Cleaning control methods, apparatus, cleaning equipment, electronic equipment and storage media

Abstract

This invention discloses a cleaning control method, apparatus, cleaning equipment, electronic device, and storage medium for a cleaning device. The cleaning control method includes: determining the positions of a first obstacle and a second obstacle; controlling the cleaning device to move to a preset position based on the distance between the first obstacle and the second obstacle; controlling the cleaning device to rotate in place so that the direction of travel of the cleaning device is perpendicular to the line connecting the first obstacle and the second obstacle; controlling the cleaning device to move in a direction perpendicular to the line connecting the two obstacles so that the edge cleaning device of the cleaning device performs edge cleaning on the first edge of the first obstacle; wherein, the first edge is the edge portion of the first obstacle opposite to the second obstacle. The cleaning control method provided by this invention can avoid collisions between the cleaning device and the obstacle when there is a neighboring second obstacle around the first obstacle during the edge cleaning process of the first obstacle.

Description

Technical Field

[0001] This invention relates to the field of cleaning technology, and in particular to a cleaning control method, apparatus, cleaning equipment, electronic equipment, and storage medium for cleaning equipment. Background Technology

[0002] With the development of electronic science and technology, cleaning equipment such as robotic vacuum cleaners and robotic mops have gradually entered people's daily lives. During the cleaning process, these devices often encounter obstacles. To clean the area near these obstacles, the devices will clean along the edges of the obstacles.

[0003] However, existing edge cleaning methods can easily lead to collisions between the cleaning equipment and nearby obstacles when there are other nearby obstacles around the obstacle to be cleaned during the edge cleaning process.

[0004] Therefore, in view of the above-mentioned technical problems, it is necessary to provide a cleaning control method for cleaning equipment. Summary of the Invention

[0005] The purpose of this invention is to provide a cleaning control method, device, cleaning equipment, electronic equipment, and storage medium for cleaning equipment, which can prevent the cleaning equipment from colliding with nearby obstacles when performing edge cleaning operations.

[0006] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0007] In a first aspect, the present invention provides a cleaning control method for a cleaning device, comprising:

[0008] The positions of the first obstacle and the second obstacle are determined; based on the distance between the first obstacle and the second obstacle, the cleaning device is controlled to move to a preset position; the cleaning device is controlled to rotate in place so that the direction of travel of the cleaning device is perpendicular to the line connecting the first obstacle and the second obstacle; the cleaning device is controlled to move along a direction perpendicular to the line connecting the obstacles so that the edge cleaning device of the cleaning device cleans the first edge of the first obstacle; wherein, the first edge is the edge portion of the first obstacle opposite to the second obstacle.

[0009] In one or more embodiments, controlling the cleaning equipment to move to a preset position based on the distance between the first obstacle and the second obstacle includes:

[0010] When the distance between the first obstacle and the second obstacle is less than a preset threshold and greater than the width of the cleaning device, the cleaning device is controlled to move to a first preset position, so that the edge cleaning device of the cleaning device is located before the starting position of the first edge of the first obstacle, and the center of the cleaning device is located on the perpendicular bisector of the line connecting the first obstacle and the second obstacle.

[0011] In one or more embodiments, controlling the cleaning equipment to move to a preset position based on the distance between the first obstacle and the second obstacle includes:

[0012] When the distance between the first obstacle and the second obstacle is greater than or equal to a preset threshold, the cleaning device is controlled to move to a second preset position, such that the edge cleaning device of the cleaning device is located before the starting position of the first edge of the first obstacle, and the distance between the cleaning device and the first edge in the direction parallel to the line connecting the first obstacle and the second obstacle is less than or equal to the edge cleaning distance of the cleaning device.

[0013] In one or more embodiments, the method further includes:

[0014] When the position of the cleaning device meets the preset conditions, it is determined whether there is a third obstacle on the side opposite to the second edge of the first obstacle; according to the determination result, the cleaning device is controlled to rotate in place to adjust the direction of travel of the cleaning device; the cleaning device is controlled to move along the adjusted direction to clean the second edge.

[0015] In one or more embodiments, determining whether a third obstacle exists on the side opposite the second edge of the first obstacle when the position of the cleaning device meets preset conditions includes:

[0016] If the rear end of the cleaning device crosses the extension line or tangent of the second edge of the first obstacle by a predetermined distance, it is determined whether there is a third obstacle on the side opposite to the second edge.

