure 2 As shown, when the cleaning equipment needs to clean an area (denoted as the area to be cleaned or the first cleaning area), such as... Figure 2 The area enclosed by the boundary line 200 is the area to be cleaned or the first cleaning area. The cleaning equipment can generate a first planned route for cleaning the first cleaning area by using the stored map or the map sent by the cloud server. Alternatively, the first planned route can be sent to the cleaning equipment by the cloud server and received by the controller of the cleaning equipment so that the cleaning equipment can clean according to the first planned route.

[0072] In this embodiment, the cleaning device also includes a detection module, including but not limited to ultrasonic sensors, radar, cameras, etc. The detection module is used to detect obstacle information and closure distance. The controller analyzes the obstacle information to determine the detection result and analyzes the closure distance to determine whether the closed-loop condition is met. Alternatively, it can send the obstacle information and closure distance to a cloud server, where the cloud server analyzes the obstacle information to determine the detection result and analyzes the closure distance to determine whether the closed-loop condition is met, and then returns the results to the cleaning device. After the controller determines the detection result, when the detection result indicates the presence of an obstacle, the controller or cloud server can generate an obstacle avoidance path, such as a path for cleaning around the obstacle along its edge. While cleaning around the obstacle along this path, the controller detects the closure distance of the cleaning device and the first planned route at the edge. When the closure distance meets the closed-loop condition of reaching a preset value, the closest point of the first planned route at the edge is used as the closure position point to generate a second planned route. Alternatively, the server generates the second planned route and sends it to the controller, allowing the cleaning device to clean along the second planned route.

[0073] It should be noted that the first planned route includes at least two parts: the edge cleaning route and the internal route. The edge cleaning route refers to the path taken during edge cleaning, and this route is adapted to the shape of the area to be cleaned. For example, if the area to be cleaned is rectangular, the edge cleaning route will be rectangular. The internal route refers to the cleaning route for the area enclosed by the edge cleaning route. Therefore, cleaning the internal area can be achieved by following the internal route, i.e., coverage cleaning. The internal route for coverage cleaning is not specifically limited; for example, it can be a bow-shaped pattern or a spiral pattern gradually moving towards the center, etc. For example, see reference. Figure 2 When there are no obstacles, the first cleaning area (or the area to be cleaned) 201 is cleaned along the edge using the edge-following route 202. After the edge-following cleaning is completed, the entire first cleaning area 201 is cleaned by covering it with the bow-shaped inner route 203.

[0074] In one implementation, in step S200, such as Figure 3 As shown, when the cleaning equipment reaches position point A after traveling along part of the edge-fitting route 202, it encounters obstacle Z. When the detection result indicates the presence of an obstacle, the cleaning equipment performs obstacle-around cleaning along the edge of the obstacle. For example, it travels along obstacle Z from position point A to position point D. At this time, the cleaning equipment continuously detects the closed gap between the cleaning equipment and the first planned route at position point D or during the process of traveling to position point D.

[0075] Optionally, step S200 involves detecting the closed gap between the cleaning equipment and the first planned route at the edge, including steps S210-S220:

[0076] S210. In the part of the first planned route where the edge has been covered, filter out the part that the cleaning equipment has just traveled within a preset length or preset time to obtain the remaining part.

[0077] Optionally, such as Figure 3 As shown, assuming the cleaning device starts from position F and performs the edge cleaning part of the first planned route, and assuming the cleaning device is currently traveling to position A, then the edge cleaning part of the first planned route that has been completed is the part from position F to position A. At this time, relative to the position A where the cleaning device is located, the cleaning device has just traveled W. The length of W can be determined according to the preset length or based on the traveling speed of the cleaning device and the preset time, thereby filtering out part W and obtaining the remaining part, for example, the remaining part is the part from position F to position B.

[0078] S220, Detect the distance between the current position of the cleaning equipment and the nearest point in the remaining part.

[0079] For example, if there is a nearest point, such as point C, in the remaining part, when the cleaning equipment is cleaning around the obstacle along its edge, for example, when the cleaning equipment is currently at point D, the detected closing distance L is the distance between point C and point D. The preset value of the closing distance can be set according to the size of the cleaning equipment. For example, assuming the outer diameter of the cleaning equipment is 0.2-0.3m, the preset value can be set to 0.2. As the cleaning equipment moves from point A to point C, the closing distance L will continuously decrease. For example, at point D, the closing distance L just decreases to the preset value of 0.2. At this point, the closed-loop condition of the closing distance reaching the preset value is met, indicating that with the size of the cleaning equipment, it is impossible to continue to complete the unfinished edge-hugging portion of the first planned route through the obstacle.

