Cleaning control method and device, self-moving cleaning equipment and storage medium

Abstract

The embodiment of the invention discloses a cleaning control method and device, self-moving cleaning equipment and a medium. In the embodiment of the invention, the floor laying map of the to-be-cleaned area in the global map is obtained, the floor gap information of the to-be-cleaned area is confirmed according to the floor laying map, then the cleaning path taking the distribution of the floor gaps as reference is generated according to the distribution mode of the floor gaps, and when the to-be-cleaned area is cleaned based on the cleaning path, the cleaning efficiency is improved. The self-moving cleaning equipment obliquely passes through the floor gap at any position or cleans along the floor gap at least once, the acting duration of the cleaning module of the self-moving cleaning equipment on the floor gap can be prolonged, and the cleaning effect on the floor gap is improved in a targeted mode.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of robot control technology, and in particular to a cleaning control method, device, self-moving cleaning equipment and storage medium. Background Art

[0002] With the continuous development of electronic technology, smart homes have also developed rapidly. As a type of smart home that can directly reduce people's daily housework, self-mobile cleaning equipment has attracted increasing enthusiasm from users.

[0003] When carrying out cleaning work, traditional self-moving cleaning equipment usually generates a cleaning path according to a fixed path planning method based on a pre-established map of the target cleaning space, with the principle of covering the ground without obstacles, and performs cleaning according to the cleaning path.

[0004] When the inventor used the existing self-propelled cleaning equipment to perform cleaning tasks, he found that for different target cleaning spaces, or even different partitions of the same target cleaning space, different materials may be used to pave the floor in different ways. When the cleaning path generated by a fixed path planning method is used to clean the floors with different paving methods, the cleaning effect is not good in the gaps in the floor paving area. Summary of the invention

[0005] The present invention provides a cleaning control method, device, robot and medium to solve the technical problem that when the existing cleaning path generated by a fixed path planning method is used to clean floors with different paving methods, the cleaning effect in the gaps of the floor paving area is poor.

[0006] In a first aspect, an embodiment of the present invention provides a cleaning control method for a self-moving cleaning device, the cleaning control method comprising:

[0007] Obtain a floor layout map of the area to be cleaned in the global map;

[0008] According to the floor laying diagram, confirm the floor gap information of the area to be cleaned;

[0009] Generate a cleaning path for cleaning the area to be cleaned according to the floor gap information, wherein the cleaning direction of the cleaning path is parallel to the first direction in the floor laying diagram, or is not perpendicular to each floor gap in the floor laying diagram, and the first direction is the direction of a straight line where the maximum value of the sum of the lengths of the floor gaps on the same straight line is located;

[0010] When cleaning the area to be cleaned, clean according to the cleaning path.

[0011] Among them, generating a cleaning path for cleaning the area to be cleaned according to the floor gap information includes:

[0012] In the case where the floor gaps in the floor laying map are all parallel or perpendicular to the coordinate axes in the global coordinate system of the global map, the generated cleaning path includes a first path, and the first path covers the floor gaps in a first direction.

[0013] Among them, generating a cleaning path for cleaning the area to be cleaned according to the floor gap information includes:

[0014] When the floor gaps in the floor laying map are parallel or perpendicular to the coordinate axes in the global coordinate system of the global map, the generated cleaning path includes a first path and a second path, the first path covers the floor gaps in the first direction, and the second path covers the floor gaps perpendicular to the first direction.

[0015] Among them, generating a cleaning path for cleaning the area to be cleaned according to the floor gap information includes:

[0016] When the graphic unit of the floor laying map is a rectangle and the floor gaps in the floor laying map are not parallel to the coordinate axes in the global coordinate system of the global map, the cleaning direction of the generated cleaning path is parallel to the straight line fitted by the intersection points of the floor gaps.

[0017] Among them, generating a cleaning path for cleaning the area to be cleaned according to the floor gap information includes:

[0018] When the graphic unit of the floor laying diagram is a parallelogram, the cleaning direction of the generated cleaning path is parallel to the longest floor gap in the same straight line in the floor laying diagram.

[0019] The cleaning path covers the longest floor gap and the floor gaps parallel to the longest floor gap.

[0020] Among them, generating a cleaning path for cleaning the area to be cleaned according to the floor gap information includes:

[0021] When the graphic unit of the floor laying diagram is a rhombus, the cleaning direction of the generated cleaning path is parallel to the reference direction, and the reference direction is the direction of the line where the maximum number of rhombus vertices on the same alternative straight line is located, and each alternative straight line is parallel to a coordinate axis of the global coordinate system of the global map.

[0022] In a second aspect, an embodiment of the present application provides a cleaning control device for a self-moving cleaning device, the cleaning control device comprising:

[0023] A data acquisition unit, used to acquire a floor layout map of the area to be cleaned in the global map;

[0024] An information confirmation unit, used to confirm the floor gap information of the area to be cleaned according to the floor laying diagram;

[0025] A path generating unit, for generating a cleaning path for cleaning the area to be cleaned according to the floor gap information, wherein a cleaning direction of the cleaning path is parallel to a first direction in the floor laying diagram, or is not perpendicular to each floor gap in the floor laying diagram, and the first direction is a straight line direction where the maximum value of the sum of the lengths of the floor gaps on the same straight line is located;

[0026] The cleaning operation unit is used to clean the area to be cleaned according to the cleaning path.

[0027] The path generation unit includes:

[0028] The first generating module is used to generate a cleaning path including a first path when the floor gaps in the floor laying map are parallel or perpendicular to the coordinate axes in the global coordinate system of the global map, and the first path covers the floor gaps in a first direction.

