Cleaning device control method and cleaning device

Abstract

The embodiments of the present disclosure provide a cleaning device control method and a cleaning device. The cleaning device control method comprises: performing a patrol on a low space, identifying movable obstacles in the low space during the patrol, and determining obstacle information of each movable obstacle, wherein the distance between the top of the low space and the bottom of the low space is less than a height threshold; controlling the cleaning device to perform a moving operation associated with the corresponding obstacle information on the movable obstacle, and moving the movable obstacle to one of a plurality of preset candidate regions; the plurality of preset candidate regions include preset candidate regions in the low space and / or preset candidate regions outside the low space.

Description

Technical Field

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

[0002] With the development of science and technology and the improvement of living standards, household cleaning equipment such as robotic vacuum cleaners, floor scrubbers, and robot vacuums / mops have become increasingly popular, reducing the burden of housework. The working scenarios for these cleaning devices typically include indoor environments such as residences. Indoor environments are relatively complex, with hard-to-clean areas such as under beds and sofas. Therefore, ensuring the efficiency and coverage of robots in complex and changing working environments, and improving the user experience, is crucial. Summary of the Invention

[0003] In view of this, the present disclosure provides a cleaning equipment control method and a cleaning equipment.

[0004] A first aspect of the present disclosure provides a cleaning equipment control method, the method comprising:

[0005] The low-ceilinged space is inspected. During the inspection, movable obstacles in the low-ceilinged space are identified, and obstacle information for each movable obstacle is determined. The distance between the top and bottom of the low-ceilinged space is less than a height threshold.

[0006] The cleaning equipment is controlled to perform a pushing operation associated with the corresponding obstacle information on the movable obstacle, pushing the movable obstacle to one of a plurality of preset candidate areas; the plurality of preset candidate areas include preset candidate areas within the low space and / or preset candidate areas outside the low space.

[0007] In some embodiments, moving the movable obstacle to one of a plurality of preset candidate regions includes:

[0008] The movable obstacle is moved to a target area within a plurality of preset candidate areas, wherein there is no fixed obstacle between the location of the movable obstacle and the target area.

[0009] In some embodiments, moving the movable obstacle to a target area within a plurality of preset candidate areas includes:

[0010] The movable obstacle is moved from its current location to a first target area along a path containing a fixed obstacle. The movable obstacle is then moved to a second target area, wherein the movable obstacle is moved from its current location to the second target area along a path containing no fixed obstacles.

[0011] In some embodiments, the control cleaning device performs a pushing operation associated with corresponding obstacle information on the movable obstacle, pushing the movable obstacle to one of a plurality of preset candidate areas, including:

[0012] The movable obstacle is of the third type. The movable obstacle is moved to the preset candidate area closest to the location of the movable obstacle. The direction of movement of the third type of movable obstacle is uncontrollable during the moving process.

[0013] In some embodiments, controlling a cleaning device to perform a pushing operation associated with corresponding obstacle information on the movable obstacle, pushing the movable obstacle to one of a plurality of preset candidate areas, includes at least one of the following:

[0014] The movable obstacle is of type 1. N movable obstacles of type 1 are moved to a predetermined range, and at the same time, the N movable obstacles of type 1 are moved to the target area. Here, N is an integer greater than or equal to 2. The movable obstacles of type 1 are movable obstacles that can be moved in clusters.

[0015] The movable obstacle is of the second type. M movable obstacles of the first type are moved to the target area respectively, where M is an integer greater than or equal to 2. The movable obstacles of the first type are movable obstacles that cannot be moved in clusters.

[0016] In some embodiments, the control cleaning device performs a pushing operation associated with corresponding obstacle information on the movable obstacle, pushing the movable obstacle to one of a plurality of preset candidate areas, including at least one of the following:

[0017] The movable obstacle is of the fourth type, and the fourth type of movable obstacle is moved to the third target area among the multiple preset candidate areas; the usage frequency of the fourth type of movable obstacle is greater than the predetermined frequency, and the proportion of the third target area that is obscured is less than the predetermined proportion.

[0018] The movable obstacle is of type 5. The movable obstacle of type 5 is moved to the fourth target area among the plurality of preset candidate areas. The movable obstacle of type 5 is used less frequently than a predetermined frequency. The fourth target area is the preset candidate area among the plurality of preset candidate areas that is closest to the movable obstacle of type 5.

[0019] In some embodiments, the cleaning device includes a body;

[0020] The control cleaning device performs a pushing operation associated with the corresponding obstacle information for the movable obstacle, including:

[0021] If the height of the movable obstacle is less than a first height threshold, the fuselage is lowered, and the movable obstacle is moved using the lowered fuselage.

[0022] In some embodiments, the cleaning equipment includes a body and cleaning components for cleaning the floor;

[0023] The control cleaning device performs a pushing operation associated with the corresponding obstacle information for the movable obstacle, including:

[0024] The cleaning component is lifted off the ground and a pushing operation associated with the obstacle information is performed on the movable obstacle.

[0025] In some embodiments, the control cleaning device performs a pushing operation associated with corresponding obstacle information against the movable obstacle, including:

[0026] When the cleaning device moves the movable obstacle, the line connecting the contact point between the cleaning component and the movable obstacle and the center of gravity of the movable obstacle is parallel to the direction of travel of the cleaning device.

[0027] In some embodiments, controlling a cleaning device to perform a pushing operation associated with corresponding obstacle information against the movable obstacle includes:

[0028] If the historical cleaning records of the location of the movable obstacle meet the judgment threshold, the movable obstacle is moved.

[0029] In some embodiments, the historical cleaning records of the location of the movable obstacle meet a judgment threshold, including at least one of the following:

[0030] The interval between the last cleaning of the location of the movable obstacle in the historical cleaning record and the current time is greater than the time interval threshold.

[0031] The cleaning frequency of the location of the movable obstacle within the predetermined period in the historical cleaning record is less than the frequency threshold.

[0032] In some embodiments, the path of the movable obstacle is located in an uncleaned area.

[0033] In some embodiments, the method further includes at least one of the following:

[0034] The movable obstacle is subjected to a first collision using at least one of a first predetermined speed and a first predetermined collision force. Based on the displacement of the movable obstacle after the first collision, at least one of the following is determined when moving the movable obstacle: a moving speed, a moving force, and a moving path.

[0035] In some embodiments, the method further includes:

[0036] The movable obstacles on the cleaning path are identified, and the identification information of the movable obstacles is stored;

[0037] When the item query information is obtained and it is determined that the item query information matches the stored identification information, the matching identification information is sent.

[0038] The identification information indicates at least one of the following: the name of the movable obstacle, an image of the name of the movable obstacle, and the location of the movable obstacle.

[0039] In some embodiments, identifying movable obstacles within the low-ceilinged space includes:

[0040] An obstacle in the low-ceilinged space is subjected to a second collision using at least one of a second predetermined speed and a second predetermined collision force. If the obstacle is displaced by more than a displacement threshold after the second collision, it is determined to be a movable obstacle.

[0041] According to a second aspect of the present disclosure, an electronic device is provided, including a processor, a memory, and an executable program stored in the memory and executable by the processor, wherein the processor executes the steps of the cleaning device control method as described in the first aspect when running the executable program.

[0042] According to a third aspect of the present disclosure, a storage medium is provided having an executable program stored thereon, which, when executed by a processor, implements the steps of the cleaning equipment control method as described in the first aspect.