[0017] In one or more embodiments, controlling the cleaning equipment to rotate in place based on the determination result to adjust the direction of travel of the cleaning equipment includes:

[0018] When the third obstacle is not present, the cleaning device is controlled to rotate in place so that the direction of travel of the cleaning device is parallel to the second edge or parallel to the tangent of the second edge.

[0019] In one or more embodiments, controlling the cleaning equipment to rotate in place based on the determination result to adjust the direction of travel of the cleaning equipment includes:

[0020] When the third obstacle is present, the position of the third obstacle is determined, and the cleaning equipment is controlled to rotate in place so that the direction of travel of the cleaning equipment is perpendicular to the line connecting the first obstacle and the third obstacle.

[0021] Secondly, the present invention provides a cleaning control device, comprising: a determining module and a controlling module; the determining module is configured to determine the positions of a first obstacle and a second obstacle; the controlling module is configured to control a cleaning device to move to a preset position based on the distance between the first obstacle and the second obstacle; and to control the cleaning device to rotate in place such that the direction of travel of the cleaning device is perpendicular to the line connecting the first obstacle and the second obstacle; and to control the cleaning device to move along a direction perpendicular to the line connecting the obstacles such that the edge cleaning device of the cleaning device performs edge cleaning on a first edge of the first obstacle.

[0022] Thirdly, the present invention provides a cleaning device, comprising: a driving device, an edge cleaning device, and a control device as described above; the driving device is used to drive the cleaning device to move and rotate; the edge cleaning device is used to clean obstacles along their edges.

[0023] Fourthly, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the cleaning control method of the cleaning device as described above.

[0024] Fifthly, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the cleaning control method of the cleaning equipment as described above.

[0025] Compared with the prior art, the cleaning control method of the cleaning equipment provided by the present invention can control the cleaning equipment to move to a preset position according to the distance between the first obstacle and the second obstacle when there is an adjacent second obstacle around the first obstacle; then control the cleaning equipment to rotate in place so that the direction of travel of the cleaning equipment is perpendicular to the line connecting the first obstacle and the second obstacle; then control the cleaning equipment to move along the direction perpendicular to the line connecting the first obstacle so that the edge cleaning device of the cleaning equipment can perform edge cleaning on the first edge of the first obstacle; this can avoid the cleaning equipment from colliding with the obstacle during the edge cleaning process. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of edge cleaning equipment in the prior art;

[0027] Figure 2 This is a flowchart of a cleaning control method for a cleaning device according to an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the edge cleaning device according to one embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the edge cleaning device according to another embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the edge cleaning device in another embodiment of the present invention;

[0031] Figure 6 This is a structural block diagram of a cleaning control device according to an embodiment of the present invention;

[0032] Figure 7 This is a structural block diagram of a cleaning device according to one embodiment of the present invention;

[0033] Figure 8 This is a structural block diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0034] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0035] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0036] Please refer to Figure 1 As shown, taking cleaning device 13 as an example, in the prior art, during the edge cleaning process of the cleaning device 13 along the edge of the obstacle 11 to be cleaned, the cleaning device 13 often forms a cleaning trajectory 14 around the edge of the obstacle 11 to be cleaned. When there are adjacent obstacles 12 around the obstacle 11 to be cleaned, during the process of the cleaning device 13 moving along the cleaning trajectory 14, when the cleaning device 13 passes between the obstacle 11 to be cleaned and the adjacent obstacle 12, the cleaning device 13 will collide with the adjacent obstacle 12.

[0037] To solve the above technical problems, please refer to Figure 2 As shown, an embodiment of the present invention provides a cleaning control method for a cleaning device, which includes the following steps:

[0038] S201: Determine the positions of the first obstacle and the second obstacle.

[0039] It should be noted that the first obstacle is the obstacle to be cleaned by the cleaning equipment along the edge, and the second obstacle is the neighboring obstacle adjacent to the first obstacle. The positions of the first and second obstacles can be identified by LDS (LiDAR), or obtained from records stored in existing map data, or by other location determination methods, which are not specifically limited here.

[0040] S202: Based on the distance between the first obstacle and the second obstacle, control the cleaning equipment to move to a preset position.

[0041] It should be noted that after determining the positions of the first and second obstacles, the distance between them can be calculated based on their positions. This distance refers to the distance between the two closest points on the first and second obstacles.

