Intelligent control method and system for cleaning device

Abstract

The present invention discloses an intelligent control method and system for a cleaning device, which defines a cleaning path of the cleaning device according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor; defines a stair sub-path based on the traversal of the cleaning path of the cleaning device; collects multiple stair parameters according to the positioning detection of the stair sub-path, and constructs a corresponding stair model according to the multiple stair parameters. The stair cleaning space is defined according to the space of each stair step and the extension direction of the stair model, and the stair cleaning path is defined according to the stair cleaning space, the walking mode of the cleaning device, and the lifting mode of the cleaning device; the cleaning device is triggered to clean the stairs based on the stair cleaning path, and the stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path. The posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles, and the dynamic cleaning and anti-fall control of each stair step by the cleaning device are compatible.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning devices, and in particular to an intelligent control method and system for cleaning devices. Background Art

[0002] With the development of science and technology, cleaning devices are gradually applied to people's lives. Cleaning devices include floor cleaning devices. Sweeping robots are one type of cleaning devices and clean the floor. In the prior art, the cleaning device cleans the floor. If the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor need to be cleaned, the cleaning device cleans the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor separately. It is necessary to manually carry the cleaning device between the upper floor and the lower floor, which affects the dirtiness of the stairs. However, the existing cleaning device cannot clean the stairs. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides an intelligent control method and system for a cleaning device, which collects the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor, and defines a cleaning path of the cleaning device according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor; defines a stair sub-path based on the traversal of the cleaning path of the cleaning device; collects multiple stair parameters according to the positioning detection of the stair sub-path, and constructs a corresponding stair model according to the multiple stair parameters, thereby performing multi-dimensional control based on the multiple stair parameters and ensuring the accuracy of the stair model, so that the cleaning device can perform targeted cleaning of the stair steps in the stair model.

[0004] Furthermore, the stair model and the cleaning device are associated, and the lifting mode of the cleaning device is defined according to the stair model and the model of the cleaning device; the space of each stair step is defined based on the stair model, the stair cleaning space is defined according to the space of each stair step and the extension direction of the stair model, and the stair cleaning path is defined according to the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device; the cleaning device is triggered to clean the stairs based on the stair cleaning path, and the cleaning device is simultaneously controlled to prevent falling, and the stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path. The posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles, which is compatible with the dynamic cleaning and anti-fall control of each stair step by the cleaning device, fully considers the cleaning stability of the cleaning device at each stair step, and overcomes the technical problem that the cleaning device cannot clean the stairs.

[0005] The embodiment of the present invention provides an intelligent control method for a cleaning device, which is applied to an intelligent control scenario of a cleaning device;

[0006] The intelligent control method of the cleaning device comprises:

[0007] Collect the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor, and define the cleaning path of the cleaning device according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor;

[0008] defining a stair subpath based on traversal of a cleaning path of the cleaning device;

[0009] Collect multiple stair parameters according to the positioning detection of the stair sub-path, and construct a corresponding stair model according to the multiple stair parameters;

[0010] Associating the stair model and the cleaning device, and defining a lifting mode of the cleaning device according to the stair model and the model of the cleaning device;

[0011] Based on the stair model, the space of each stair level is defined, the stair cleaning space is defined according to the space of each stair level and the extension direction of the stair model, and the stair cleaning path is defined according to the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device;

[0012] The cleaning device is triggered to clean the stairs based on the stair cleaning path, and the cleaning device is simultaneously controlled to prevent falling. The stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path. The posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles.

[0013] Optionally, collecting the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor, and defining a cleaning path of the cleaning device according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor, includes:

[0014] Collect the building where the cleaning device is located, and collect the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor based on the traversal of the building;

[0015] Defining a stair cleaning area based on the interaction of an upper floor cleaning area and a lower floor cleaning area;

[0016] Associating the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs, and the cleaning area of ​​the lower floor;

[0017] Defining the current position of the cleaning device based on the comparison between the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs, and the cleaning area of ​​the lower floor and the position of the cleaning device;

[0018] A cleaning path of the cleaning device is defined according to the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs, the cleaning area of ​​the lower floor, and the current position of the cleaning device.