[0029] The path generation unit includes:

[0030] The second generation module is used to generate a cleaning path including a first path and a second path when the floor gaps in the floor laying map are parallel or perpendicular to the coordinate axes in the global coordinate system of the global map. The first path covers the floor gaps in a first direction, and the second path covers the floor gaps perpendicular to the first direction.

[0031] The path generation unit includes:

[0032] The third generating module is used to generate a cleaning path whose cleaning direction is parallel to the straight line fitted by the intersection of the floor gaps when the graphic unit of the floor laying diagram is a rectangle and the floor gaps in the floor laying diagram are not parallel to the coordinate axes in the global coordinate system of the global map.

[0033] The path generation unit includes:

[0034] The fourth generating module is used to generate a cleaning path whose cleaning direction is parallel to the longest floor gap in the same straight line in the floor laying diagram when the graphic unit of the floor laying diagram is a parallelogram.

[0035] The cleaning path covers the longest floor gap and the floor gaps parallel to the longest floor gap.

[0036] The path generation unit includes:

[0037] The fifth generation module is used to generate a cleaning path whose cleaning direction is parallel to a reference direction when the graphic unit of the floor laying diagram is a rhombus. The reference direction is the direction of the straight line where the maximum number of rhombus vertices on the same alternative straight line is located, and each alternative straight line is parallel to a coordinate axis of the global coordinate system of the global map.

[0038] In a third aspect, an embodiment of the present invention provides a self-moving cleaning device, the self-moving cleaning device comprising:

[0039] one or more processors;

[0040] a memory for storing one or more computer programs;

[0041] When one or more computer programs are executed by one or more processors, the electronic device implements the cleaning control method of the first aspect.

[0042] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the cleaning control method of the first aspect is implemented.

[0043] In the above-mentioned cleaning control method, device, self-moving cleaning equipment and storage medium, the cleaning control method is used for the self-moving cleaning equipment, and the cleaning control method includes: obtaining a floor laying map of the area to be cleaned in the global map; confirming the floor gap information of the area to be cleaned according to the floor laying map; generating a cleaning path for cleaning the area to be cleaned according to the wooden floor gap information, the distance between the cleaning path and the floor gap in the first direction in the floor laying map is within a preset minimum distance, or has a non-vertical angle with each section of the floor gap, the first direction is the direction pointed by the first straight line and the straight line parallel to the first straight line, and the sum of the lengths of the floor gaps on the first straight line is not less than the sum of the lengths of the floor gaps on any other straight line; when cleaning the area to be cleaned, cleaning is performed according to the cleaning path. By obtaining the floor layout of the area to be cleaned in the global map, and confirming the floor gap information of the area to be cleaned according to the floor layout, and then generating a cleaning path with the distribution of floor gaps as a reference according to the distribution of floor gaps, when cleaning the area to be cleaned based on the cleaning path, the self-moving cleaning device passes through the floor gaps at any position obliquely or cleans along the floor gaps at least once. Compared with the prior art that uses the coordinate axes of the global coordinate system as a reference to confirm the cleaning direction, the generated cleaning paths mostly pass through the floor gaps vertically or the edges of the cleaning modules cover the floor gaps. When the self-moving cleaning device cleans according to the cleaning path generated by the scheme, it passes through the gaps obliquely or cleans along the gaps near the center, which can extend the action time of the cleaning module on the floor gaps and improve the cleaning effect of the floor gaps in a targeted manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A method flow chart of a cleaning control method provided in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of a ground optical image collected by an optical image collection module of a self-mobile cleaning device;

[0047] Figure 3 For Figure 2 The schematic diagram of the distribution of the gaps extracted from the ground optical image shown in the image;

[0048] Figure 4 for Figure 3 Schematic diagram of the transformation of floor gaps into the local coordinate system;

[0049] Figure 5 for Figure 3 Schematic diagram of the conversion of floor gaps into the global coordinate system;

[0050] Figure 6 A schematic diagram of a first exemplary laying scheme for a rectangular floor;

[0051] Figure 7 is a schematic diagram of a second exemplary laying scheme for a rectangular floor;

[0052] Figure 8 A schematic diagram of a third exemplary laying scheme for a rectangular floor;

[0053] Fig. 9 A fourth exemplary laying scheme for a rectangular floor and a schematic diagram of the corresponding cleaning direction;

[0054] Fig.10 A schematic diagram of a first exemplary laying scheme for a parallelogram floor and a corresponding cleaning direction;

[0055] Fig.11 A second exemplary laying scheme for a parallelogram floor and a schematic diagram of the corresponding cleaning direction;

[0056] Fig.12 The figure is a schematic diagram of an exemplary laying method of a diamond-shaped floor and the corresponding cleaning direction;

[0057] Fig.13To use existing technology Figure 6 A schematic diagram of a cleaning path planned for the area to be cleaned is shown;

[0058] Fig.14 To use the embodiment of the present application Figure 6 A schematic diagram of a first path among cleaning paths planned for the area to be cleaned is shown;

[0059] Fig.15 To use the embodiment of the present application Figure 6 A schematic diagram of a second path in the cleaning path planned for the area to be cleaned is shown;

[0060] Fig.16 To use the embodiment of the present application Figure 8 A schematic diagram of a first path among cleaning paths planned for the area to be cleaned is shown;

[0061] Fig.17 To use the embodiment of the present application Figure 8 A schematic diagram of a second path in the cleaning path planned for the area to be cleaned is shown;

[0062] Fig.18 A schematic diagram comparing a single cleaning process of floor gaps by the cleaning control method of an embodiment of the present application and the prior art;

[0063] Fig.19 A schematic diagram comparing the comprehensive cleaning process of floor gaps by the cleaning control method of an embodiment of the present application and the prior art;

[0064] Fig. 20 A schematic diagram of the structure of a cleaning control device provided in an embodiment of the present application;

[0065] Fig.21 A schematic structural diagram of a self-moving cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical scheme and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the sake of ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0067] It should be noted that due to space limitations, this application description does not list all optional implementation methods. After reading this application description, those skilled in the art should be able to understand that as long as the technical features do not contradict each other, any combination of technical features can constitute an optional implementation method.