[0043] In the cleaning equipment control method provided in this embodiment, the cleaning equipment includes a body, on which a main cleaning component, an auxiliary cleaning component, and a first drive component are disposed. Along the forward direction of the body, both the main cleaning component and the auxiliary cleaning component are located at the rear of the body, with the auxiliary cleaning component distributed along the edge of the body. The cleaning coverage area of ​​the auxiliary cleaning component is smaller than that of the main cleaning component. The first drive component is used to drive the auxiliary cleaning component to adjust within a swing range between an initial position and a third position. The distance between the rotation center of the auxiliary cleaning component at the initial position and the rotation center of the body, and the distance between the rotation center of the auxiliary cleaning component at the third position and the rotation center of the body, are represented by LA and LB, respectively, where LB > LA. The method includes: controlling the body to perform a first rotation in the angle region between a first side and a second side, causing the auxiliary cleaning component to move along the first side toward the second side; during the first rotation, controlling the auxiliary cleaning component to adjust within the swing range so that the distance between the auxiliary cleaning component and the first side is less than or equal to a first distance. In this way, the machine body performs its first rotation in the angled area. On one hand, the machine body drives the main cleaning unit and auxiliary cleaning components to move along the first side to the second side, thereby cleaning the angled area. By using the auxiliary cleaning components on the side of the machine body to clean areas that the main cleaning components cannot reach, the number of missed areas in the angled area is reduced, improving the cleaning coverage rate of the angled area. On the other hand, the distance between the auxiliary cleaning components and the first side remains less than or equal to the first distance, enabling the auxiliary cleaning components to clean along the first side within the angled area, further reducing the number of missed areas in the angled area, improving the cleaning coverage rate of the angled area, and enhancing the user experience. At the same time, by setting multiple preset candidate areas, the machine can meet the needs of different movable obstacle conditions and ground cleanliness conditions, improving the flexibility of movement. Attached Figure Description

[0044] Figure 1 This is a bottom view schematic diagram illustrating the cleaning components on the machine body according to an exemplary embodiment;

[0045] Figure 2 This is a schematic flowchart illustrating a cleaning equipment control method according to an exemplary embodiment;

[0046] Figure 3 This is a schematic diagram of a cleaning device cleaning according to an exemplary embodiment;

[0047] Figure 4 This is a schematic diagram illustrating another cleaning device cleaning process according to an exemplary embodiment;

[0048] Figure 5 This is a schematic diagram illustrating another cleaning device cleaning process according to an exemplary embodiment;

[0049] Figure 6 This is a schematic diagram illustrating another cleaning device cleaning process according to an exemplary embodiment;

[0050] Figure 7 This is a schematic diagram illustrating another cleaning device cleaning process according to an exemplary embodiment;

[0051] Figure 8 This is a schematic diagram illustrating another cleaning device cleaning process according to an exemplary embodiment. Detailed Implementation

[0052] To make the technical solution and beneficial effects of the present invention more apparent and understandable, a detailed description is provided below by listing specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application pertains.

[0053] This disclosure is not exhaustive, but merely illustrative of some embodiments, and is not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. Furthermore, the optional implementation methods in a particular embodiment can be arbitrarily combined; moreover, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0054] In each of the disclosed embodiments, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of the embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0055] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of this disclosure.

[0056] In this embodiment of the disclosure, unless otherwise stated, elements expressed in the singular form, such as "a," "an," "the," "the," "the," "the," "the," "the," "this," etc., can mean "one and only one," or "one or more," "at least one," etc. For example, when using articles such as "a," "an," "the," etc. in translation, the noun following the article can be understood as either a singular expression or a plural expression.

[0057] In the embodiments disclosed herein, "multiple" refers to two or more.

[0058] In some embodiments, the terms “at least one of”, “one or more”, “aplurality of”, “multiple”, etc., may be used interchangeably.

[0059] In some embodiments, the notation "at least one of A and B", "A and / or B", "A in one case, B in another", "A in one case, B in another", etc., may include the following technical solutions depending on the situation: in some embodiments, A (A is executed regardless of B); in some embodiments, B (B is executed regardless of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, A and B (both A and B are executed). The same applies when there are more branches such as A, B, C, etc.

[0060] In some embodiments, the notation "A or B" may include the following technical solutions, depending on the situation: in some embodiments, A (execution of A regardless of B); in some embodiments, B (execution of B regardless of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The same applies when there are more branches such as A, B, C, etc.

[0061] The prefixes "first," "second," etc., used in the embodiments of this disclosure are merely for distinguishing different descriptive objects and do not impose restrictions on the position, order, priority, value, or content of the descriptive objects. The description of the descriptive objects should be found in the claims or the context of the embodiments, and the use of prefixes should not constitute unnecessary restrictions. For example, if the descriptive object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the "fields" they modify are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the descriptive object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority between "levels." Furthermore, the value of the descriptive object is not limited by ordinal numbers and can be one or more. For example, in "first device," the value of "device" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device", then "first device" and "second device" can be the same device or different devices, and their types can be the same or different. Similarly, if the object being described is "information", then "first information" and "second information" can be the same information or different information, and their content can be the same or different.

[0062] In some embodiments, “including A,” “containing A,” “for indicating A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0063] In some embodiments, terms such as “…”, “determine…”, “in the case of…”, “when…”, “when…”, “if…”, etc. can be used interchangeably.

[0064] In some embodiments, the terms “greater than,” “greater than or equal to,” “not less than,” “more than,” “more than or equal to,” “not less than,” “higher than,” “higher than or equal to,” “not lower than,” and “above” can be used interchangeably, as can the terms “less than,” “less than or equal to,” “not greater than,” “less than,” “less than or equal to,” “not more than,” “lower than,” “lower than or equal to,” “not higher than,” and “below”.

[0065] In some embodiments, devices, etc., can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. Terms such as “device”, “equipment”, “circuit”, “network element”, “node”, “function”, “unit”, “section”, “system”, “network”, “chip”, “chip system”, “entity”, and “subject” can be used interchangeably.

[0066] Furthermore, each element, each row, or each column in the table of this disclosure can be implemented as an independent embodiment, and any combination of any element, any row, or any column can also be implemented as an independent embodiment.

[0067] This specification provides an example of a cleaning device. See also... Figure 1 As shown.

[0068] Figure 1 This is a bottom view (reverse view) of the cleaning equipment described above. The equipment can move autonomously within its work area and complete cleaning tasks without external human input or control. The work area can include indoor and outdoor areas. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas can include lawns, gardens, roads, etc. Cleaning tasks can include sweeping (e.g., washing, mopping, sweeping), lawn mowing, snow removal, etc.

[0069] The aforementioned cleaning equipment includes, but is not limited to: robotic vacuum cleaners, robotic floor scrubbers, robotic vacuum and mop combos, robotic lawnmowers, and robotic snowplows. These cleaning devices can perform cleaning using either a front-sweeping-then-mopping method or a separate sweeping-and-mopping method. The front-sweeping-then-mopping method allows for simultaneous sweeping and mopping, improving cleaning efficiency. The separate sweeping-and-mopping method allows for sweeping first, followed by mopping, which enhances the cleaning effect.

[0070] For details, please refer to Figure 1 As shown, the cleaning equipment includes at least a body 10, a controller (not shown), one or more cleaning components 110, a walking system (120), and a sensing system (not shown).