[0042] In one exemplary embodiment, the cleaning device is controlled to move to a preset position based on the distance between the first obstacle and the second obstacle. Specifically, when the distance between the first obstacle and the second obstacle is less than a preset threshold and greater than the width of the cleaning device, the cleaning device is controlled to move to a first preset position, such that the edge cleaning device of the cleaning device is located before the starting position of the first edge of the first obstacle, and the center of the cleaning device is located on the perpendicular bisector of the line connecting the first obstacle and the second obstacle.

[0043] The preset threshold is determined based on the edge-following accuracy of the cleaning equipment. Edge-following accuracy refers to the minimum controllable edge-following distance when the cleaning equipment moves close to the edge of an obstacle. When the edge-following distance of the cleaning equipment is less than the minimum controllable edge-following distance, the cleaning equipment cannot ensure that it will not collide with the obstacle. In this embodiment, the preset threshold is set as the sum of the width of the cleaning equipment and the edge-following accuracy.

[0044] Edge cleaning devices can be side brushes, cloths, or cleaning components with suction capabilities that are installed on the edge of the cleaning equipment. The edge cleaning device can be installed on the bottom front edge or bottom rear edge of the cleaning equipment; no particular limitation is made here.

[0045] It should be noted that the width of the cleaning equipment refers to its maximum width in the direction perpendicular to its direction of travel. The line connecting the first obstacle and the second obstacle refers to the line connecting the two closest points on the first obstacle and the second obstacle. The first edge of the first obstacle is the edge portion of the first obstacle opposite to the second obstacle.

[0046] Please refer to Figure 3 As shown, when the distance between the first obstacle 31 and the second obstacle 32 is less than a preset threshold and greater than the width of the cleaning device 33, in order to ensure that the cleaning device 33 can start edge cleaning from the starting position of the first edge 311 of the first obstacle 31, the edge cleaning device of the cleaning device 33 needs to be located before the starting position of the first edge 311.

[0047] Specifically, because the distance between the first obstacle 31 and the second obstacle 32 is less than a preset threshold, the distance between the cleaning device 33 and the first edge 311 during the process of the cleaning device 33 passing between the first obstacle 31 and the second obstacle 32 to perform edge cleaning on the first edge 311 will be less than the edge-following accuracy of the cleaning device 33. Therefore, in order to avoid the cleaning device 33 colliding with the obstacles during the edge cleaning of the first edge 311, the center of the cleaning device 33 can be located on the perpendicular bisector 35 of the line 34 connecting the first obstacle 31 and the second obstacle 32. The perpendicular bisector 35 is used to define the movement path of the cleaning device 33 when performing edge cleaning on the first edge 311, thereby avoiding collisions between the cleaning device 33 and the obstacles.

[0048] In one exemplary embodiment, the cleaning device is controlled to move to a preset position based on the distance between the first obstacle and the second obstacle. Specifically, when the distance between the first obstacle and the second obstacle is greater than or equal to a preset threshold, the cleaning device is controlled to move to a second preset position, such that the edge cleaning device of the cleaning device is located before the starting position of the first edge of the first obstacle, and the distance between the cleaning device and the first edge in the direction parallel to the line connecting the first obstacle and the second obstacle is less than or equal to the edge cleaning distance of the cleaning device.

[0049] It should be noted that the edge cleaning distance of the cleaning equipment refers to the cleaning distance of the edge cleaning device (such as a side brush). The cleaning distance of the edge cleaning device is determined based on its maximum effective cleaning range. For example, if the maximum effective cleaning range of the edge cleaning device is the area within 5cm of the edge of the cleaning equipment, then the corresponding cleaning distance of the edge cleaning device is 5cm. The edge cleaning distance of the cleaning equipment must be greater than or equal to the edge-following accuracy of the cleaning equipment. The edge cleaning device can only perform edge cleaning on the edge of the obstacle when the distance between the cleaning equipment and the edge of the obstacle is less than or equal to the edge cleaning distance. It should also be noted that the distance between the cleaning equipment and the first edge in the direction parallel to the line connecting the first and second obstacles refers to the maximum distance between a straight line passing through any point on the first edge and perpendicular to the line connecting the two obstacles, and the cleaning equipment, in the direction parallel to the line connecting the two obstacles.