[0068] Each embodiment is described in detail below.

[0069] Figure 1 It is a method flow chart of a cleaning control method provided in an embodiment of the present application. The cleaning control method in the embodiment of the present application is used for a self-mobile cleaning device, which is equipped with a laser radar, an IMU (Inertial Measurement Unit), a distance sensor arranged at the bottom and other environmental detection equipment; in addition, the self-mobile cleaning device is also equipped with a cleaning module such as a water tank and a rag, and a motion module such as a walking wheel. The components involved in electronic control and the laser radar in these modules are controlled by the microprocessor of the self-mobile cleaning device. Correspondingly, the data collected by the laser radar can be sent to the microprocessor for processing. The microprocessor can generate control instructions based on the received data, and send the control instructions to the cleaning module and the motion module to realize the work control under the corresponding specific environmental state. In addition, there are charging modules, communication modules, etc. The basic working principles of these functional modules and the overall functional realization of the self-mobile cleaning device can refer to the conventional realization of the relevant self-mobile cleaning device, which will not be repeated here. For example, the process of returning to the charging station to charge through the charging module after cleaning is completed is not repeated.

[0070] The self-moving cleaning devices in the embodiments of the present application may be sweeping robots, mopping machines, vacuum cleaners, etc. After these self-moving cleaning devices are configured to the target cleaning space, they map the target cleaning space to obtain a global map of the target cleaning space, and use the areas that can be reached in the map as the areas that need to be cleaned for planning the cleaning path. When planning the cleaning path, the principle is to cover the areas that need to be cleaned, and the cleaning path is planned according to the areas to be cleaned carried by the cleaning tasks according to a fixed path planning method. When there are cleaning tasks, the cleaning is carried out according to the cleaning path. When generating the cleaning path in this way, because the principle is to cover the areas that need to be cleaned, the cleaning path finally generated is actually only affected by the shape and size parameters of the areas that need to be cleaned. For the same area that needs to be cleaned, there may be different ground paving methods. For example, in a multi-story building, when the layout of each floor is the same, different users may choose different ground paving methods for the rooms at the same position in different floors according to their own conditions. When different users are equipped with the same self-moving cleaning device, the same cleaning path will be planned for the rooms at the same position. Moreover, in the same home environment, the floor paving methods of different rooms may also be different. When the self-moving cleaning device cleans the room at the same location according to the same cleaning path, it can ensure that the areas that need to be cleaned are cleaned once. However, different ground paving methods, especially different floor paving methods, lead to differences in floor gaps in the areas that need to be cleaned. Such differences in details lead to different cleaning effects for cleaning tasks completed based on the same cleaning path. In other words, for the self-moving cleaning device, the randomly appearing floor paving methods will also have random cleaning effects when the cleaning path generated by a fixed path planning method is used for cleaning. The existing cleaning effect for the gaps in the floor paving area is not good overall. For example, the cleaning effect of the gaps is not thorough, the high frequency crossing the gaps leads to loud noise during the cleaning process, and the cleaning module (such as bristles and mops) of the self-moving cleaning device is more worn out.

[0071] In response to the above technical problems, by obtaining the floor layout map of the area to be cleaned in the global map, and confirming the floor gap information of the area to be cleaned according to the floor layout map, and then generating a cleaning path with the distribution of floor gaps as a reference according to the distribution of floor gaps, when cleaning the area to be cleaned based on the cleaning path, the self-moving cleaning device passes through the floor gaps at any position obliquely or cleans along the floor gaps at least once, which may extend the action time of the cleaning module of the self-moving cleaning device on the floor gaps, improve the cleaning effect of the floor gaps in a targeted manner, clean the gaps more thoroughly, reduce the frequency of crossing the gaps, thereby reducing the noise during the cleaning process, and effectively reduce the wear and tear on the self-moving cleaning device.

[0072] like Figure 1As shown, the cleaning control method includes but is not limited to steps S110 to S140.

[0073] Step S110: Obtain a floor layout map of the area to be cleaned in the global map.

[0074] In an embodiment of the present application, the self-mobile cleaning device is equipped with an optical image acquisition module. The self-mobile cleaning device obtains the floor layout map of the area to be cleaned in the global map, which can be when exploring and building a map of the target cleaning space, or when cleaning the target cleaning space for the first time, or when more sophisticated cleaning control is required according to the cleaning task, through the optical image acquisition module to collect images covering the ground of the target cleaning space, and obtain a ground optical image that comprehensively records all ground information in the target cleaning space, and then sends the collected ground optical image to the microprocessor, which processes the ground optical image to obtain the ground gap information of the entire target cleaning space. Figure 2 The figure is a schematic diagram of the ground optical image collected by the optical image collection module of the self-mobile cleaning device.