[0080] In one implementation, as in the example above, when the closed loop condition of the closed spacing reaching a preset value is met, the closest point of the edge-fitting portion of the first planned route, such as position point C, is used as the closed position point to generate the second planned route 302.

[0081] For example, such as Figure 4As shown, after determining the closed position point C, a second cleaning area 301 with the closed position point C as the closed loop point is generated, and a corresponding second planned route 302 is generated based on the second cleaning area 301. In this embodiment, the second planned route 302 includes an edge-following route 3021 and a covering route, i.e., a covering route 3022 that covers and cleans the part surrounded by the edge-following route. The edge-following route 3021 includes the part of the first planned edge-following route from the closed position point C to the position (position point A) where the cleaning device encounters an obstacle, the part that cleans around the obstacle along the edge of the obstacle (position point A to position point D), and the part from the current position (position point D) of the self-cleaning device to the closed position point C.

[0082] It should be noted that, in this embodiment, the coverage route is an arc shape, but other embodiments may use other cleaning methods, which are not specifically limited.

[0083] In this embodiment, after cleaning along the second planned route 302, the cleaning device can complete the cleaning of the second cleaning area 301. At this time, the cleaning device may have a certain distance from the obstacle Z, for example... Figure 4 The location of point E in the diagram, or in some implementations, assuming that the cleaning equipment has completed cleaning at point E, the cleaning equipment can also travel again to point A, point D, or the obstacle avoidance path between point A and point D.

[0084] In one embodiment, the cleaning method of this application may further include steps S510-S520, and the execution order of steps S510-S520 and S300 and S400 is not limited.

[0085] S510. When the closing distance does not reach the preset value, after cleaning around the obstacle along the edge of the obstacle and bypassing the obstacle, continue to complete the edge cleaning along the first planned route.

[0086] Specifically, when the closing distance does not reach the preset value, i.e., the closed-loop condition is not met, it is considered that the cleaning equipment can bypass the obstacle, and the obstacle does not obstruct the cleaning equipment from passing through to complete the first planned route. Figure 2 and Figure 3 As shown, the cleaning equipment can continue to clean along the edge path 202 to complete the unfinished part 2021 of the edge path 202.

[0087] S520: After completing the edge cleaning, perform a full-coverage cleaning along the first planned route.

[0088] like Figure 2As shown, specifically, after completing the edge cleaning, the cleaning equipment performs a covering cleaning along the internal route 203 of the originally planned first cleaning route, thereby completing the cleaning of the entire first cleaning area 201. Therefore, regardless of whether the closed-loop conditions are met, the cleaning equipment can adopt different methods to achieve effective cleaning and ensure the cleaning effect.

[0089] In one embodiment, the cleaning method of this application may further include steps S610-S620:

[0090] S610: Obtain the first detection result of obstacles after completing the coverage and cleaning of the second planned route.

[0091] In this embodiment of the application, the cleaning is completed after the coverage of the second planned route is finished. Figure 4 After the second cleaning area 301 is cleaned, obstacle information can also be detected by the detection module of the cleaning equipment. The processor or cloud server analyzes the obstacle information to determine the first detection result.

[0092] S620. When the first detection result indicates the presence of an obstacle, execute the specified action.

[0093] Optionally, in some embodiments, a preset time length can be set. When the first detection result satisfies that the duration of the obstacle's presence is greater than or equal to the preset time length, a specified action is performed.

[0094] It should be noted that when the first detection result indicates that there is no obstacle, the obstacle can be bypassed to continue completing the first planned route. At this time, the following steps S610A-S620A can be executed:

[0095] S610A: Determine the remaining cleaning area based on the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route.

[0096] For example, such as Figure 5 As shown, assuming the obstacle has disappeared, the remaining cleaning area 303 is determined based on the first cleaning area 201 corresponding to the first planned route and the second cleaning area 301 corresponding to the second planned route.

[0097] S620A generates a third planned route based on the remaining cleaning area and performs cleaning using the third planned route.