[0019] Optionally, the step of defining a staircase sub-path based on the traversal of a cleaning path of a cleaning device includes:

[0020] traversing a cleaning path of a cleaning device;

[0021] defining a plurality of sub-paths based on traversal of a cleaning path of the cleaning device;

[0022] Defining multiple sub-path combinations according to the matching of multiple sub-paths;

[0023] Matching multiple sub-path combinations with stair cleaning areas respectively;

[0024] Defining a primary stair sub-path according to the matching of the plurality of sub-path combinations with the stair cleaning area;

[0025] A final stair subpath is defined based on the preliminary stair subpath, the indoor distribution map of the building, and a plurality of stair images.

[0026] Optionally, the collecting a plurality of stair parameters according to the positioning detection of the stair sub-path and constructing a corresponding stair model according to the plurality of stair parameters includes:

[0027] Collect stair subpaths;

[0028] Defining multiple detection nodes for stair subpaths and stair step heights;

[0029] Collecting stair parameters of multiple detection nodes according to positioning detection of multiple detection nodes;

[0030] defining a plurality of stair parameters based on the stair parameters of the plurality of detection nodes;

[0031] Constructing a stair parameter set according to a plurality of stair parameters;

[0032] Abnormal stair parameters in the stair parameter set are eliminated, and an optimized stair parameter set is output, and a corresponding stair model is constructed according to the optimized stair parameter set and a plurality of stair levels.

[0033] Optionally, the associating the stair model and the cleaning device, and defining a lifting mode of the cleaning device according to the stair model and the model of the cleaning device, includes:

[0034] Freeze-frame staircase model and cleaning device;

[0035] Matching the stair model and the cleaning device, and outputting a corresponding matching coefficient, defining a corresponding association level based on the matching coefficient, and triggering an association between the stair model and the cleaning device along the association level;

[0036] Dynamically adjust the parameters of the cleaning device based on the association between the stair model and the cleaning device, and collect the model of the cleaning device;

[0037] The lifting mode of the cleaning device is defined according to the stair model and the model of the cleaning device. At this time, the lifting height of the cleaning device is defined based on the lifting mode, and the lifting nodes of the cleaning device relative to each stair step in the stair model are defined. The lifting of the cleaning device is triggered according to each lifting node and the position of the cleaning device to complete the regulation of the cleaning device to the stair step.

[0038] Optionally, the steps of defining the space of each staircase step based on the staircase model, defining the staircase cleaning space according to the space of each staircase step and the extension direction of the staircase model, and defining the staircase cleaning path according to the staircase cleaning space, the walking mode of the cleaning device, and the lifting mode of the cleaning device include:

[0039] Freeze the stair model;

[0040] The stair traversal mode is defined according to the extension direction of the stair model and the number of stair steps in the stair model;

[0041] Define the space for each stair level based on the stair model and stair traversal pattern.

[0042] Optionally, the method of defining the space of each staircase step based on the staircase model, defining the staircase cleaning space according to the space of each staircase step and the extension direction of the staircase model, and defining the staircase cleaning path according to the staircase cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device, further includes:

[0043] Compare the spaces of each staircase level and define the corresponding spatial changes;

[0044] Associating each space variation, each space of each staircase level and the extension direction of the staircase model, and defining the staircase cleaning space according to each space variation, each space of each staircase level and the extension direction of the staircase model;

[0045] The working status of the cleaning device is collected, and the walking mode and the lifting mode of the cleaning device are defined according to the working status of the cleaning device. The stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device are associated, and the stair cleaning path is defined based on the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device.

[0046] Optionally, the cleaning device is triggered to clean the stairs based on the stair cleaning path, and the anti-fall control of the cleaning device is simultaneously performed, the stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path, and the posture of the cleaning device is dynamically controlled based on the stair cleaning logic and stair obstacles, including:

[0047] Freeze the stair cleaning path;

[0048] defining each stair subspace based on the stair cleaning path and each stair step;

[0049] The cleaning device is triggered to clean the stairs according to each stair subspace and the position of the cleaning device relative to the stairs, and the cleaning mode of the cleaning device is defined according to the surface material of each stair subspace and the cleaning efficiency of the cleaning device.

[0050] Optionally, the cleaning device is triggered to clean the stairs based on the stair cleaning path, and the anti-fall control of the cleaning device is simultaneously performed, the stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path, and the posture of the cleaning device is dynamically controlled based on the stair cleaning logic and stair obstacles, and further includes:

[0051] Real-time monitoring of the cleaning of each stair subspace by the cleaning device, and simultaneous fall prevention control of the cleaning device;

[0052] An anti-fall signal is triggered based on the exposed area of ​​the cleaning device relative to the gap between two adjacent stair subspaces, and anti-fall control is performed on the cleaning device;

[0053] The stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path, and the posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles to realize the cleaning work of the cleaning device on the stairs.