[0050] Please refer to Figure 4 As shown, when the distance between the first obstacle 41 and the second obstacle 42 is greater than or equal to a preset threshold and greater than the width of the cleaning device 43, in order to ensure that the cleaning device 43 can start edge cleaning from the starting position of the first edge 411 of the first obstacle 41, the edge cleaning device of the cleaning device 43 needs to be located before the starting position of the first edge 411. Specifically, in order to ensure that each position on the first edge 411 of the first obstacle 41 can be cleaned by the cleaning device 43, during the cleaning process of the cleaning device 43 cleaning the first edge 411, the distance between the cleaning device 43 and the first edge 411 in the direction parallel to the connecting line 44 needs to always be less than or equal to the edge cleaning distance of the cleaning device 43.

[0051] S203: Control the cleaning equipment to rotate in place, so that the direction of travel of the cleaning equipment is perpendicular to the line connecting the first obstacle and the second obstacle.

[0052] It should be noted that "rotating the cleaning equipment in place" means rotating the cleaning equipment with its center as the center of rotation. That is, before and after rotating in place, the center of the cleaning equipment remains in the same position.

[0053] Specifically, the cleaning equipment rotates in place so that its direction of travel is perpendicular to the line connecting the first obstacle and the second obstacle. This is so that when the cleaning equipment cleans the first edge of the first obstacle, it can pass between the first obstacle and the second obstacle in a better direction of travel, thereby minimizing the risk of collision between the cleaning equipment and the obstacle.

[0054] Furthermore, to avoid collisions with obstacles during the rotation of the cleaning equipment, after the cleaning equipment moves to the preset position, the minimum distance between the first obstacle and the second obstacle of the cleaning equipment is greater than 0 during the rotation process.

[0055] S204: Control the cleaning device to move along a direction perpendicular to the connecting line to perform edge cleaning on the first edge of the first obstacle.

[0056] After the cleaning equipment rotates and adjusts its direction of travel at a preset position, it moves forward along this adjusted direction (perpendicular to the line connecting the first and second obstacles). This ensures that the cleaning equipment does not collide with the first and second obstacles when passing between them. Therefore, the cleaning equipment can be controlled to move along a direction perpendicular to the line connecting them, performing edge cleaning on the first edge of the first obstacle to avoid collisions during the edge cleaning process.

[0057] S205: If the position of the cleaning equipment meets the preset conditions, determine whether there is a third obstacle on the side opposite to the second edge of the first obstacle.

[0058] After the cleaning equipment has cleaned the first edge of the first obstacle, it can further clean the second edge of the first obstacle. During this process, it is necessary to further determine whether there is a third obstacle on the side opposite to the second edge of the first obstacle. The result of this determination can be used to guide the subsequent cleaning methods of the cleaning equipment.

[0059] The second edge is any edge portion of the first obstacle other than the first edge. The first edge and the second edge can be continuous or discontinuous. The first edge and the second edge can be straight lines or arcs; this embodiment does not specifically limit the types of the first edge and the second edge. In an exemplary embodiment, when the position of the cleaning device meets preset conditions, determining whether there is a third obstacle on the side opposite to the second edge of the first obstacle specifically includes: when the second edge of the first obstacle is a straight line, determining whether there is a third obstacle on the side opposite to the second edge when the rear end of the cleaning device crosses the extension line of the second edge of the first obstacle by a preset distance.

[0060] It should be noted that at a predetermined distance beyond the extension line of the second edge of the first obstacle at the rear end of the cleaning device, the distance between the cleaning device and the second edge after rotating in place can be less than or equal to the edge cleaning distance of the cleaning device, so that the edge cleaning device of the cleaning device can clean the second edge.

[0061] In one exemplary embodiment, when the position of the cleaning device meets preset conditions, determining whether there is a third obstacle on the side opposite to the second edge of the first obstacle specifically includes: when the second edge of the first obstacle is an arc, determining whether there is a third obstacle on the side opposite to the second edge when the rear end of the cleaning device crosses the tangent of the second edge of the first obstacle by a preset distance.

[0062] It should be noted that at a predetermined distance from the tangent of the second edge of the first obstacle at the rear end of the cleaning device, the distance between the cleaning device and the second edge after rotating in place can be less than or equal to the edge cleaning distance of the cleaning device, so that the edge cleaning device of the cleaning device can clean the second edge.