[0071] The cleaning component 110 may specifically include one or more of the following: side brush 111, main brush 112 (or roller brush), large mop disc 113 (main cleaning component), small mop disc 114 (auxiliary cleaning component), etc.

[0072] The fuselage can be circular, square, or other shapes. For example, one part of the fuselage can be circular, and another part can be square.

[0073] The controller described above may include a microcontroller unit (MCU). Of course, the controller may also include other devices capable of control functions.

[0074] The cleaning component described above can be circular, square, or other shapes (e.g., semi-circular, arc-shaped, triangular, or other irregular shapes). The circular shape facilitates rotating cleaning. The irregular shape facilitates cleaning corner areas.

[0075] In one possible implementation, the side brush gathers foreign objects and moves them towards the center of the bottom of the cleaning device. The roller brush sweeps up foreign objects from the bottom of the cleaning device, allowing them to enter the dust collection box through the suction port. The mop tray is used for wiping or mopping the floor.

[0076] In one possible implementation, the aforementioned mop trays (large and / or small) are equipped with mop cloths. A water tank is provided on the cleaning equipment. Water in the water tank flows through holes to the mop cloth, wetting it. The wetted mop cloth is then used for mopping the floor.

[0077] In one possible implementation, the main brush is located within a main brush chamber at the bottom of the cleaning device's body. The main brush chamber is connected to the cleaning device's suction channel. Small debris such as dust and hair swept up by the main brush and / or side brushes is sucked into the main brush chamber by the cleaning device.

[0078] refer to Figure 1 The walking system is mounted on the machine body and is used to drive the machine to achieve its walking function. The walking system generally includes a drive unit and walking components, with the drive unit driving the walking components to move. There are usually two walking components, symmetrically mounted on the machine body. The walking components can be, but are not limited to, drive wheels, track wheels, or adjustable steering wheels. For example, steering wheels are Mecanum wheels. Furthermore, the walking system can be oscillatingly mounted on the machine body to enable the cleaning equipment to overcome obstacles during movement. The walking function includes, but is not limited to: straight-line movement, rotation, and rotation around a predetermined position.

[0079] The aforementioned sensor system can acquire three-dimensional information about obstacles. Based on this information, the cleaning equipment can detect and identify obstacles. Furthermore, the controller can adjust its operation accordingly based on detected obstacles, such as doors.

[0080] The perception system includes a two-dimensional or three-dimensional lidar located on the top of the fuselage, as well as a buffer, line laser sensor, and vision sensor located at the front of the fuselage, and edge sensors located on the side walls of the fuselage, ultrasonic sensors and downward-looking sensors located at the bottom of the fuselage, and inertial measurement units and odometers located within the cleanliness identification system.

[0081] The identification system can identify the environment and obstacles based on the sensing data from the perception system. The identification system can also be implemented by at least one of the following: a perception system, a control system, or a system other than cleaning equipment (such as a cloud server).

[0082] The system includes a buffer that performs obstacle detection by colliding with obstacles. An edge sensor detects the distance to obstacles, allowing the cleaning equipment to perform edge cleaning based on this information. Two-dimensional or three-dimensional LiDAR, or a line laser sensor, can collect distance information about obstacles. A vision sensor can also be used to identify images of the environment in which the cleaning equipment is located. The control system can determine the distance, outline, and type of obstacles based on the information collected by the two-dimensional or three-dimensional LiDAR, line laser sensor, and vision sensor, thereby enabling mapping and controlling the cleaning equipment to perform obstacle avoidance / crossing / edge cleaning. A downward-looking sensor is used for cliff detection. An inertial measurement unit (IMU) can be a device that measures the three-axis attitude angles (or angular rates) and acceleration of an object to acquire the motion attitude information of the cleaning equipment in real time. An odometer can be used to determine the location of the cleaning equipment on the map, i.e., to locate the cleaning equipment. An ultrasonic sensor is used to identify carpet signals; the control system uses these signals to control the cleaning components of the wet cleaning module of the cleaning equipment to lift, or to control the cleaning equipment to return to the base station to disassemble the cleaning components of the wet cleaning module. Of course, the above-described sensing system is merely illustrative and does not constitute a limitation of the embodiments described in this specification.

[0083] It is understood that the above-described cleaning equipment is for illustrative purposes only and does not constitute a limitation of the embodiments described in this specification.

[0084] In real-world work scenarios, low spaces often exist beneath obstacles, such as the low spaces under furniture like beds, cabinets, and sofas. For example... Figure 1 The cleaning equipment shown is low in overall height, allowing it to enter low-ceilinged spaces for cleaning.

[0085] Low-ceilinged spaces are frequently used by users and often contain various types of clutter. For smaller items, cleaning equipment can use suction or other methods to remove them. For larger obstacles, cleaning equipment can clean around them using edge cleaning or other obstacle-avoiding methods. However, even when cleaning equipment cleans around obstacles in low-ceilinged spaces, blind spots will still exist, such as areas covered by obstacles or narrow spaces between obstacles. This affects the overall cleanliness of the floor.

[0086] Obstacles in low-ceilinged spaces are not easily visible to users. Therefore, over time, the number of obstacles in these spaces increases, significantly impacting cleanliness and overall floor tidiness, thus reducing the user experience. Improving floor cleaning in low-ceilinged spaces and enhancing customer experience is a pressing issue that needs to be addressed.

[0087] Accordingly, embodiments of this disclosure provide a cleaning equipment control method, such as... Figure 2 As shown, the method includes:

[0088] Step 201: Inspect the low-ceilinged space. During the inspection, identify movable obstacles in the low-ceilinged space and determine the obstacle information of each movable obstacle. The distance between the top and bottom of the low-ceilinged space is less than a height threshold.

[0089] The cleaning equipment is controlled to perform a pushing operation associated with the corresponding obstacle information on the movable obstacle, pushing the movable obstacle to one of a plurality of preset candidate areas; the plurality of preset candidate areas include preset candidate areas within the low space and / or preset candidate areas outside the low space.

[0090] Step 202: In one possible implementation, the cleaning equipment control method of the present disclosure embodiment can be executed by a controller or the like in the cleaning equipment.

[0091] In one possible implementation, the distance between the top and bottom of the low-ceilinged space can be determined by the sensing system of the cleaning equipment. For example, the cleaning equipment can use sensors (such as lidar) located on the top and / or front of the unit to determine the distance between the top and bottom (e.g., the ground) of the low-ceilinged space.

[0092] The height threshold can be preset. The height threshold can be greater than the height of the cleaning device. For example, the height threshold can be 20cm to 30cm.

[0093] If the height of the space the cleaning equipment enters is less than the height threshold, the cleaning equipment will consider the space it is in to be a low-ceilinged space.

[0094] In one possible implementation, the cleaning equipment can use sensors (such as LiDAR) located on the top and / or front of the fuselage to determine the boundaries of the low-ceilinged space. For example, the cleaning equipment can use a LiDAR located on the top of the fuselage to determine the spatial top point cloud data of the low-ceilinged space, thereby determining the boundaries of the low-ceilinged space.

[0095] Obstacles in low-ceilinged spaces can be categorized into fixed obstacles and movable obstacles. Fixed obstacles can include furniture legs and other immovable objects. Movable obstacles are those that are not fixed within the low-ceilinged space.