[0075] The microprocessor of the self-propelled cleaning device detects gaps in the optical image of the ground and identifies the coordinates of the ground gaps in the image coordinate system. The microprocessor can use edge detection algorithms based on graphics, such as Sobel, Roberts, Laplacian, etc.; it can also use algorithms based on deep learning, such as SegNet, U-Net, DeepLab, etc. Figure 2 The ground optical image shown in the figure shows the position of the gap in the corresponding image obtained by gap detection. Figure 3 shown.

[0076] The coordinates in the image coordinate system need to be converted as a moving reference for the self-mobile cleaning device. That is, the microprocessor converts the coordinates of the detected ground gap in the image coordinate system to obtain the point cloud information corresponding to the ground gap, and combines the posture information of the self-mobile cleaning device to construct a local coordinate system, which is converted to the global coordinate system to obtain the actual position of the ground gap. The self-mobile cleaning device can be directly guided to a certain position in the ground gap. Specifically, the conversion from the image coordinate system to the local coordinate system or the global coordinate system can be a stereo matching algorithm (such as SGBM (Semi-Global BlockMatching, semi-global matching algorithm) and other algorithms), a monocular depth estimation algorithm (such as Depth Anything (Unleashing the Power of Large-Scale Unlabeled Data, releasing the performance of large-scale unlabeled data)), etc. Figure 4 for Figure 3Schematic diagram of the transformation of floor gaps into the local coordinate system; Figure 5 for Figure 3 Schematic diagram of the floor gap transformed into the global coordinate system.

[0077] In the specific gap detection process, the self-mobile cleaning device may move at a preset distance or for a preset time interval to collect a ground optical image, and then perform ground gap detection on the ground optical image until all ground gaps are evenly distributed in the map or it is confirmed that no ground gaps can be detected.

[0078] In the process of building the map, the entire target cleaning space has basically been divided into regions. Of course, the existing map can also be divided into regions through real-time detection. The same area is usually paved with one material. In this solution, the material corresponding to each area can be identified through a deep learning algorithm. According to the records of historical test results or real-time test results, if it is confirmed that the area to be cleaned is paved with flooring, the floor paving map of the corresponding area can be obtained from the entire map.

[0079] Step S120: confirming the floor gap information of the area to be cleaned according to the floor laying diagram.

[0080] In step S110, the gap positions have been recorded in the map, and the gap positions are directly extracted accordingly. The discrete position information is identified based on graphics (such as clustering, fitting) and / or deep neural networks, and information such as the gap intersection, gap direction, and gap length can be confirmed. For the area to be cleaned of the paved floor, this information is collectively referred to as floor gap information, and the cleaning path can be subsequently confirmed based on one or more of them.

[0081] Step S130: Generate a cleaning path for cleaning the area to be cleaned based on the floor gap information. The cleaning direction of the cleaning path is parallel to the first direction in the floor laying diagram, or is not perpendicular to each floor gap in the floor laying diagram. The first direction is the direction of a straight line where the maximum value of the sum of the lengths of the floor gaps on the same straight line is located.

[0082] When generating a cleaning path based on floor gap information, different paving methods may have different gap distribution states. Regardless of the distribution state, the principle of generating a cleaning path in the embodiment of the present application is that for any position where the self-moving cleaning device passes through the floor gap, at least one pass is not a vertical pass (diagonally passing through the floor gap or moving along the floor gap), thereby extending the time for the self-moving cleaning device to cross the gap, and correspondingly increasing the cleaning time for the passing position to obtain the best cleaning effect. For the area to be cleaned, it is usually a rectangle or a quasi-rectangle. The two adjacent sides of the area to be cleaned usually correspond to two parallel coordinate axes in the global coordinate system, and the cleaning path is usually an arcuate path. The direction determined by the longer line segment in the arcuate path is the cleaning direction, and the cleaning direction is usually parallel to a coordinate axis in the global coordinate system.

[0083] In an optional implementation, when the floor gaps in the floor laying diagram are parallel or perpendicular to the coordinate axes in the global coordinate system, the generated cleaning path includes a first path and a second path, and the cleaning direction of the first path is parallel to the longest floor gap in the floor laying diagram; the second path covers the floor gaps perpendicular to the longest floor gaps.

[0084] In a specific area to be cleaned, if rectangular or square floors are to be laid, a common laying method is that the floors in the same row or column are arranged neatly and the arrangement direction is parallel to a coordinate axis, and the floors in adjacent rows or columns are aligned or staggered, such as Figure 6 The two adjacent rows of floors are staggered by half. Figure 8 As shown, each floor is staggered. In these paving methods, due to the relationship between the corners of a rectangle or square, as long as the adjacent two sides of a floor are parallel to the two coordinate axes (that is, one of the first paved floors coincides with the corner of the wall), all floor gaps are parallel and perpendicular to the two coordinate axes, and the floor gaps can be two groups of parallel gaps perpendicular to each other. Considering that the arched path is also two groups of parallel line segments disposed opposite to each other, the shape of a single floor can be directly ignored at this time. In order to obtain the maximum cleaning efficiency and cleaning effect, the floor gap is directly used as a reference. The generated cleaning path includes a first path and a second path. The cleaning direction of the first path is parallel to the longest floor gap in the floor laying diagram; the second path covers the floor gap perpendicular to the longest floor gap. In addition, the cleaning path can cover the longest floor gap and the floor gap parallel to the longest floor gap. This ensures that the best cleaning effect is achieved for each floor gap.