[0098] Specifically, after determining the remaining cleaning area 303, the controller or cloud server can generate a third planned route based on the remaining cleaning area 303. The third planned route includes a route for edge cleaning of the remaining cleaning area 303 (e.g., including...). Figure 4The remaining part 2021, the route between A and C, and the route between C and location point F) and the coverage route 304 for covering and cleaning the remaining cleaning area 303. When the cleaning equipment cleans with the third planned route, the cleaning of the remaining cleaning area 303 is completed. Similarly, in this embodiment, the edge cleaning route of the third planned route is taken as an example of bow-shaped cleaning. Other embodiments can be in other ways and are not specifically limited. Therefore, with the method of this embodiment, when an obstacle temporarily appears and then disappears, the cleaning of the second planned route can be completed first, and then the third planned route can be generated to complete the cleaning of the remaining area, and finally the cleaning of the entire first cleaning area 201 can be completed without going around in circles; or it avoids the situation in some related technologies where the equipment repeatedly walks or goes around in circles when encountering obstacles, thus improving the overall cleaning effect.

[0099] Optionally, performing the specified action in step S620 includes steps S6201, S6202, S6203, or S6204.

[0100] S6201, Stop cleaning and send a reminder message.

[0101] It should be noted that the cleaning equipment can stop cleaning and send a reminder message immediately after completing the second planned route, for example, in Figure 4 Point E has completed the second planned route. At this point, cleaning can stop at point E and a reminder message can be sent. In some embodiments, the cleaning device may also move to the vicinity of obstacle Z, such as location point A, location point D, or a location between A and D, before stopping cleaning and sending a reminder message, without specific limitations. Stopping cleaning avoids continuous power consumption, thus saving energy; or sending a reminder message to the user terminal to inform the user of the situation and allow the user to make corresponding controls through the user terminal; or, a reminder message may be sent to the user terminal at the same time as stopping cleaning to ensure that the cleaning device does not get stuck for a long time and waste power.

[0102] S6202: Acquire an image of the obstacle, send the image to the user terminal, and stop cleaning in response to the control command generated by the user terminal.

[0103] Optionally, the cleaning equipment can also be equipped with a camera module. The camera module or a detection module with a camera can acquire images of obstacles and then send the images to the user terminal. The user can obtain images of obstacles through the user terminal and thus know the situation of the obstacles, such as children playing at home or children's toys (fragile toys). At this time, the user can send control commands such as stop commands to the controller through the user terminal to make the cleaning equipment stop cleaning and save energy.

[0104] S6203, Collision with obstacles and acquisition of the second detection result of obstacles. When the second detection result does not meet the obstacle conditions, the remaining cleaning area is determined according to the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route. A third planned route is generated according to the remaining cleaning area and cleaning is carried out according to the third planned route.

[0105] In this embodiment, the user can set the working mode of the cleaning device through a user terminal. For example, the user can set the device to automatically collide when the first detection result indicates the presence of an obstacle. Alternatively, as in step S6202, the user can acquire an image of the obstacle and send it to the user terminal. After viewing the image, the user may see that the obstacle is a pet or a non-fragile item and issue a control command, such as a collision command, to cause the cleaning device to collide. When the cleaning device collidees with an obstacle, a second detection result of the obstacle can be acquired. If the second detection result does not meet the obstacle condition, the remaining cleaning area is determined based on the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route. A third planned route is then generated based on the remaining cleaning area and cleaning is performed using the third planned route. The specific principle is described in steps S610A-S620A and will not be repeated here. Therefore, by attempting to change the position of the obstacle through collision, the cleaning device can continue cleaning, which is beneficial for improving cleaning effect, cleaning efficiency, and coverage. It should be noted that the obstacle condition is an obstacle that prevents the cleaning equipment from continuing to complete the first planned route. For example, the cleaning equipment cannot bypass the obstacle, and the obstacle prevents the cleaning equipment from continuing to complete the remaining part of the first planned route.

[0106] Understandably, if the second detection result meets the obstacle condition, cleaning can be stopped and a reminder message can be sent, or S6202 can be executed again.

[0107] S6204. Stop cleaning and send a reminder message. After stopping cleaning and sending the reminder message, obtain the third detection result of the obstacle at a preset interval. When the third detection result does not meet the obstacle conditions, determine the remaining cleaning area according to the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route. Generate a third planned route according to the remaining cleaning area and clean according to the third planned route.