[0096] In some embodiments, the sensor system can identify obstacles in low-ceilinged spaces, determining whether the obstacles are fixed or movable. For example, an obstacle image can be acquired using a vision sensor in the sensor system, and image recognition can be performed to identify the obstacle. Alternatively, point clouds of obstacles can be acquired using devices such as LiDAR, and the shape of the obstacle can be identified using the point cloud to further identify the obstacle.

[0097] In some embodiments, the cleaning device can determine whether an obstacle is a fixed obstacle or a movable obstacle by colliding with it and determining the displacement of the obstacle after the collision.

[0098] In one possible implementation, the movable obstacle includes obstacles that the cleaning equipment can move. For example, if an obstacle is identified as having a large mass that the cleaning equipment cannot move, then the obstacle can be identified as a fixed obstacle.

[0099] Here, shifting may include at least one of the following:

[0100] Collision: The cleaning equipment exerts a momentary force on the obstacle, causing the obstacle to move.

[0101] As the cleaning equipment continues to move, it exerts a continuous force on the obstacle, causing it to move; that is, the duration of the force exerted by the cleaning equipment on the obstacle is longer than the predetermined duration; in other words, the cleaning equipment can continuously exert a force on the obstacle as it moves.

[0102] Friction is the force exerted on an obstacle by the movement (rotation, movement, rotation) of the cleaning equipment, causing the obstacle to move.

[0103] Here, obstacle information of a movable obstacle is associated with the action of pushing the movable obstacle.

[0104] In one possible implementation, the obstacle information includes at least one of the following: the type of movable obstacle, whether it needs to be moved, the geometric information of the movable obstacle, the weight information of the movable obstacle, and the cleanliness of the movable obstacle itself.

[0105] In one possible implementation, the pushing action includes at least one of the following: pushing form (such as collision, friction, continuous pushing, etc.), pushing target location, pushing method (pushing a single pushable obstacle, pushing multiple pushable obstacles together), pushing path, and the cleaning equipment part used for pushing.

[0106] For example, for spherical obstacles that can be pushed, the cleaning equipment can push them away by collision. For cuboid obstacles that can be pushed, the cleaning equipment can push them away by continuous movement.

[0107] For example, for tall, movable obstacles, the cleaning equipment can use its main body to push the obstacle. If the height of the movable obstacle is lower than the distance between the lower surface of the cleaning equipment body and the ground, the cleaning equipment can use cleaning components that are flush with the ground to push the obstacle. For instance, the cleaning equipment can use a mop pad that extends beyond the coverage area of ​​the main body to push the obstacle.

[0108] In one possible implementation, the cleaning device may be equipped with at least one actuating component for pushing a movable obstacle. The actuating component may have multiple poses, with at least one pose for pushing the movable obstacle. For example, the cleaning device may have a robotic arm on its body, which can be adjusted to accommodate movable obstacles of different heights by changing the height of its free end. Alternatively, the actuating component can adapt to different obstacle types by changing the shape of its contact surface with the movable obstacle; for example, the actuating component can change the contact surface to a curved shape to accommodate spherical movable obstacles.

[0109] In one possible implementation, after the cleaning equipment moves the movable obstacle, it can clean areas that cannot be cleaned due to the influence of the movable obstacle, such as the original location of the movable obstacle and / or areas that cannot be cleaned due to being blocked by the movable obstacle.

[0110] For example, the cleaning equipment can, based on obstacle information, move a movable obstacle from a first area out of a low space and clean the first area; the cleaning equipment can, based on obstacle information, move a movable obstacle from the first area to a second area of ​​the low space and clean the first location.

[0111] By utilizing obstacle information based on movable obstacles, cleaning equipment can employ corresponding pushing operations to move these obstacles. This eliminates the limitation of using the same pushing operation for different movable obstacles, thereby increasing the flexibility of the pushing operation and adapting to scenarios with various movable obstacles. Furthermore, moving movable obstacles enables cleaning of areas that are otherwise inaccessible due to the obstacle's presence, improving floor cleaning effectiveness in low-ceilinged spaces and enhancing the customer experience.

[0112] Before cleaning equipment cleans low-ceilinged spaces, or before cleaning a larger area including low-ceilinged spaces using cleaning components, it can undergo a pre-inspection. This pre-inspection can include the cleaning equipment using a sensing system to determine the cleaning environment during its movement, such as defining an environmental map, cleaning boundaries, and identifying obstacles within the cleaning area.

[0113] The cleaning equipment can identify movable obstacles in low-ceilinged spaces during inspections, such as determining obstacle information. It can record all movable obstacles identified during the inspection. The equipment can also mark the location of each movable obstacle on a cleaning map.

[0114] In one possible implementation, the cleaning equipment can identify all movable obstacles during the inspection process and then move the movable obstacles after the inspection.

[0115] During inspections, the cleaning equipment can operate without cleaning the ground; for example, the cleaning components can be lifted off the ground. This allows the equipment to move at a faster speed. Therefore, identifying movable obstacles in low-ceilinged spaces during inspections reduces the time required to determine all movable obstacles in those spaces, improving the overall efficiency of the cleaning process.

[0116] In one possible implementation, the cleaning equipment may also identify movable obstacles in the predetermined cleaning path while cleaning the low-ceilinged space along the predetermined cleaning path.

[0117] like Figure 3 As shown, the cleaning equipment can clean the low-ceilinged space 11 along a bow-shaped path. The cleaning equipment can identify obstacles in its direction of travel, such as the obstacle information of movable obstacles 12, and then move the movable obstacles 12. During the cleaning process, movable obstacles 12 are identified along the predetermined cleaning route, eliminating the need for dedicated obstacle inspections, saving inspection time, and improving cleaning efficiency.

[0118] In some possible implementations, the cleaning equipment may employ sensing devices to identify obstacles, in order to identify movable and / or fixed obstacles.

[0119] For example, cleaning equipment can use image recognition to identify obstacles, such as toys, table and chair legs, in low-ceilinged spaces.

[0120] In some embodiments, identifying movable obstacles within the low-ceilinged space includes:

[0121] An obstacle in the low-ceilinged space is subjected to a second collision using at least one of a second predetermined speed and a second predetermined collision force. If the obstacle is displaced by more than a displacement threshold after the second collision, it is determined to be a movable obstacle.

[0122] In one possible implementation, the cleaning device can identify an obstacle as a fixed-moving obstacle if the obstacle's displacement after the second collision is less than a displacement threshold.

[0123] Cleaning equipment can determine whether an obstacle is movable or fixed based on the displacement it experiences upon impact. Fixed obstacles may include those that the cleaning equipment cannot move. In some embodiments, the path taken by moving the movable obstacle is located within an uncleaned area.

[0124] Movable obstacles are often stained or located in uncleaned areas, and may cause secondary contamination of the moving path during the moving process. Therefore, when moving movable obstacles, the moving route can be planned in uncleaned areas to reduce secondary contamination of cleaned areas.

[0125] In some embodiments, the method further includes at least one of the following:

[0126] Step 301: Perform a first collision on the movable obstacle using at least one of a first predetermined speed and a first predetermined collision force, and determine at least one of the pushing speed, pushing force and pushing path used when pushing the movable obstacle based on the displacement of the movable obstacle after the first collision.

[0127] Step 301 can be performed alone or in combination with step 201 and / or step 202.