[0054] In addition, an embodiment of the present invention further provides an intelligent control system for a cleaning device, the intelligent control system for the cleaning device comprising:

[0055] A cleaning path module, used to collect the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor, and define the cleaning path of the cleaning device according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor;

[0056] A stair subpath module, for defining a stair subpath based on the traversal of a cleaning path of a cleaning device;

[0057] A stair module, used to collect multiple stair parameters according to the positioning detection of the stair sub-path, and construct a corresponding stair model according to the multiple stair parameters;

[0058] A lifting module, used to associate the stair model and the cleaning device, and define a lifting mode of the cleaning device according to the stair model and the model of the cleaning device;

[0059] A stair cleaning path module is used to define the space of each stair step based on the stair model, define the stair cleaning space according to the space of each stair step and the extension direction of the stair model, and define the stair cleaning path according to the stair cleaning space, the walking mode of the cleaning device, and the lifting mode of the cleaning device;

[0060] The stair cleaning module is used to trigger the cleaning device to clean the stairs based on the stair cleaning path, and simultaneously perform anti-fall control on the cleaning device. The stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path, and the posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles.

[0061] In an embodiment of the present invention, through the method in the embodiment of the present invention, the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor are collected, and the cleaning path of the cleaning device is defined according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor; the stair sub-path is defined based on the traversal of the cleaning path of the cleaning device; multiple stair parameters are collected according to the positioning detection of the stair sub-path, and the corresponding stair model is constructed according to the multiple stair parameters, so as to perform multi-dimensional control based on the multiple stair parameters and ensure the accuracy of the stair model, so as to facilitate the cleaning device to perform targeted cleaning of the stair steps in the stair model.

[0062] Furthermore, the stair model and the cleaning device are associated, and the lifting mode of the cleaning device is defined according to the stair model and the model of the cleaning device; the space of each stair step is defined based on the stair model, the stair cleaning space is defined according to the space of each stair step and the extension direction of the stair model, and the stair cleaning path is defined according to the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device; the cleaning device is triggered to clean the stairs based on the stair cleaning path, and the cleaning device is simultaneously controlled to prevent falling, and the stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path. The posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles, which is compatible with the dynamic cleaning and anti-fall control of each stair step by the cleaning device, fully considers the cleaning stability of the cleaning device at each stair step, and overcomes the technical problem that the cleaning device cannot clean the stairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present invention 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0064] Figure 1 is a flow chart of an intelligent control method for a cleaning device in an embodiment of the present invention;

[0065] Figure 2 is a flow chart of S11 in the intelligent control method of the cleaning device in the embodiment of the present invention;

[0066] Figure 3 is a flow chart of S12 in the intelligent control method of the cleaning device in the embodiment of the present invention;

[0067] Figure 4 is a flow chart of S13 in the intelligent control method of the cleaning device in the embodiment of the present invention;

[0068] Figure 5 is a flow chart of S14 in the intelligent control method of the cleaning device in the embodiment of the present invention;

[0069] Figure 6 is a flow chart of S15 in the intelligent control method of the cleaning device in the embodiment of the present invention;

[0070] Figure 7 is a flow chart of S16 in the intelligent control method of the cleaning device in the embodiment of the present invention;

[0071] Figure 8 Schematic diagram of the structure of the intelligent control system of the cleaning device in the embodiment of the present invention;

[0072] Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] See also Figures 1 to 9 , an intelligent control method for a cleaning device, applied to an intelligent control scenario of a cleaning device; the intelligent control method for a cleaning device comprises:

[0075] Step S11: collecting the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor, and defining a cleaning path of the cleaning device according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor;

[0076] Step S12: defining a staircase sub-path based on the traversal of the cleaning path of the cleaning device;

[0077] Step S13: collecting a plurality of stair parameters according to the positioning detection of the stair sub-path, and constructing a corresponding stair model according to the plurality of stair parameters;

[0078] Step S14: Associating the stair model with the cleaning device, and defining a lifting mode of the cleaning device according to the stair model and the model of the cleaning device;

[0079] Step S15: defining the space of each staircase step based on the staircase model, defining the staircase cleaning space according to the space of each staircase step and the extension direction of the staircase model, and defining the staircase cleaning path according to the staircase cleaning space, the walking mode of the cleaning device, and the lifting mode of the cleaning device;

[0080] Step S16: Trigger the cleaning device to clean the stairs based on the stair cleaning path, and simultaneously perform anti-fall control on the cleaning device, build the stair cleaning logic of the cleaning device according to the anti-fall signal and the corresponding stair cleaning path, and dynamically adjust the posture of the cleaning device based on the stair cleaning logic and stair obstacles.