[0108] In this embodiment of the application, when the first detection result indicates the presence of an obstacle, the cleaning is stopped and a reminder message is sent. After stopping the cleaning and sending the reminder message, a third detection result of the obstacle is obtained after a preset time interval. When the third detection result meets the obstacle condition, the cleaning can be stopped and a reminder message can be sent, or S6202 can be executed again.

[0109] When the third detection result does not meet the obstacle conditions, the remaining cleaning area is determined based on the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route. A third planned route is then generated based on the remaining cleaning area and cleaning is performed using this route. The specific principle is detailed in steps S610A-S620A and will not be repeated here. Therefore, step S6204 allows for the detection of obstacles after a preset time interval following the cessation of cleaning to achieve a certain energy-saving effect. If the third detection result does not meet the obstacle conditions, cleaning of the remaining cleaning area continues, ensuring continuous cleaning and guaranteeing the cleaning effect, efficiency, and coverage of the cleaning equipment.

[0110] Reference Figure 6 The diagram shows a structural block diagram of a cleaning device according to an embodiment of this application. The device may include:

[0111] The acquisition module is used to acquire the detection results of obstacles during the edge cleaning process along the first planned route;

[0112] The detection module, when the detection result indicates the presence of an obstacle, performs obstacle bypass cleaning along the edge of the obstacle and detects the closed gap between the cleaning equipment and the first planned route at the edge.

[0113] The generation module is used to generate a second planned route when the closing gap reaches a preset value, using the nearest point of the edge-fitting part of the first planned route as the closing position point.

[0114] The cleaning module is used to clean along a second planned route.

[0115] In some implementations, the cleaning module is also used for:

[0116] When the closing distance does not reach the preset value, after cleaning around the obstacle along the edge of the obstacle and bypassing the obstacle, continue to complete the edge cleaning along the first planned route;

[0117] After completing the edge cleaning, perform a full coverage cleaning using the first planned route.

[0118] In some implementations, the cleaning module is also used for:

[0119] Obtain the first detection results of obstacles after completing the cleaning of the second planned route;

[0120] When the first detection result indicates the presence of an obstacle, execute the specified action.

[0121] In some implementations, the cleaning module is also used for:

[0122] When the first detection result indicates that there are no obstacles, the remaining cleaning area is determined according to the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route.

[0123] A third planned route is generated based on the remaining cleaning area, and cleaning is carried out using the third planned route;

[0124] The third planned route includes routes for cleaning along the edges of the remaining cleaning area and routes for covering the remaining cleaning area.

[0125] The functions of each module in each device in the embodiments of this application can be found in the corresponding descriptions in the above methods, and will not be repeated here.

[0126] Reference Figure 7 The diagram illustrates a structural block diagram of an electronic device according to an embodiment of this application. The electronic device includes a memory 310 and a processor 320. The memory 310 stores instructions that can be executed on the processor 320. The processor 320 loads and executes these instructions to implement the cleaning method described in the above embodiment. The number of memories 310 and processors 320 can be one or more.

[0127] In one embodiment, the electronic device further includes a communication interface 330 for communicating with external devices and exchanging data. If the memory 310, processor 320, and communication interface 330 are implemented independently, they can be interconnected via a bus to communicate with each other. This bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0128] Optionally, in a specific implementation, if the memory 310, processor 320 and communication interface 330 are integrated on a single chip, the memory 310, processor 320 and communication interface 330 can communicate with each other through an internal interface.

[0129] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the cleaning method provided in the above embodiments.

[0130] This application also provides a chip, which includes a processor for calling and executing instructions stored in a memory, causing a communication device on which the chip is installed to perform the method provided in this application.

[0131] This application also provides a chip, including: an input interface, an output interface, a processor, and a memory. The input interface, output interface, processor, and memory are connected through an internal connection path. The processor is used to execute code in the memory. When the code is executed, the processor is used to execute the method provided in the application embodiment.

[0132] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting the Advanced Reduced Instruction Set Computing (RISC) machine (ARM) architecture.

[0133] Further, optionally, the aforementioned memory may include read-only memory and random access memory, and may also include non-volatile random access memory. The memory may be volatile or non-volatile, or may include both. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache. Many forms of RAM are available by way of example, but not limitation. Examples include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0134] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0135] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0136] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0137] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.

[0138] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0139] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.

[0140] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0141] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application.