[0128] Because movable obstacles have different masses, the friction between them and the ground also varies. The same pushing force will produce different pushing effects on different movable obstacles. For example, with the same pushing force, a larger movable obstacle will be pushed more slowly or not at all, while a smaller movable obstacle will be pushed more quickly or even bounced off.

[0129] Here, the cleaning equipment can initiate an initial collision with a movable obstacle at a specific moving speed. The movable obstacle may shift a certain distance after the initial collision. This displacement is negatively correlated with the obstacle's mass. Based on this displacement, the cleaning equipment determines the subsequent pushing speed, force, and path for moving the obstacle. Alternatively, the cleaning equipment can predict the obstacle's mass based on the displacement, the displacement-mass relationship, or AI-based methods, and then determine the subsequent pushing speed, force, and path based on the predicted mass.

[0130] For different movable obstacles, cleaning equipment can use different pushing speeds, pushing forces, and pushing paths to move the movable obstacles in order to adapt to different movable obstacles.

[0131] For example, a movable obstacle with a large displacement after the first impact indicates that its mass is small, therefore a smaller pushing force and / or a faster pushing speed and / or a longer pushing path can be used. Conversely, a movable obstacle with a small displacement after the first impact indicates that its mass is large, therefore a larger pushing force and / or a slower pushing speed and / or a shorter pushing path can be used.

[0132] By conducting the first collision with a movable obstacle, its mass and other characteristics can be determined. This allows for the selection of a moving method that is correlated with the characteristics of the movable obstacle, reducing the uncertainty caused by blindly moving the obstacle due to its uncertain characteristics and improving the success rate of the move.

[0133] In some embodiments, the control cleaning device performs a pushing operation associated with corresponding obstacle information against the movable obstacle, including:

[0134] If the height of the movable obstacle is less than a first height threshold, the fuselage is lowered, and the movable obstacle is moved using the lowered fuselage.

[0135] The cleaning equipment achieves its walking function through a walking system set on the machine body. The walking system generally includes a drive and walking components (such as drive wheels). The walking system may also include support components for connecting the machine body and the walking components.

[0136] In one possible implementation, the support component can be used to adjust the position of the traveling component relative to the fuselage. For example, the support component can adjust the distance between the bottom surface of the fuselage and the traveling component by extending, retracting, or swinging, thereby achieving the raising and lowering of the fuselage.

[0137] Raising the machine body reduces the collision between the bottom surface of the machine body and obstacles on the ground, thereby improving the obstacle-crossing ability of the cleaning equipment.

[0138] Here, the first height threshold can be set based on the distance between the bottom surface of the fuselage and the ground. If the height of the movable obstacle is less than the first height threshold, the fuselage may not be able to contact the movable obstacle, or the fuselage may only be able to contact the upper part of the movable obstacle, which is not conducive to moving the movable obstacle. Therefore, the fuselage can be lowered to increase the contact area between the fuselage and the movable obstacle, thereby enabling the movable obstacle to be moved.

[0139] In some embodiments, the cleaning equipment includes a body and cleaning components for cleaning the floor;

[0140] The control cleaning device performs a pushing operation associated with the corresponding obstacle information for the movable obstacle, including:

[0141] The cleaning component is lifted off the ground and a pushing operation associated with the obstacle information is performed on the movable obstacle.

[0142] Sliding obstacles are often stained or located in uncleaned areas. The sliding path planned by the cleaning equipment is usually located in uncleaned areas to reduce secondary contamination of the sliding obstacles and cleaned areas.

[0143] Side brushes, main brushes, mop pads, and other cleaning components are typically connected to the main unit via connecting parts. These connecting parts adjust the distance between the cleaning components and the ground. During cleaning, the connecting parts adjust the contact between the cleaning components and the ground. When the cleaning equipment is in operation, such as during inspections or returning to the base station, the connecting parts raise the cleaning components, preventing them from contacting the ground. This reduces contamination of the cleaning components from uncleaned surfaces, or secondary contamination of cleaned surfaces by contaminated cleaning components. Furthermore, it reduces friction between the cleaning components and the ground, increasing the equipment's travel speed.

[0144] At the same time, compared to the speed at which cleaning equipment cleans, cleaning equipment moves obstacles much faster.

[0145] Therefore, during the process of moving movable obstacles, the cleaning equipment can lift the cleaning components off the ground. On the one hand, this reduces secondary contamination of the cleaning components by uncleaned areas along the moving path. On the other hand, it reduces the impact of friction between the cleaning components and the ground on the moving speed of the cleaning equipment.

[0146] In some embodiments, the control cleaning device performs a pushing operation associated with corresponding obstacle information against the movable obstacle, including:

[0147] When the cleaning device moves the movable obstacle, the line connecting the contact point between the cleaning component and the movable obstacle and the center of gravity of the movable obstacle is parallel to the direction of travel of the cleaning device.

[0148] In order for the movable obstacle to move along the planned path of the cleaning equipment, the cleaning equipment needs to control the direction of movement of the movable obstacle during the moving process.

[0149] Typically, cleaning equipment can push movable obstacles in the direction of its travel. However, the movable obstacle itself and its surrounding environment are variable, and during the pushing process, the movable obstacle may deviate from the cleaning equipment's direction of travel. For example, when pushing balls, the cleaning equipment can easily cause the balls to deviate from the cleaning equipment's direction of travel.

[0150] Here, the line connecting the contact point between the cleaning component and the movable obstacle and the center of gravity of the movable obstacle can be kept parallel to the direction of travel of the cleaning equipment. This reduces the likelihood of the movable obstacle deviating from its direction of travel due to the center of gravity shifting away from the direction of travel.

[0151] like Figure 4 As shown, the contact point between the cleaning equipment and the ball is O1, and the center of the ball is located at O2. When the cleaning equipment pushes the ball, the line connecting O1 and O2 should be parallel to the direction of travel of the cleaning equipment (as shown by arrow A). This can reduce the possibility of the ball deviating from its direction of travel during the pushing process and improve the success rate of pushing.

[0152] Determine that the movable obstacle needs to be moved from its current location, and move the movable obstacle to one of a plurality of preset candidate areas; the plurality of preset candidate areas include preset candidate areas within the low-ceiling space and / or preset candidate areas outside the low-ceiling space.

[0153] like Figure 5 As shown, the cleaning equipment can set multiple preset candidate areas 31 (e.g., outside and / or inside the low space 11) Figure 5 The system has four preset candidate areas. The preset candidate area 31 can be determined by the cleaning equipment based on a historical cleaning map. The preset candidate area 31 can also be determined by the cleaning equipment during inspections based on a historical cleaning map. The cleaning equipment can move the movable obstacle 21 to one of the multiple preset candidate areas 31.

[0154] The cleaning equipment can select a pre-defined candidate area outside of low-ceilinged spaces that is easily visible to the user. This makes it easier for the user to spot movable obstacles that would otherwise be located in a low-ceilinged space, thus improving the user experience.

[0155] Because movable obstacles in low-ceilinged spaces often have poor cleanliness (e.g., they may have been in the low-ceilinged space for a long time and have a lot of dust on their surface), to reduce the contamination of areas outside the low-ceilinged space by these obstacles, one or more preset candidate areas can be set up within the low-ceilinged space. The cleaning equipment moves the movable obstacles to the preset candidate area within the low-ceilinged space, making it easier for users to collect the obstacles from that area without having to search for them throughout the entire space, thus improving the user experience.