[0063] Specifically, the cleaning equipment can determine whether its rear end exceeds a preset distance beyond the second edge based on the positioning information of its rear end. For example, when the second edge is a straight line, the distance between the extended line of the rear end of the cleaning equipment and the second edge can be calculated based on the positioning information of the rear end of the cleaning equipment, in the direction perpendicular to the line connecting the first obstacle and the second obstacle. This distance is then used to determine whether the rear end of the cleaning equipment exceeds the preset distance beyond the second edge.

[0064] S206: Based on the judgment result, control the cleaning equipment to rotate in place to adjust the direction of travel of the cleaning equipment.

[0065] In one exemplary embodiment, based on the determination result, the cleaning device is controlled to rotate in place to adjust the direction of travel of the cleaning device. Specifically, when there is no third obstacle, the cleaning device is controlled to rotate in place so that the direction of travel of the cleaning device is parallel to the second edge or parallel to the tangent of the second edge.

[0066] Please refer to Figure 4 As shown, when there is no third obstacle, it means that there is no obstacle on the side opposite to the second edge 412 of the first obstacle 41. That is, when the cleaning device 43 cleans along the second edge 412, it will not be blocked by the obstacle. In this case, the direction of travel of the cleaning device 43 can be adjusted according to the second edge 412.

[0067] exist Figure 4 In the embodiment shown, the second edge 412 is a straight line, which can control the cleaning device to rotate in place and adjust the traveling direction of the cleaning device 43 to be parallel to the second edge 412.

[0068] In other embodiments, if the second edge is curved, the cleaning device can be controlled to rotate in place, adjusting the direction of travel of the cleaning device to be parallel to the tangent of the second edge.

[0069] In one exemplary embodiment, based on the determination result, the cleaning device is controlled to rotate in place to adjust the direction of travel of the cleaning device. Specifically, this includes: when the third obstacle exists, determining the position of the third obstacle, and controlling the cleaning device to rotate in place so that the direction of travel of the cleaning device is perpendicular to the line connecting the first obstacle and the third obstacle.

[0070] Specifically, the cleaning equipment rotates in place so that its direction of travel is perpendicular to the line connecting the first and third obstacles. This is to enable the cleaning equipment to pass between the first and third obstacles in a better direction of travel when cleaning the second edge of the first obstacle, thereby minimizing the risk of collision between the cleaning equipment and the obstacles.

[0071] S207: Control the cleaning device to move along the adjusted direction to perform edge cleaning on the second edge.

[0072] After the cleaning equipment adjusts its direction of travel, it moves forward along the adjusted direction (perpendicular to the line connecting the first and third obstacles), allowing it to pass between the first and third obstacles and perform edge cleaning on the second edge of the first obstacle, thus minimizing collisions with the obstacles.

[0073] Please refer to Figure 5 As shown, a second obstacle 52 is located on the side opposite to the first edge 511 of the first obstacle 51, and a third obstacle 53 is located on the side opposite to the second edge 512 of the first obstacle 51. After the cleaning device 54 completes edge cleaning of the first edge 511 according to the aforementioned steps S201-204, as the cleaning device 54 moves, when the position of the cleaning device 54 meets the preset conditions, it detects the presence of the third obstacle 53 and controls the cleaning device 54 to rotate in place to adjust the direction of travel of the cleaning device 54 to be perpendicular to the line 55 connecting the first obstacle 51 and the third obstacle 53. Subsequently, the cleaning device 54 is controlled to move along the direction perpendicular to the line 55 connecting the first obstacle 51 and the third obstacle 53 to perform edge cleaning of the second edge 512.

[0074] exist Figure 5 In the embodiment shown, for the first obstacle 51, all edges other than the first edge 511 and the second edge 512 are cleaned along the edges according to the cleaning logic described in steps S205 to S207 (the specific cleaning process will not be described in detail) until the cleaning device 54 has completed the edge cleaning of all edges of the first obstacle 51.

[0075] To improve the edge cleaning efficiency of the cleaning device 54, when cleaning the edges of the first obstacle 51, the edges of the first obstacle 51 can be cleaned sequentially according to the connection arrangement order of the edges of the first obstacle 51. For example, after cleaning the edge of the first edge 511, the edge of the second edge 512 connected to the first edge 511 can be cleaned immediately. After cleaning the edge of the second edge 512, the next edge connected to the second edge 512 can be cleaned, until all edges of the first obstacle 51 are cleaned.

[0076] Of course, in other embodiments, the cleaning sequence of the edges other than the first edge on the first obstacle may not be in accordance with the connection and arrangement order of each edge, as long as the cleaning logic described in steps S205 to S207 is followed during the cleaning of the other edges.