[0081] In an embodiment of the present invention, through the method in the embodiment of the present invention, the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor are collected, and the cleaning path of the cleaning device is defined according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor; the stair sub-path is defined based on the traversal of the cleaning path of the cleaning device; multiple stair parameters are collected according to the positioning detection of the stair sub-path, and the corresponding stair model is constructed according to the multiple stair parameters, so as to perform multi-dimensional control based on the multiple stair parameters and ensure the accuracy of the stair model, so as to facilitate the cleaning device to perform targeted cleaning of the stair steps in the stair model.

[0082] Furthermore, the stair model and the cleaning device are associated, and the lifting mode of the cleaning device is defined according to the stair model and the model of the cleaning device; the space of each stair step is defined based on the stair model, the stair cleaning space is defined according to the space of each stair step and the extension direction of the stair model, and the stair cleaning path is defined according to the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device; the cleaning device is triggered to clean the stairs based on the stair cleaning path, and the cleaning device is simultaneously controlled to prevent falling, and the stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path. The posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles, which is compatible with the dynamic cleaning and anti-fall control of each stair step by the cleaning device, fully considers the cleaning stability of the cleaning device at each stair step, and overcomes the technical problem that the cleaning device cannot clean the stairs.

[0083] refer to Figure 2 , in step S11, the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor are collected, and a cleaning path of the cleaning device is defined according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor;

[0084] In the specific implementation process of the present invention, the specific steps may be:

[0085] S111: Collecting the building where the cleaning device is located, and collecting the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor based on the traversal of the building;

[0086] S112: defining a stair cleaning area according to the interaction between the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor;

[0087] S113: Associating the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs, and the cleaning area of ​​the lower floor;

[0088] S114: defining the current position of the cleaning device based on the comparison between the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs, and the cleaning area of ​​the lower floor and the position of the cleaning device;

[0089] S115: defining a cleaning path of the cleaning device according to the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs, the cleaning area of ​​the lower floor, and the current position of the cleaning device.

[0090] In an embodiment of the present application, the building where the cleaning device is located is collected, and the cleaning areas of the upper floors and the lower floors are collected based on the traversal of the building, and the cleaning areas of the upper floors and the lower floors are introduced. The cleaning areas of the upper floors and the lower floors are managed and controlled, and attention is paid to the cleaning areas of the stairs between the cleaning areas of the upper floors and the lower floors, and targeted processing is performed on the cleaning areas of the stairs.

[0091] Therefore, the stair cleaning area is defined according to the interaction between the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor, the stair cleaning area is introduced, and the cleaning of the stair cleaning area by the cleaning device is compatible.

[0092] Furthermore, the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs and the cleaning area of ​​the lower floor are associated; the current position of the cleaning device is defined based on the position comparison between the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs and the cleaning area of ​​the lower floor and the cleaning device, and the position comparison between the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs and the cleaning area of ​​the lower floor and the cleaning device is compatible, thereby realizing a multi-dimensional comparison between the position of the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs and the cleaning area of ​​the lower floor and the cleaning device, and ensuring the accuracy of the current position of the cleaning device.

[0093] At the same time, the cleaning path of the cleaning device is defined according to the cleaning area of ​​the upper floor, the stair cleaning area, the lower floor cleaning area and the current position of the cleaning device. The cleaning path of the cleaning device is introduced, and the movement of the cleaning device is guided by the cleaning path of the cleaning device, so that the cleaning device is compatible with the cleaning of the upper floor cleaning area, the stair cleaning area and the lower floor cleaning area, and refined management and control of the stair cleaning area is carried out.