[0085] For example Fig.14 For Figure 6The schematic diagram of the first path 13 in the cleaning path planned for the area to be cleaned is shown, the first path 13 refers to a route formed by connecting the end to the end of the line segments with direction (presented by dotted lines, some of the dotted lines are disconnected at the positions where they overlap with the floor gaps and are continuous in the middle and disconnected on both sides), wherein the horizontal direction is the cleaning direction 131 of the first path 13; Fig.15 For Figure 6 The schematic diagram of the second path 14 in the cleaning path planned for the area to be cleaned is shown, and the second path 14 refers to a route formed by connecting directional line segments (presented by dotted lines, and some dotted lines are disconnected at positions where they overlap with floor gaps and are continuous in the middle and disconnected on both sides) end to end, wherein the vertical direction is the cleaning direction 141 of the second path 14. It should be noted that while the first path 13 covers the floor gaps in the cleaning direction 131, it is also required that when the self-mobile cleaning device cleans along the first path 13, the cleaning module can cover the entire area to be cleaned for cleaning. When the first path 13 has covered the entire area to be cleaned, the second path 14 is mainly used to achieve supplementary cleaning of the floor gaps perpendicular to the cleaning direction 131, that is, the second path 14 only needs to cover the floor gaps perpendicular to the cleaning direction 131, and the second path 14 does not need to have sufficient density to ensure that the cleaning module covers the area on the floor between the cleaning directions 141, so as to avoid repeated cleaning and reduce cleaning efficiency.

[0086] Another example Fig.16 For Figure 8 The schematic diagram of the first path 15 in the cleaning path planned for the area to be cleaned is shown, the first path 15 refers to a route formed by connecting the end to the end of the line segments with directions (presented by dashed lines, and some of the broken positions of the dashed lines overlap with the gaps in the floor and are continuous in the middle and broken on both sides), wherein the horizontal direction is the cleaning direction 151 of the first path 15; Fig.17 For Figure 8 The schematic diagram of the second path 16 in the cleaning path planned for the area to be cleaned is shown, and the second path 16 refers to a route formed by connecting directional line segments (presented by dotted lines, and some dotted lines are disconnected at the positions where they overlap with the floor gaps and are continuous in the middle and disconnected on both sides) end to end, wherein the vertical direction is the cleaning direction 161 of the second path 16. The relationship between the first path 15 and the second path 16 is substantially the same as the relationship between the first path 13 and the second path 14, and both groups are cleaning paths generated based on a specific embodiment of the present application corresponding to different floor laying methods.

[0087] The first path is equivalent to confirming the cleaning direction of the floor gaps along one direction, cleaning the floor gaps parallel to the cleaning direction from one end to the other, and cleaning all the positions of the floor; the second path is used for supplementary cleaning of the floor gaps in another direction from one end to the other.

[0088] for Figure 6 If the existing technology is used for path planning in the area to be cleaned, only the following can be obtained: Fig.13 The cleaning path shown by the dotted line in the middle, the cleaning direction of the cleaning path is confirmed to be the horizontal direction with reference to the coordinate axis in the global coordinate system, the density of the multiple cleaning paths in the cleaning direction is determined by the coverage capability of the cleaning module of the self-moving cleaning device, the generation of the cleaning path has nothing to do with the floor laying method, the closest distance between the floor gap and the cleaning path is a random event, which can neither guarantee the most powerful cleaning for the horizontal floor gaps, nor can it provide the weakest cleaning for the vertical floor gaps by only passing vertically.

[0089] In another optional implementation, when the floor gaps in the floor laying map are parallel or perpendicular to the coordinate axes in the global coordinate system of the global map, the generated cleaning path includes a first path, and the first path covers the floor gaps in the first direction. That is, based on the previous optional implementation, only the first path can guarantee to cover the longest set of parallel floor gaps (for example Fig.13 After the mobile cleaning device cleans along the first path, another set of parallel floor gaps (e.g. Fig.13 Basic cleaning of the longitudinal floor gaps in the middle of the floor can eliminate the need for excessive cleaning of another set of parallel floor gaps.

[0090] It should be noted that in combination Figure 6 , Fig.13 and Fig.14 In the described embodiment, the cleaning path covers the floor gaps, which is equivalent to the center of the self-moving cleaning device moving along the floor gaps when the self-moving cleaning device performs the cleaning task according to the cleaning path. In the specific implementation process, the distance between each floor gap and the cleaning path can be ensured to be within a preset minimum distance based on factors such as the cleaning capacity and size of the self-moving cleaning device and the size of a single floor. That is, when the self-moving cleaning device performs the cleaning task according to the cleaning path, the center of the self-moving cleaning device or a position close to the center moves along the floor gaps, thereby ensuring sufficient cleaning time for the floor gaps, while effectively controlling the area of ​​repeated cleaning, and achieving a balance between cleaning efficiency and good cleaning effect.

[0091] In the embodiments of the present application, the length of the floor gap refers to the sum of the lengths of the floor gaps in the same straight line. Figure 6 The length of the floor gap in the middle longitudinal direction may be the sum of the lengths of the four short sides; Figure 8 The length of the longitudinal floor gap may be the sum of one complete long side or multiple incomplete long sides.

[0092] In addition, when the drawings of the embodiments of the present application involve maps, the coordinate axes are arranged in accordance with industry practice with the horizontal direction as the horizontal axis and the vertical direction as the vertical axis.

[0093] In another optional implementation, when the graphic unit of the floor laying diagram is a rectangle and the floor gaps in the floor laying diagram are not parallel to the coordinate axes in the global coordinate system, the cleaning direction of the generated cleaning path is parallel to the straight line fitted from the intersection of the floor gaps.