[0077] In summary, the cleaning control method for the cleaning equipment provided in this embodiment can control the cleaning equipment to move to a preset position based on the distance between the first obstacle and the second obstacle when there is an adjacent second obstacle around the first obstacle; then control the cleaning equipment to rotate in place so that the direction of travel of the cleaning equipment is perpendicular to the line connecting the first obstacle and the second obstacle; and then control the cleaning equipment to move along a direction perpendicular to the line connecting the obstacles so that the edge cleaning device of the cleaning equipment can perform edge cleaning on the first edge of the first obstacle; this can avoid the cleaning equipment from colliding with the obstacle during the edge cleaning process.

[0078] Therefore, the cleaning control method of the cleaning equipment provided in this embodiment can be applied to cleaning the support legs of items such as tables, chairs, and beds along their edges. According to the cleaning control method of the cleaning equipment, when the cleaning equipment is cleaning a certain support leg of an item such as a table, chair, or bed along its edge, it can effectively prevent the cleaning equipment from colliding with other support legs.

[0079] Based on the same inventive concept, please refer to Figure 6 As shown, one embodiment of the present invention also provides an edge cleaning control device 600, which includes a determination module 601 and a control module 602.

[0080] The determining module 601 is used to determine the positions of the first obstacle and the second obstacle. The control module 602 is used to control the cleaning device to move to a preset position according to the distance between the first obstacle and the second obstacle; and to control the cleaning device to rotate in place so that the direction of travel of the cleaning device is perpendicular to the line connecting the first obstacle and the second obstacle; and to control the cleaning device to move in a direction perpendicular to the line connecting the obstacles so that the edge cleaning device of the cleaning device can perform edge cleaning on the first edge of the first obstacle.

[0081] Specifically, the control module 602 includes a processor for logic processing. The 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. The general-purpose processor can be a microprocessor or any conventional processor. The CPU can be the control center of the computer device, connecting various parts of the computer device via various interfaces and lines.

[0082] Please refer to Figure 7 As shown, one embodiment of the present invention also provides a cleaning device 700, which includes a drive device 701, an edge cleaning device 702, and an edge cleaning control device 600. The cleaning device can be a self-moving device with cleaning functions, such as a sweeper, vacuum cleaner, or mop.

[0083] The drive unit 701 is used to drive the cleaning equipment to move and rotate. The edge cleaning device 702 is used to clean obstacles along their edges.

[0084] Specifically, the drive unit 701 includes a drive motor, traveling wheels, and steering wheels. The drive motor drives the traveling wheels to move the cleaning equipment 700. The drive motor also drives the steering wheels to rotate the cleaning equipment 700, thereby changing the direction of travel of the cleaning equipment 700.

[0085] Specifically, the edge cleaning device 702 can be a side brush, a cloth, or a cleaning component with suction capabilities installed on the edge of the cleaning device 700. The edge cleaning device 702 can be installed on the bottom front edge or the bottom rear edge of the cleaning device 700, without particular limitation.

[0086] Please refer to Figure 8As shown, embodiments of the present invention also provide an electronic device 800, which includes at least one processor 801, a memory 802 (e.g., non-volatile memory), a main memory 803, and a communication interface 804, and the at least one processor 801, memory 802, main memory 803, and communication interface 804 are connected together via a bus 805. The at least one processor 801 is used to invoke at least one program instruction stored or encoded in the memory 802 to cause the at least one processor 801 to perform various operations and functions of the cleaning control method of the cleaning equipment described in the various embodiments of this specification.

[0087] In the embodiments of this specification, electronic devices may include, but are not limited to: personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile electronic devices, smartphones, tablet computers, cellular phones, personal digital assistants (PDAs), handheld devices, messaging devices, wearable electronic devices, consumer electronic devices, etc.

[0088] This invention also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the cleaning control method for the cleaning equipment disclosed in this invention.

[0089] The computer-readable storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic storage (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical storage (e.g., CD, DVD, BD, HVD), and semiconductor storage (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD), etc.).