[0094] refer to Figure 3 , in step S12, a staircase sub-path is defined based on the traversal of the cleaning path of the cleaning device;

[0095] In the specific implementation process of the present invention, the specific steps may be:

[0096] S121: traversing the cleaning path of the cleaning device;

[0097] S122: defining a plurality of sub-paths based on the traversal of the cleaning path of the cleaning device;

[0098] S123: defining multiple sub-path combinations according to the matching of multiple sub-paths;

[0099] S124: Matching multiple sub-path combinations with stair cleaning areas respectively;

[0100] S125: defining a primary stair sub-path according to the matching of the plurality of sub-path combinations with the stair cleaning area;

[0101] S126: defining a final stair sub-path based on the primary stair sub-path, the indoor distribution map of the building, and the plurality of stair images.

[0102] In an embodiment of the present application, the cleaning path of the cleaning device is traversed; multiple sub-paths are defined based on the traversal of the cleaning path of the cleaning device to facilitate further control of the cleaning path of the cleaning device, and multiple sub-paths are introduced to ensure the rationality of the multiple sub-paths.

[0103] Therefore, multiple sub-path combinations are defined based on the matching of multiple sub-paths; the multiple sub-path combinations are matched with the stair cleaning areas respectively, so that the primary stair sub-path is defined based on the matching of the multiple sub-path combinations with the stair cleaning areas, which is compatible with the matching of the multiple sub-path combinations with the stair cleaning areas, realizes multi-dimensional control of the multiple sub-path combinations and the stair cleaning areas, and ensures the accuracy of the primary stair sub-path.

[0104] Furthermore, the final stair sub-path is defined based on the primary stair sub-path, the indoor distribution map of the building and multiple stair images. The primary stair sub-path, the indoor distribution map of the building and multiple stair images are introduced to achieve multi-dimensional interaction of the primary stair sub-path, the indoor distribution map of the building and multiple stair images, and are compatible with the overall consideration of the primary stair sub-path, the indoor distribution map of the building and multiple stair images, thereby ensuring the accuracy of the final stair sub-path.

[0105] refer to Figure 4, in step S13, in the floor cleaning space, a plurality of stair parameters are collected according to the positioning detection of the stair subpath, and a corresponding stair model is constructed according to the plurality of stair parameters;

[0106] In the specific implementation process of the present invention, the specific steps may be:

[0107] S131: Collect stair subpaths;

[0108] S132: defining a plurality of detection nodes for the stair subpath and the height of the stair steps;

[0109] S133: collecting stair parameters of multiple detection nodes according to positioning detection of multiple detection nodes;

[0110] S134: defining a plurality of stair parameters based on the stair parameters of the plurality of detection nodes;

[0111] S135: constructing a stair parameter set according to the plurality of stair parameters;

[0112] S136: Eliminate abnormal stair parameters in the stair parameter set, output an optimized stair parameter set, and construct a corresponding stair model according to the optimized stair parameter set and the plurality of stair steps.

[0113] In an embodiment of the present application, the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor are collected, and a cleaning path of a cleaning device is defined according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor; a stair sub-path is defined based on the traversal of the cleaning path of the cleaning device; a plurality of stair parameters are collected according to the positioning detection of the stair sub-path, and a corresponding stair model is constructed according to the plurality of stair parameters, thereby performing multi-dimensional control based on the plurality of stair parameters and ensuring the accuracy of the stair model, so that the cleaning device can perform targeted cleaning of the stair steps in the stair model.

[0114] At this time, the stair sub-paths are collected; multiple detection nodes are defined for the height of the stair sub-paths and stair steps, the height of the stair sub-paths and stair steps are introduced, and the height of the stair sub-paths and stair steps are overall controlled to ensure the rationality of the division of multiple detection nodes.

[0115] Therefore, the stair parameters of multiple detection nodes are collected according to the positioning detection of multiple detection nodes, so as to trigger the synchronous detection of multiple detection nodes and ensure the accuracy of multiple stair parameters. At the same time, multiple stair parameters are defined based on the stair parameters of multiple detection nodes; a stair parameter set is constructed according to the multiple stair parameters, and overall management and control are carried out based on the stair parameter set.

[0116] Furthermore, the stair parameter set is traversed, and abnormal stair parameters in the stair parameter set are located, thereby eliminating the abnormal stair parameters in the stair parameter set, and outputting an optimized stair parameter set. A corresponding stair model is constructed according to the optimized stair parameter set and multiple stair steps, thereby performing multi-dimensional control based on multiple stair parameters and ensuring the accuracy of the stair model, so that the cleaning device can perform targeted cleaning of the stair steps in the stair model.