[0156] In one possible implementation, the cleaning device can select a preset candidate area from multiple preset candidate areas based on obstacle information, and push the movable obstacle to the preset candidate area.

[0157] For example, the cleaning device can select a preset candidate area to move the movable obstacle based on the cleanliness level of the obstacle itself. For instance, if the movable obstacle is highly clean, it can be moved to a preset candidate area that has been cleaned; if the movable obstacle is poorly clean, it can be moved to a preset candidate area that has not been cleaned.

[0158] By setting multiple preset candidate areas, the needs of different pushable obstacle conditions and ground cleanliness can be met, thus improving the flexibility of pushing.

[0159] In some embodiments, moving the movable obstacle to one of a plurality of preset candidate regions includes:

[0160] The movable obstacle is moved to a target area within a plurality of preset candidate areas, wherein there is no fixed obstacle between the location of the movable obstacle and the target area.

[0161] In one possible implementation, there is no fixed obstacle between the location of the movable obstacle and the target area, including at least one of the following:

[0162] The cleaning equipment is planned to move obstacles to the target area along a path where there are no fixed obstacles.

[0163] There are no fixed obstacles on the line connecting any movable obstacle to any point in the target area;

[0164] The line connecting the movable obstacle to the fixed obstacle does not intersect the target area in its extension direction.

[0165] like Figure 6 As shown, the cleaning equipment can set up multiple preset candidate areas (such as...) outside and / or inside the low-ceiling space 11. Figure 6 (31a, 31b, 31c, 31d). For example... Figure 4 As shown, there are fixed obstacles 41 between the movable obstacle and the preset candidate areas 31a, 31b and 31c, and there are no fixed obstacles between the movable obstacle 21 and the preset candidate area 31d. Therefore, the preset candidate area 31d can be determined as the target area.

[0166] In one possible implementation, the cleaning device can identify movable obstacles and preset candidate areas that do not have fixed obstacles before planning the moving path, and then identify the preset candidate areas as the target areas.

[0167] Moving movable obstacles to the target area within multiple preset candidate areas can reduce the complexity of planning the moving route to avoid fixed obstacles, reduce the risk of collision with fixed obstacles, and thus improve moving efficiency and success rate.

[0168] In some embodiments, moving the movable obstacle to a target area within a plurality of preset candidate areas includes:

[0169] The movable obstacle is moved from its current location to a first target area along a path containing a fixed obstacle. The movable obstacle is then moved to a second target area, wherein the movable obstacle is moved from its current location to the second target area along a path containing no fixed obstacles.

[0170] The cleaning equipment can first determine a target area to be moved, and then determine whether there are fixed obstacles in the moving path.

[0171] Specifically, the cleaning equipment can select a first target area from multiple preset candidate areas and plan a moving path. It then determines whether there are fixed obstacles on the planned moving path. If there are fixed obstacles, a moving path is planned to the second target area, and the movable obstacle is moved to the second target area. If the moving path to the second target area still has fixed obstacles, the cleaning equipment can continue to plan moving paths to other target areas until there are no fixed obstacles on the moving path.

[0172] In one possible implementation, the cleaning equipment can determine whether there are fixed obstacles in the planned shoving path before it travels along it.

[0173] In one possible implementation, the cleaning equipment can determine whether there are fixed obstacles in the planned path as it travels along it. For example, if the sensors in the sensing system that detect fixed obstacles have a short sensing distance, then the presence of fixed obstacles in the planned path can be determined during the travel of the equipment along it.

[0174] Moving movable obstacles to the target area within multiple preset candidate areas can reduce the complexity of planning the moving route to avoid fixed obstacles, reduce the risk of collision with fixed obstacles, and thus improve moving efficiency and success rate.

[0175] In some embodiments, the control cleaning device performs a pushing operation associated with corresponding obstacle information on the movable obstacle, pushing the movable obstacle to one of a plurality of preset candidate areas, including:

[0176] The movable obstacle is of the third type. The movable obstacle is moved to the preset candidate area closest to the location of the movable obstacle. The direction of movement of the third type of movable obstacle is uncontrollable during the moving process.

[0177] Here, the third type of movable obstacle may include: movable obstacles whose direction is not easily controlled during the moving process, movable obstacles whose contact with the cleaning equipment is not easily maintained during the moving process (such as movable obstacles whose friction with the ground is less than a first predetermined friction threshold), and movable obstacles whose mass exceeds a predetermined mass threshold.

[0178] Moving obstacles whose direction is difficult to control during the moving process can include obstacles with a small contact area with the cleaning equipment, such as disc-shaped obstacles. For moving obstacles whose direction is difficult to control during the moving process, the movement direction of the moving obstacle may deviate from the planned moving path. A preset candidate area that is closest to the location of the moving obstacle can be selected to shorten the moving path and thus reduce the complexity of the moving process.

[0179] Pushable obstacles that are difficult to maintain contact with the cleaning equipment during the pushing process can include spherical obstacles or obstacles with good elasticity. For pushable obstacles that are difficult to maintain contact with the cleaning equipment during the pushing process, the obstacles may roll or slide uncontrollably, exceeding the planned pushing path. In the sliding and / or rolling state, the movement direction of the pushable obstacle is also easily affected by the environment, resulting in unexpected deviations. Therefore, pushable obstacles that are difficult to maintain contact with the cleaning equipment are prone to uncontrollable situations. To address this, a preset candidate area closest to the location of the pushable obstacle can be prioritized for pushing, thereby shortening the pushing path length, reducing uncontrollable movement of the pushable obstacle, and improving the success rate of pushing the obstacle.

[0180] For movable obstacles whose mass exceeds a predetermined mass threshold, cleaning equipment requires significant driving force to move them. This increased driving force leads to higher battery consumption, thus shortening the equipment's operating time. Therefore, for movable obstacles exceeding the predetermined mass threshold, a closer, pre-defined candidate area can be selected for moving, reducing power consumption and minimizing the impact of moving these obstacles on the cleaning equipment's operating time, thereby improving the user experience.

[0181] Selecting the nearest preset candidate area for the third type of movable obstacle can, on the one hand, shorten the moving path, reduce the complexity of moving, and improve the success rate of moving movable obstacles. On the other hand, it can reduce power consumption, minimize the impact of moving movable obstacles on the working time of the cleaning equipment, and improve the user experience.

[0182] In some embodiments, the control cleaning device performs a pushing operation associated with corresponding obstacle information on the movable obstacle, pushing the movable obstacle to one of a plurality of preset candidate areas, including at least one of the following:

[0183] The movable obstacle is of type 1. N movable obstacles of type 1 are moved to a predetermined range, and at the same time, the N movable obstacles of type 1 are moved to the target area. Here, N is an integer greater than or equal to 2. The movable obstacles of type 1 are movable obstacles that can be moved in clusters.

[0184] The movable obstacle is of the second type. M movable obstacles of the first type are moved to the target area respectively, where M is an integer greater than or equal to 2. The movable obstacles of the first type are movable obstacles that cannot be moved in clusters.

[0185] Here, the first type of movable obstacle can include: obstacles that are relatively easy to gather together, obstacles whose frictional force between them when gathered together is greater than a second predetermined frictional force threshold, and obstacles whose coefficient of friction with the ground is greater than a ground frictional coefficient threshold. For example, the first type of movable obstacle can be a plush toy, a rectangular block, etc.