[0090] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0091] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, devices, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 The apparatus for the functions specified in one or more boxes. The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A cleaning control method for cleaning equipment, characterized in that, include: Determine the positions of the first and second obstacles; Based on the distance between the first obstacle and the second obstacle, control the cleaning device to move to a preset position, including: when the distance between the first obstacle and the second obstacle is less than a preset threshold and greater than the width of the cleaning device, control the cleaning device to move to a first preset position, such that the edge cleaning device of the cleaning device is located before the starting position of the first edge of the first obstacle, and the center of the cleaning device is located on the perpendicular bisector of the line connecting the first obstacle and the second obstacle; when the distance between the first obstacle and the second obstacle is greater than or equal to the preset threshold, control the cleaning device to move to a second preset position, such that the edge cleaning device of the cleaning device is located before the starting position of the first edge of the first obstacle, and the distance between the cleaning device and the first edge in the direction parallel to the line connecting the first obstacle and the second obstacle is less than or equal to the edge cleaning distance of the cleaning device; Control the cleaning equipment to rotate in place, so that the direction of travel of the cleaning equipment is perpendicular to the line connecting the first obstacle and the second obstacle; The cleaning equipment is controlled to move along a direction perpendicular to the connecting line, so that the edge cleaning device of the cleaning equipment cleans the first edge of the first obstacle along the edge; Wherein, the first edge is the edge portion of the first obstacle that is opposite to the second obstacle.

2. The cleaning control method for cleaning equipment as described in claim 1, characterized in that, The method further includes: If the position of the cleaning equipment meets the preset conditions, determine whether there is a third obstacle on the side opposite to the second edge of the first obstacle; Based on the judgment result, the cleaning equipment is controlled to rotate in place to adjust the direction of travel of the cleaning equipment; The cleaning device is controlled to move along the adjusted direction to perform edge cleaning on the second edge.

3. The cleaning control method for the cleaning equipment as described in claim 2, characterized in that, When the position of the cleaning equipment meets preset conditions, determining whether there is a third obstacle on the side opposite the second edge of the first obstacle includes: If the rear end of the cleaning device crosses the extension line or tangent of the second edge of the first obstacle by a predetermined distance, it is determined whether there is a third obstacle on the side opposite to the second edge.

4. The cleaning control method for the cleaning equipment as described in claim 2, characterized in that, The step of controlling the cleaning equipment to rotate in place based on the judgment result to adjust the direction of travel of the cleaning equipment includes: When the third obstacle is not present, the cleaning device is controlled to rotate in place so that the direction of travel of the cleaning device is parallel to the second edge or parallel to the tangent of the second edge.

5. The cleaning control method for the cleaning equipment as described in claim 2, characterized in that, The step of controlling the cleaning equipment to rotate in place based on the judgment result to adjust the direction of travel of the cleaning equipment includes: When the third obstacle is present, the position of the third obstacle is determined, and the cleaning equipment is controlled to rotate in place so that the direction of travel of the cleaning equipment is perpendicular to the line connecting the first obstacle and the third obstacle.

6. A cleaning control device, characterized in that, include: The determination module is used to determine the positions of the first obstacle and the second obstacle; A control module is configured to control a cleaning device to move to a preset position based on the distance between the first obstacle and the second obstacle, including: when the distance between the first obstacle and the second obstacle is less than a preset threshold and greater than the width of the cleaning device, controlling the cleaning device to move to a first preset position, such that the edge cleaning device of the cleaning device is located before the starting position of the first edge of the first obstacle, and the center of the cleaning device is located on the perpendicular bisector of the line connecting the first obstacle and the second obstacle; when the distance between the first obstacle and the second obstacle is greater than or equal to the preset threshold, controlling the cleaning device to move to a second preset position, such that the edge cleaning device of the cleaning device is located before the starting position of the first edge of the first obstacle, and the distance between the cleaning device and the first edge in a direction parallel to the line connecting the first obstacle and the second obstacle is less than or equal to the edge cleaning distance of the cleaning device; and controlling the cleaning device to rotate in place, such that the traveling direction of the cleaning device is perpendicular to the line connecting the first obstacle and the second obstacle; and controlling the cleaning device to move in a direction perpendicular to the line, so that the edge cleaning device of the cleaning device performs edge cleaning on the first edge of the first obstacle.

7. A cleaning device, characterized in that, include: A drive unit for driving the cleaning equipment to move and rotate; Edge cleaning device, used for cleaning obstacles along their edges; as well as The cleaning control device as described in claim 6.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the cleaning control method for the cleaning equipment as described in any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the cleaning control method of the cleaning equipment as described in any one of claims 1 to 5.

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