[0117] refer to Figure 5 , S14: associating the stair model and the cleaning device, and defining a lifting mode of the cleaning device according to the stair model and the model of the cleaning device;

[0118] In the specific implementation process of the present invention, the specific steps may be:

[0119] S141: Freeze-frame stair model and cleaning device;

[0120] S142: matching the stair model and the cleaning device, and outputting a corresponding matching coefficient, defining a corresponding association level based on the matching coefficient, and triggering an association between the stair model and the cleaning device along the association level;

[0121] S143: dynamically adjusting parameters of the cleaning device based on the association between the stair model and the cleaning device, and collecting the model of the cleaning device;

[0122] S144: Define the lifting mode of the cleaning device according to the stair model and the model of the cleaning device. At this time, define the lifting height of the cleaning device based on the lifting mode, and define the lifting nodes of the cleaning device relative to each stair step in the stair model. Trigger the lifting of the cleaning device according to each lifting node and the position of the cleaning device to complete the regulation of the cleaning device to the stair step.

[0123] In an embodiment of the present application, a stair model and a cleaning device are frozen, and interaction is performed between the stair model and the cleaning device to match the stair model and the cleaning device, and a corresponding matching coefficient is output, and a corresponding association level is defined based on the matching coefficient. The association between the stair model and the cleaning device is triggered along the association level, thereby ensuring deep interaction between the stair model and the cleaning device, realizing multi-dimensional interaction between the stair model and the cleaning device, and performing stair dimension cleaning on the stair model.

[0124] Therefore, based on the relationship between the stair model and the cleaning device, the parameters of the cleaning device are dynamically adjusted, and the model of the cleaning device is collected. The stair model and the model of the cleaning device are introduced, and the stair model and the model of the cleaning device are associated. Therefore, the lifting mode of the cleaning device is defined according to the stair model and the model of the cleaning device, which is compatible with the overall consideration of the stair model and the model of the cleaning device, realizes multi-dimensional control of the stair model and the model of the cleaning device, and ensures the accuracy of the lifting mode of the cleaning device.

[0125] At this time, the lifting height of the cleaning device is defined based on the lifting mode, and the lifting nodes of the cleaning device relative to each stair step in the stair model are defined. The lifting of the cleaning device is triggered according to each lifting node and the position of the cleaning device to complete the regulation of the cleaning device to the stair step.

[0126] refer to Figure 6 , S15: defining the space of each staircase step based on the staircase model, defining the staircase cleaning space according to the space of each staircase step and the extension direction of the staircase model, and defining the staircase cleaning path according to the staircase cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device;

[0127] In the specific implementation process of the present invention, the specific steps may be:

[0128] S151: freeze frame stair model;

[0129] S152: defining a stair traversal mode according to an extension direction of the stair model and the number of stair steps in the stair model;

[0130] S153: defining the space of each staircase level based on the staircase model and the staircase traversal mode;

[0131] S154: Perform spatial comparison on the spaces of each staircase level and define corresponding spatial variation;

[0132] S155: associating each space variation, each space of each staircase level, and the extension direction of the staircase model, and defining the staircase cleaning space according to each space variation, each space of each staircase level, and the extension direction of the staircase model;

[0133] S156: Collect the working status of the cleaning device, and define the walking mode and the lifting mode of the cleaning device according to the working status of the cleaning device, associate the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device, and define the stair cleaning path based on the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device.

[0134] In an embodiment of the present application, a stair model is frozen; a stair traversal mode is defined according to the extension direction of the stair model and the number of stair steps in the stair model, the extension direction of the stair model and the number of stair steps in the stair model are introduced, and multi-dimensional control is performed on the extension direction of the stair model and the number of stair steps in the stair model, thereby ensuring the accuracy of the stair traversal mode.

[0135] At this time, the space of each stair level is defined based on the stair model and the stair traversal mode, which is compatible with the overall consideration of the stair model and the stair traversal mode and ensures the rationality of the division of the space of each stair level.

[0136] Furthermore, the space of each stair step is spatially compared, and the corresponding spatial variation is defined. Each spatial variation is introduced, thereby associating each spatial variation, the space of each stair step and the extension direction of the stair model. The stair cleaning space is defined according to each spatial variation, the space of each stair step and the extension direction of the stair model, which is compatible with the overall consideration of each spatial variation, the space of each stair step and the extension direction of the stair model, ensures multi-dimensional control of each spatial variation, the space of each stair step and the extension direction of the stair model, and improves the accuracy of the stair cleaning space.