[0094] like Fig. 9 As shown in , for a rectangular floor, when the floor laying direction is different from the direction of the coordinate axis, the floor gaps in the floor laying diagram are not parallel to the coordinate axis in the global coordinate system. At this time, the intersection points of the floor gaps can be fitted. These intersection points can usually be grouped and fitted to obtain multiple parallel straight lines, as shown in Fig. 9 The bold dashed line 11 is shown. Fig. 9 The dashed line 11 shown is the cleaning direction, which is not perpendicular to all the floor gaps.

[0095] In another optional implementation, when the graphic unit of the floor laying diagram is a parallelogram, the cleaning direction of the generated cleaning path is parallel to the longest floor gap in the same straight line in the floor laying diagram. Specifically, the cleaning path may cover the longest floor gap and the floor gap parallel to the longest floor gap. Fig.10 As shown, when a parallelogram floor is laid, usually two adjacent floors have sides of equal length facing each other. When the floors are laid tightly, floor gaps that are in the same straight line and connected will be formed, thereby confirming the cleaning direction 12. For floor gaps in other directions, they will certainly not be vertical when cleaning according to the cleaning path.

[0096] In another optional implementation, when the graphic unit of the floor laying diagram is a rhombus, the cleaning direction of the generated cleaning path is parallel to a reference direction, the reference direction is the direction of the straight line where the maximum number of rhombus vertices on the same alternative straight line is located, and each alternative straight line is parallel to a coordinate axis of the global coordinate system of the global map.

[0097] like Fig.12 As shown, for a diamond-shaped floor, its diagonal lines are perpendicular. When laying, the diagonal lines are usually controlled to correspond to the direction of the coordinate axis. Therefore, the gaps in the floor formed are not perpendicular to the coordinate axis. At this time, you only need to confirm the cleaning direction. Specifically, you can confirm the reference direction in the floor laying diagram. The cleaning direction of the cleaning path is parallel to the reference direction. The reference direction is the direction of the line where the maximum number of diamond vertices on the same candidate line is located. Each candidate line is parallel to a coordinate axis of the global coordinate system of the global map. For example Fig.12The straight lines in the horizontal direction (parallel to the horizontal axis of the global coordinate system) have a maximum of 3 intersection points, and the straight lines in the vertical direction (parallel to the longitudinal axis of the global coordinate system) have a maximum of 5 intersection points, so the vertical direction is the cleaning direction. If the maximum number of focal points of the straight lines in the two directions is the same, the reference direction can be randomly determined based on the two directions.

[0098] In the specific implementation process, there may be other laying methods other than the above-mentioned embodiments, for example, the laying of parallelogram floor may be as follows: Fig.11 As shown in the figure, each floor is laid in the same direction, and the edges of two adjacent floors are completely aligned. At this time, the floor gaps can be regarded as two sets of non-vertical parallel lines. Then, the direction of one set of floor gaps can be directly used as the cleaning direction to generate a cleaning path, for example Fig.11 In the above, the vertical direction is taken as the cleaning direction 12, and the cleaning path covers or is adjacent to the floor gaps in the vertical direction. Figure 6 The paving scheme in the figure is rotated by a certain angle to obtain the following Figure 7 The paving scheme shown here only needs to count the intersection points of the floor gaps as described above, or confirm the cleaning direction by fitting, and this paving method is usually rarely used, so it is only used as a supplement. These designs do not deviate from this scheme.

[0099] It should be understood that the relative positional relationships such as parallel or perpendicular described in the embodiments of the present application when confirming a certain situation are not highly precise relative positional relationships defined by fixed numerical values ​​in a mathematical sense, but can be regarded as equivalent to parallel or perpendicular, that is, deviations within a smaller range than the fixed numerical values ​​can be accepted to ensure that gaps with a certain width have good robustness during the processing process against data deviations caused by distortion, conversion, etc.

[0100] In the specific implementation process, steps S110 to S130 can be executed before each cleaning to confirm the cleaning path corresponding to the area to be cleaned including the floor gaps, or they can be saved after the first processing to confirm the cleaning path according to the trigger timing described in step S110, and then used directly when cleaning the area to be cleaned later.

[0101] Step S140: When cleaning the area to be cleaned, cleaning is performed according to the cleaning path.

[0102] When the cleaning path has been confirmed, the self-moving cleaning device moves along the cleaning path, and controls the cleaning module to perform cleaning according to the corresponding cleaning strategy during the moving process.

[0103] Based on the implementation of this application, Fig.18 and Fig.19Compared with the cleaning process of the prior art in two dimensions, the implementation method of the present application obviously has a better cleaning effect.

[0104] Please refer to Fig.18 , where a circle represents the coverage of the self-moving cleaning device using a certain cleaning module to complete cleaning at one location. According to the common way of laying the floor and the cleaning path confirmed by the prior art, for a single pass through the floor gap, the cleaning direction that may be confirmed by the prior art is O1O5, and the self-moving cleaning device is likely to move from circle O1 to circle O5 and pass through the floor gap vertically. Based on the cleaning path confirmed by this application, the cleaning direction is O1O4, and the self-moving cleaning device at least passes through the floor gap obliquely from circle O1 through circle O2 and circle O3 to circle O4. The position where the center of the circle passes is obviously in a cleaning state for the longest time. If the prior art is used, A2-B2 in the floor gap is the path where the center of the circle passes. If this solution is used, A1-B1 in the floor gap is the path where the center of the circle passes. It is obvious that better cleaning effects can be achieved than the prior art.