Claims

1. A cleaning method, characterized in that, include: Obtain obstacle detection results during the edge cleaning process following the first planned route; When the detection result indicates the presence of an obstacle, the obstacle is cleared around the edge of the obstacle, and the closing distance between the cleaning equipment and the first planned route is detected. When the closing distance reaches a preset value, a second planned route is generated using the nearest point of the edge-fitting portion of the first planned route as the closing position point; Cleaning will be carried out along the second planned route; The detection of the closed gap between the cleaning equipment and the first planned route at the edge includes: In the part of the first planned route that has been edged, filter out the part that the cleaning equipment has just traveled within a preset length or preset time to obtain the remaining part; The distance between the current position of the cleaning equipment and the nearest point in the remaining part is detected to obtain the closed gap.

2. The cleaning method according to claim 1, characterized in that, The step of cleaning along the second planned route includes: The cleaning process is completed along the edge-following route from the current position of the cleaning equipment to the closed position point. The second planned route is used to cover and clean the portion of the edge of the first planned route. The edge of the second planned route includes the portion of the edge of the first planned route from the closed position point to the position where the cleaning device encounters the obstacle, the portion of the first planned route used for obstacle avoidance cleaning along the edge of the obstacle, and the portion of the first planned route from the current position of the cleaning device to the closed position point.

3. The cleaning method according to any one of claims 1-2, characterized in that: The method further includes: When the closing distance does not reach the preset value, after cleaning around the obstacle along the edge of the obstacle and bypassing the obstacle, continue to complete the edge cleaning along the first planned route. After completing the edge cleaning, cover cleaning is performed along the first planned route.

4. The cleaning method according to any one of claims 1-2, characterized in that: The method further includes: After completing the cleaning of the second planned route, obtain the first detection result of the obstacles; When the first detection result indicates the presence of an obstacle, the specified action is executed.

5. The cleaning method according to claim 4, characterized in that: The execution of the specified action includes: Stop cleaning and send a reminder message; or, The system acquires an image of the obstacle, sends the image to the user terminal, and stops cleaning in response to a control command generated by the user terminal. or, The system impacts the obstacle and obtains a second detection result of the obstacle. When the second detection result does not meet the obstacle conditions, the remaining cleaning area is determined based on the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route. A third planned route is generated based on the remaining cleaning area and cleaning is performed using the third planned route. or, Stop cleaning and send a reminder message. After stopping cleaning and sending the reminder message, obtain the third detection result of the obstacle at a preset interval. When the third detection result does not meet the obstacle condition, determine the remaining cleaning area according to the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route. Generate a third planned route according to the remaining cleaning area and clean according to the third planned route. The third planned route includes a route for cleaning the remaining cleaning area along the edges and a route for cleaning the remaining cleaning area covering the entire area. The obstacle condition is an obstacle that prevents the cleaning equipment from continuing to complete the first planned route.

6. The cleaning method according to claim 4, characterized in that: The method further includes: When the first detection result indicates that there are no obstacles, the remaining cleaning area is determined according to the first cleaning area corresponding to the first planned route and the second cleaning area corresponding to the second planned route. A third planned route is generated based on the remaining cleaning area, and cleaning is carried out using the third planned route; The third planned route includes a route for cleaning the remaining cleaning area along the edges and a route for cleaning the remaining cleaning area covering the entire area.

7. A cleaning device, characterized in that, include: The acquisition module is used to acquire the detection results of obstacles during the edge cleaning process along the first planned route; The detection module, when the detection result indicates the presence of an obstacle, performs obstacle bypass cleaning along the edge of the obstacle and detects the closed gap between the cleaning equipment and the first planned route at the edge. The generation module is used to generate a second planned route when the closing distance reaches a preset value, using the nearest point of the edge-fitting part of the first planned route as the closing position point. The cleaning module is used to clean along the second planned route; The detection of the closed gap between the cleaning equipment and the first planned route at the edge includes: In the part of the first planned route that has been edged, filter out the part that the cleaning equipment has just traveled within a preset length or preset time to obtain the remaining part; The distance between the current position of the cleaning equipment and the nearest point in the remaining part is detected to obtain the closed gap.

8. An electronic device, characterized in that, include: A processor and a memory, wherein instructions are stored in the memory and loaded and executed by the processor to implement the method as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program therein, which, when executed, implements the method as described in any one of claims 1-6.

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