[0186] For the first type of movable obstacle, due to its characteristics, it is relatively easy to gather together and generate mutual friction after gathering. Therefore, the cleaning equipment can gather the first type of movable obstacle together and then push it to the target area together.

[0187] In one possible implementation, such as Figure 7 As shown, the cleaning device may include an actuating component that gathers movable obstacles 21 together, such as an outward-curving actuating component. The actuating component can gather the movable obstacles 21 together for pushing, reducing the likelihood of obstacles deviating from the cleaning device's pushing path. Figure 7 As shown, the outward-curving moving parts can keep the movable obstacle 21 converging towards the bottom of the curve during the pushing process, reducing the possibility of the movable obstacle 21 shifting to either side of the cleaning equipment's forward movement method during the pushing process, thereby improving the effect of converging and pushing.

[0188] Simultaneously moving the N first-type movable obstacles to the target area can reduce the time loss caused by the cleaning equipment repeatedly moving different obstacles, thereby improving the efficiency of moving movable obstacles and enhancing the user experience.

[0189] Here, the second type of movable obstacle can include: obstacles that are relatively difficult to cluster together, obstacles whose frictional force when clustered together is less than a second predetermined frictional force threshold, and obstacles whose coefficient of friction with the ground is less than a ground frictional force threshold. For example, the second type of movable obstacle can be a spherical obstacle, etc.

[0190] like Figure 8 The spherical obstacles 21 shown have low friction with the ground. Firstly, when the cleaning equipment moves a single obstacle, its direction is difficult to control, making it hard to move it into the clustering area. Secondly, when multiple spherical obstacles cluster together, collisions between them can easily cause them to move out of the moving path when the cleaning equipment moves them all, thus failing to achieve the goal of clustering and moving them.

[0191] Therefore, for the second type of movable obstacle, a one-by-one pushing method can be used to reduce the situation where the movable obstacle moves out of control during the grouping and pushing process, thereby improving the pushing effect.

[0192] In some embodiments, the control cleaning device performs a pushing operation associated with corresponding obstacle information on the movable obstacle, pushing the movable obstacle to one of a plurality of preset candidate areas, including at least one of the following:

[0193] The movable obstacle is of the fourth type, and the fourth type of movable obstacle is moved to the third target area among the multiple preset candidate areas; the usage frequency of the fourth type of movable obstacle is greater than the predetermined frequency, and the proportion of the third target area that is obscured is less than the predetermined proportion.

[0194] The movable obstacle is of type 5. The movable obstacle of type 5 is moved to the fourth target area among the plurality of preset candidate areas. The movable obstacle of type 5 is used less frequently than a predetermined frequency. The fourth target area is the preset candidate area among the plurality of preset candidate areas that is closest to the movable obstacle of type 5.

[0195] Here, you can select a target area from multiple preset candidate regions based on the frequency of use of the movable obstacle. For example, a frequently used fourth-type movable obstacle can be moved to a third target area that is easily observed by the user. The smaller the proportion of the preset candidate area that is obscured, the higher the probability of it being observed by the user.

[0196] For example, if a cleaning device identifies a fourth type of movable obstacle, such as a toy, while inspecting a low-ceilinged space, the cleaning device can move the toy to a preset candidate area outside the low-ceilinged space for easy observation by the user.

[0197] The less frequently used fifth-type movable obstacle can be moved to the closer fourth target area, thereby improving moving efficiency.

[0198] For example, if a cleaning device identifies a fifth type of movable obstacle during an inspection in a low-ceilinged space, the cleaning device can move the movable obstacle to the nearest preset candidate area, namely the fourth target area, thereby improving the moving efficiency.

[0199] In some embodiments, the control cleaning device performs a pushing operation associated with corresponding obstacle information against the movable obstacle, including:

[0200] If the historical cleaning records of the location of the movable obstacle meet the judgment threshold, the movable obstacle is moved.

[0201] Here, historical cleaning records can include those for low-lying areas. Historical cleaning records for low-lying areas can be used to determine the location of movable obstacles.

[0202] The judgment threshold may include the condition that the location of a movable obstacle has not been sufficiently cleaned.

[0203] A judgment threshold can be set for the historical cleaning records of the location of the movable obstacle. If the historical cleaning records meet the judgment threshold, then no moving path is planned and the movable obstacle is moved.

[0204] In some embodiments, the historical cleaning records of the location of the movable obstacle meet a judgment threshold, including at least one of the following:

[0205] The interval between the last cleaning of the location of the movable obstacle in the historical cleaning record and the current time is greater than the time interval threshold.

[0206] The cleaning frequency of the location of the movable obstacle within the predetermined period in the historical cleaning record is less than the frequency threshold.

[0207] For example, if the interval between the last cleaning of a movable obstacle's location and the current location is greater than a time interval threshold, it indicates that there may be stains or other contaminants at that location. Therefore, the movable obstacle can be moved to clean the area. If the cleaning frequency within a predetermined period in the historical cleaning records is less than a frequency threshold, it indicates that there is a high probability that there are stains at the location of the movable obstacle. Therefore, the movable obstacle can be moved to clean the area.

[0208] In one possible implementation, if the historical cleaning records of the location of the movable obstacle do not meet the judgment threshold, the cleaning device performs edge cleaning on the movable obstacle.

[0209] If the historical cleaning records of the location of the movable obstacle do not meet the judgment threshold, the cleaning equipment can perform edge cleaning on the movable obstacle to clean the surrounding environment. Alternatively, the cleaning equipment can also avoid the movable obstacle and clean other areas.

[0210] In some embodiments, the method further includes:

[0211] Step 401: Identify the movable obstacles on the cleaning path and store the identification information of the movable obstacles;

[0212] Step 402: Obtain item query information; when the item query information matches the stored identification information, send the matching identification information.

[0213] The identification information indicates at least one of the following: the name of the movable obstacle, an image of the name of the movable obstacle, and the location of the movable obstacle.

[0214] Steps 401 and 402 can be performed individually or in combination with steps 201, 202 and / or 301.

[0215] Users are usually unaware of movable obstacles in low-ceilinged spaces. Therefore, during routine cleaning, cleaning equipment can identify movable obstacles in low-ceilinged spaces and store the identified information.

[0216] In one possible implementation, storing the identification information of the movable obstacle includes sending the identification information of the movable obstacle to a cloud server for storage.

[0217] Users can send item query information to the cleaning device to find items whose location they cannot determine. The item query information can include the name of the item to be queried. The cleaning device can then retrieve the name of the item from its stored identification information. If the name of the item to be queried matches the name of a movable obstacle, the cleaning device can send the identification information back to the user so that the user can determine the location of the queried item, etc.

[0218] In one possible implementation, if the movable obstacle has been moved by the cleaning equipment, the cleaning equipment can update the identification information, and update the position of the movable obstacle so that the user can accurately obtain the position of the movable obstacle.

[0219] In this way, the location of items that users cannot find can be located through cleaning equipment, which expands the functionality of cleaning equipment and improves the user experience.

[0220] In one possible implementation, after the cleaning device identifies a movable obstacle in a low-ceilinged space, it can send the identification information to a user terminal (such as a mobile phone) for the user to access. Here, the cleaning device can proactively send the identification information to the user terminal (such as a mobile phone) without needing to send the identification information based on the object's location.

[0221] In one possible implementation, performing a pushing operation associated with the obstacle information for the movable obstacle includes:

[0222] In response to receiving a push instruction, a push operation associated with the obstacle information is performed on the pushable obstacle.