[0105] Please refer to Fig.19 According to the specific implementation method, this solution can realize that the cleaning path (i.e., the direction indicated by the dotted arrow) is located in the floor gap, which is equivalent to realizing that the cleaning path can cover the floor gap, that is, during the cleaning process, the self-moving cleaning device can move along the floor gap from one end to the other end of the floor gap as much as possible, so Fig.19 The shaded area at the top of the comparison diagram is basically covered by the area near the center of the circle. If in-situ rotation cleaning is added at both ends of the floor gap, the floor gap can be completely covered by the center of the cleaning module. In the case where the cleaning module mostly cleans by rotation, the floor gap covered by the center of the cleaning module and cleaned along the floor gap can achieve the best cleaning effect. If the existing technology is used, it is very likely that the self-moving cleaning device will pass through the floor gap vertically. Fig.19 As shown in the shaded portion at the bottom of the comparison diagram, only a small area is covered by the center of the cleaning module when the self-moving cleaning device crosses the gap in the floor, that is, only a small area achieves a good cleaning effect.

[0106] In a more specific implementation, considering that all ground gaps have been detected, during the process of returning to the base station, the self-moving cleaning device passes through the floor gaps that have reached the preset width threshold at a speed within the preset speed threshold. That is, during the process of returning to the base, when the self-moving cleaning device confirms that a wider ground gap (with the preset width threshold as a reference) is about to appear in front according to positioning or visual detection, if the self-moving cleaning device is originally moving at a faster speed, the speed is reduced to within the preset speed threshold, and if the self-moving cleaning device is originally moving at a slower speed, the speed is controlled not to be increased to a speed greater than the preset speed threshold, thereby ensuring that the self-moving cleaning device passes through a relatively wide ground gap at a relatively slow speed, so as to avoid the self-moving cleaning device from slipping or swaying severely when passing through a relatively wide ground gap quickly, thereby affecting the service life of the self-moving cleaning device, or the collected garbage is re-contaminated due to bumps.

[0107] In general, by obtaining the floor layout map of the area to be cleaned in the global map, and confirming the floor gap information of the area to be cleaned according to the floor layout map, and then generating a cleaning path with the distribution of floor gaps as a reference according to the distribution of floor gaps, when cleaning the area to be cleaned based on the cleaning path, the self-moving cleaning device passes through the floor gaps at any position obliquely or cleans along the floor gaps at least once, which may extend the action time of the cleaning module of the self-moving cleaning device on the floor gaps, improve the cleaning effect of the floor gaps in a targeted manner, clean the gaps more thoroughly, reduce the frequency of crossing the gaps, thereby reducing the noise during the cleaning process, and effectively reduce the wear and tear on the self-moving cleaning device.

[0108] Fig. 20 The schematic diagram of the structure of a cleaning control device provided in an embodiment of the present application is shown in FIG. The cleaning control device is used for a self-moving cleaning device, such as Fig. 20 As shown, the cleaning control device includes a data acquisition unit 210 , an information confirmation unit 220 , a path generation unit 230 and a cleaning operation unit 240 .

[0109] Among them, the data acquisition unit 210 is used to obtain the floor laying map of the area to be cleaned in the global map; the information confirmation unit 220 is used to confirm the floor gap information of the area to be cleaned according to the floor laying map; the path generation unit 230 is used to generate a cleaning path for cleaning the area to be cleaned according to the floor gap information, and the cleaning direction of the cleaning path is parallel to the first direction in the floor laying map, or is not perpendicular to each floor gap in the floor laying map, and the first direction is the direction of the straight line where the maximum value of the sum of the lengths of the floor gaps on the same straight line is located; the cleaning operation unit 240 is used to clean the area to be cleaned according to the cleaning path.

[0110] Based on the above embodiment, the path generation unit 230 includes:

[0111] The first generating module is used to generate a cleaning path including a first path when the floor gaps in the floor laying map are parallel or perpendicular to the coordinate axes in the global coordinate system of the global map, and the first path covers the floor gaps in a first direction.

[0112] Based on the above embodiment, the path generation unit 230 includes:

[0113] The second generation module is used to generate a cleaning path including a first path and a second path when the floor gaps in the floor laying map are parallel or perpendicular to the coordinate axes in the global coordinate system of the global map. The first path covers the floor gaps in a first direction, and the second path covers the floor gaps perpendicular to the first direction.

[0114] Based on the above embodiment, the path generation unit 230 includes:

[0115] The third generating module is used to generate a cleaning path whose cleaning direction is parallel to a straight line fitted through intersections of floor gaps when the graphic unit of the floor laying diagram is a rectangle and the floor gaps in the floor laying diagram are not parallel to the coordinate axes in the global coordinate system.

[0116] Based on the above embodiment, the path generation unit 230 includes:

[0117] The fourth generating module is used to generate a cleaning path whose cleaning direction is parallel to the longest floor gap in the same straight line in the floor laying diagram when the graphic unit of the floor laying diagram is a parallelogram.

[0118] Based on the above embodiment, the cleaning path covers the longest floor gap and the floor gaps parallel to the longest floor gap.

[0119] Based on the above embodiment, the path generation unit 230 includes:

[0120] The fifth generation module is used to generate a cleaning path whose cleaning direction is parallel to a reference direction when the graphic unit of the floor laying diagram is a rhombus. The reference direction is the direction of the straight line where the maximum number of rhombus vertices on the same alternative straight line is located, and each alternative straight line is parallel to a coordinate axis of the global coordinate system of the global map.

[0121] Wherein, the cleaning control device also includes:

[0122] The speed control unit is used to pass through the floor gap that reaches the preset width threshold value at a speed within the preset speed threshold value during the process of returning to the base station.