[0223] After the user sends the correct identification information from the cleaning equipment, they can send a pushing instruction to the cleaning equipment through the user terminal, etc., instructing the cleaning equipment to push away the movable obstacle.

[0224] In one possible implementation, the cleaning device can display multiple preset candidate areas on a map displayed on the user terminal; the pushing instructions received by the cleaning device may include preset candidate areas selected by the user; the cleaning device can push movable obstacles to preset candidate areas selected by the user.

[0225] By sending identification information to the user, the system can help the user identify movable obstacles present in low-ceilinged spaces. Based on the user's instructions, the system can move the movable obstacles, and further, move them to preset candidate areas selected by the user, thus improving the user experience.

[0226] Where there is no contradiction, the above embodiments can be implemented in combination. For example, if the movable obstacle is of type three, and there is a fixed obstacle between the location of the movable obstacle and the nearest predetermined candidate area, then the movable obstacle can be moved to the preset candidate area closest to the location of the movable obstacle and where there is no fixed obstacle on the moving path. Combinations between different embodiments will not be elaborated upon here.

[0227] This application also provides a cleaning device, such as a cleaning robot, which includes a control device.

[0228] In one possible implementation, the cleaning equipment also includes a walking system that enables the cleaning equipment to move, such as wheels, tracks, drive components, etc.

[0229] The control device is used to execute the cleaning equipment control methods described above.

[0230] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described cleaning equipment control method.

[0231] The computer-readable storage medium provided in this embodiment can execute the control method of the cleaning equipment in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0232] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0233] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in an electronic device or a host device.

[0234] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0235] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0236] In the description of this specification, references to "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0237] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A cleaning device control method characterized by, The method comprises: performing a patrol on a low space, identifying movable obstacles in the low space during the patrol, and determining obstacle information of each movable obstacle, wherein a distance between a top of the low space and a bottom of the low space is less than a height threshold; controlling a cleaning device to perform a moving operation associated with the corresponding obstacle information on the movable obstacle, and moving the movable obstacle to one of a plurality of preset candidate regions; the plurality of preset candidate regions comprise preset candidate regions in the low space and / or preset candidate regions outside the low space; The method further comprises: performing a first collision on the movable obstacle using at least one of a first predetermined speed and a first predetermined collision force, and determining at least one of a moving speed, a moving force, and a moving path used for moving the movable obstacle based on a displacement of the movable obstacle after the first collision.

2. The method of claim 1, wherein, The moving of the movable obstacle to one of the plurality of preset candidate regions comprises: moving the movable obstacle to a target region in the plurality of preset candidate regions, wherein there is no fixed obstacle between a location of the movable obstacle and the target region.

3. The method of claim 2, wherein, The moving of the movable obstacle to a target region in the plurality of preset candidate regions comprises: moving the movable obstacle from the location to a first target region, wherein a moving path of the movable obstacle to the first target region has a fixed obstacle, and moving the movable obstacle to a second target region, wherein a moving path of the movable obstacle to the second target region has no fixed obstacle.

4. The method of claim 1, wherein, The controlling of the cleaning device to perform the moving operation associated with the corresponding obstacle information on the movable obstacle, and moving the movable obstacle to one of the plurality of preset candidate regions comprises: The movable obstacle is of a third type, and the movable obstacle is moved to a preset candidate region closest to a location of the movable obstacle, wherein a moving direction of the movable obstacle of the third type is uncontrollable.

5. The method according to any one of claims 1 to 4, characterized in that, The controlling of the cleaning device to perform the moving operation associated with the corresponding obstacle information on the movable obstacle, and moving the movable obstacle to one of the plurality of preset candidate regions comprises at least one of: The movable obstacle is of a first type, and N movable obstacles of the first type are moved to a target region within a predetermined range, wherein N is an integer greater than or equal to 2, and the movable obstacle of the first type is capable of being moved in a pile; The movable obstacle is of a second type, and M movable obstacles of the first type are moved to a target region, wherein M is an integer greater than or equal to 2, and the movable obstacle of the first type is incapable of being moved in a pile.

6. The method according to any one of claims 1 to 4, characterized in that, The controlling of the cleaning device to perform the moving operation associated with the corresponding obstacle information on the movable obstacle, and moving the movable obstacle to one of the plurality of preset candidate regions comprises at least one of: The movable obstacle is of a fourth type, and the movable obstacle of the fourth type is moved to a third target region among the plurality of preset candidate regions; the frequency of use of the movable obstacle of the fourth type is greater than a predetermined frequency, and the third target region has a shielding area proportion less than a predetermined proportion; The movable obstacle is of a fifth type, and the movable obstacle of the fifth type is moved to a fourth target region among the plurality of preset candidate regions; the frequency of use of the movable obstacle of the fifth type is less than a predetermined frequency, and the fourth target region is a preset candidate region closest to the movable obstacle of the fifth type among the plurality of preset candidate regions.

7. The method according to any one of claims 1 to 4, characterized in that, The cleaning device includes a machine body; The control of the cleaning device includes: The height of the movable obstacle is less than a first height threshold, and the machine body is lowered, and the movable obstacle is moved with the lowered machine body.

8. The method according to any one of claims 1 to 4, characterized in that, The cleaning device includes a machine body and a cleaning component for cleaning the ground; The control of the cleaning device includes: The cleaning component is lifted away from the ground, and the movable obstacle is moved according to the obstacle information.

9. The method of claim 8, wherein, The control of the cleaning device includes: When the cleaning device moves the movable obstacle, the contact point between the cleaning component and the movable obstacle and the center of gravity of the movable obstacle are parallel to the moving direction of the cleaning device.

10. The method according to any one of claims 1 to 4, characterized in that, The control of the cleaning device includes: The historical cleaning record of the location of the movable obstacle meets a judgment threshold, and the movable obstacle is moved.

11. The method of claim 10, wherein, The historical cleaning record of the location of the movable obstacle meets a judgment threshold, including at least one of the following: The last cleaning interval of the location of the movable obstacle in the historical cleaning record is greater than a time interval threshold; The cleaning frequency of the location of the movable obstacle in a predetermined period in the historical cleaning record is less than a frequency threshold.

12. The method of any one of claims 1 to 4, wherein: The moving path of the movable obstacle is located in an uncleaned area.

13. The method according to any one of claims 1 to 4, characterized in that, The method further includes: The movable obstacle on the cleaning path is identified, and identification information of the movable obstacle is stored; When the object query information matches the stored identification information, the matching identification information is sent; The identification information indicates at least one of the following: the name of the movable obstacle, the image of the name of the movable obstacle, and the location of the movable obstacle.

14. The method according to any one of claims 1 to 4, characterized in that, The identification of the movable obstacle in the low space includes: At least one of the second predetermined speed and the second predetermined impact force is used to perform a second impact on an obstacle in the low space, and an obstacle that is displaced by more than a displacement threshold after the second impact is determined to be a pushable obstacle.

15. An electronic device comprising a processor, a memory, and an executable program stored on the memory and capable of being executed by the processor, wherein, The processor executes the executable program to perform the steps of the cleaning device control method of any one of claims 1 to 14.

16. A storage medium having stored thereon an executable program, characterized in that The executable program is executed by the processor to implement the steps of the cleaning device control method of any one of claims 1 to 14.

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