[0123] The cleaning control device provided in the embodiment of the present application is included in a self-moving cleaning device and can be used to execute the corresponding cleaning control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0124] It is worth noting that in the above-mentioned embodiment of the cleaning control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0125] Fig.21 This is a schematic diagram of the structure of a self-moving cleaning device provided in an embodiment of the present application. Fig.21 As shown, the self-moving cleaning device includes a processor 310 and a memory 320. The self-moving cleaning device may also include an input device 330, an output device 340, and a communication device 350. The number of processors 310 in the self-moving cleaning device may be one or more. Fig.21 A processor 310 is taken as an example; the processor 310, the memory 320, the input device 330, the output device 340 and the communication device 350 in the self-mobile cleaning device can be connected via a bus or other means. Fig.21 The example of connecting through bus is taken in the following.

[0126] The memory 320 is a computer-readable storage medium that can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the cleaning control method in the embodiment of the present application. The processor 310 executes various functional applications and data processing of the self-mobile cleaning device by running the software programs, instructions and modules stored in the memory 320, that is, implementing the above-mentioned cleaning control method.

[0127] The memory 320 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the self-mobile cleaning device, etc. In addition, the memory 320 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 320 may further include a memory remotely arranged relative to the processor 310, and these remote memories may be connected to the self-mobile cleaning device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0128] The input device 330 may be used to receive network configuration information. The output device 340 may include a display device such as a display screen.

[0129] The above-mentioned self-moving cleaning device can be used to execute any cleaning control method and has corresponding functions and beneficial effects.

[0130] An embodiment of the present invention also provides a storage medium containing computer executable instructions. When the computer executable instructions are executed by a computer processor, they are used to perform relevant operations in the cleaning control method provided in any embodiment of the present application, and have corresponding functions and beneficial effects.

[0131] Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products.

[0132] Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented 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. The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the functions in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0133] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory. The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0134] Computer readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0135] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0136] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A cleaning control method for a self-moving cleaning device, characterized in that: include: Obtain a floor layout map of the area to be cleaned in the global map; According to the floor laying diagram, confirm the floor gap information of the area to be cleaned; Generate a cleaning path for cleaning the area to be cleaned according to the floor gap information, wherein a cleaning direction of the cleaning path is parallel to a first direction in the floor laying diagram, or is not perpendicular to each floor gap in the floor laying diagram, wherein the first direction is a straight line direction where the maximum value of the sum of the lengths of the floor gaps on the same straight line is located; When cleaning the area to be cleaned, cleaning is performed according to the cleaning path.

2. The cleaning control method according to claim 1, characterized in that: Generating a cleaning path for cleaning the area to be cleaned according to the floor gap information includes: In the case where the floor gaps in the floor laying map are all parallel or perpendicular to the coordinate axes in the global coordinate system of the global map, the generated cleaning path includes a first path, which covers the floor gaps in the first direction.

3. The cleaning control method according to claim 1, characterized in that: Generating a cleaning path for cleaning the area to be cleaned according to the floor gap information includes: When the floor gaps in the floor laying map are parallel or perpendicular to the coordinate axes in the global coordinate system of the global map, the generated cleaning path includes a first path and a second path, wherein the first path covers the floor gaps in the first direction, and the second path covers the floor gaps perpendicular to the first direction.

4. The cleaning control method according to claim 1, characterized in that: Generating a cleaning path for cleaning the area to be cleaned according to the floor gap information includes: When the graphic unit of the floor laying map is a rectangle, and the floor gaps in the floor laying map are not parallel to the coordinate axes in the global coordinate system of the global map, the cleaning direction of the generated cleaning path is parallel to the straight line fitted from the intersection of the floor gaps.

5. The cleaning control method according to claim 1, characterized in that: Generating a cleaning path for cleaning the area to be cleaned according to the floor gap information includes: When the graphic unit of the floor laying diagram is a parallelogram, the cleaning direction of the generated cleaning path is parallel to the longest floor gap in the same straight line in the floor laying diagram.

6. The cleaning control method according to claim 5, characterized in that: The cleaning path covers the longest floor gap and floor gaps parallel to the longest floor gap.

7. The cleaning control method according to claim 1, characterized in that: Generating a cleaning path for cleaning the area to be cleaned according to the floor gap information includes: When the graphic unit of the floor laying diagram is a rhombus, the cleaning direction of the generated cleaning path is parallel to a reference direction, and the reference direction is the direction of the straight line where the maximum number of rhombus vertices on the same alternative straight line is located, and each of the alternative straight lines is parallel to a coordinate axis of the global coordinate system of the global map.

8. A cleaning control device for a self-moving cleaning device, characterized in that: include: A data acquisition unit, used to acquire a floor layout map of the area to be cleaned in the global map; An information confirmation unit, used to confirm the floor gap information of the area to be cleaned according to the floor laying diagram; a path generating unit, for generating a cleaning path for cleaning the area to be cleaned according to the floor gap information, wherein the distance between the cleaning path and the floor gaps in a first direction in the floor laying diagram is within a preset minimum distance, or the cleaning path has a non-vertical angle with each section of the floor gaps, the first direction is the direction pointed by the first straight line and the straight line parallel to the first straight line, and the sum of the lengths of the floor gaps on the first straight line is not less than the sum of the lengths of the floor gaps on any other straight lines; The cleaning operation unit is used to clean the area to be cleaned according to the cleaning path.

9. A self-propelled cleaning device, characterized in that: include: one or more processors; a memory for storing one or more computer programs; When the one or more computer programs are executed by the one or more processors, the self-moving cleaning device implements the cleaning control method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the cleaning control method as described in any one of claims 1 to 7 is implemented.

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