[0137] Therefore, the working status of the cleaning device is collected, and the walking mode and the lifting mode of the cleaning device are defined according to the working status of the cleaning device, the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device are associated, and the stair cleaning path is defined based on the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device. This is compatible with the overall consideration of the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device, and realizes multi-dimensional control of the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device, thereby ensuring the accuracy of the stair cleaning path.

[0138] refer to Figure 7 , S16: triggering the cleaning device to clean the stairs based on the stair cleaning path, and simultaneously performing anti-fall control on the cleaning device, building the stair cleaning logic of the cleaning device according to the anti-fall signal and the corresponding stair cleaning path, and dynamically adjusting the posture of the cleaning device based on the stair cleaning logic and stair obstacles;

[0139] In the specific implementation process of the present invention, the specific steps may be:

[0140] S161: freeze the stair cleaning path;

[0141] S162: defining each stair subspace based on the stair cleaning path and each stair step;

[0142] S163: triggering the cleaning device to clean the stairs according to each stair subspace and the position of the cleaning device relative to the stairs, and defining a cleaning mode of the cleaning device according to the surface material of each stair subspace and the cleaning efficiency of the cleaning device;

[0143] S164: real-time monitoring of the cleaning of each stair subspace by the cleaning device, and simultaneous anti-fall control of the cleaning device;

[0144] S165: triggering an anti-fall signal based on the exposed area of ​​the cleaning device relative to the gap between two adjacent stair subspaces, and performing anti-fall control on the cleaning device;

[0145] S166: constructing the stair cleaning logic of the cleaning device according to the anti-fall signal and the corresponding stair cleaning path, and dynamically adjusting the posture of the cleaning device based on the stair cleaning logic and stair obstacles to achieve the cleaning work of the cleaning device on the stairs.

[0146] In the specific implementation process of the present invention, the stair model and the cleaning device are associated, and the lifting mode of the cleaning device is defined according to the stair model and the model of the cleaning device; the space of each stair step is defined based on the stair model, the stair cleaning space is defined according to the space of each stair step and the extension direction of the stair model, and the stair cleaning path is defined according to the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device; the cleaning device is triggered to clean the stairs based on the stair cleaning path, and the cleaning device is simultaneously controlled to prevent falling, and the stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path. The posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles, which is compatible with the dynamic cleaning and anti-fall control of each stair step by the cleaning device, fully considers the cleaning stability of the cleaning device at each stair step, and overcomes the technical problem that the cleaning device cannot clean the stairs.

[0147] At this time, the stair cleaning path is frozen, the stair cleaning path and each stair step are introduced, and the stair cleaning path and each stair step are associated, so as to define each stair subspace based on the stair cleaning path and each stair step, ensure the rationality of the division of each stair subspace, and carry out targeted control of the stair subspace.

[0148] Furthermore, the cleaning device is triggered to clean the stairs according to each stair sub-space and the position of the cleaning device relative to the stairs, and the cleaning mode of the cleaning device is defined according to the surface material of each stair sub-space and the cleaning efficiency of the cleaning device, which is compatible with the overall consideration of the surface material of each stair sub-space and the cleaning efficiency of the cleaning device, and ensures the accuracy of the cleaning mode of the cleaning device.

[0149] At the same time, the cleaning of each stair sub-space by the cleaning device is monitored in real time, and the cleaning device is simultaneously controlled to prevent falling, so as to further control the cleaning process of the cleaning device. Therefore, the anti-fall signal is triggered based on the exposed area of ​​the gap between the two adjacent stair sub-spaces of the cleaning device, and the cleaning device is controlled to prevent falling.

[0150] Therefore, the stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path, and the posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles. The dynamic cleaning and anti-fall control of each stair step by the cleaning device are compatible, and the cleaning stability of the cleaning device at each stair step is fully considered. The technical problem that the cleaning device cannot clean the stairs is overcome, thereby realizing the cleaning work of the stairs by the cleaning device.

[0151] In an embodiment of the present invention, through the method in the embodiment of the present invention, the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor are collected, and the cleaning path of the cleaning device is defined according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor; the stair sub-path is defined based on the traversal of the cleaning path of the cleaning device; multiple stair parameters are collected according to the positioning detection of the stair sub-path, and the corresponding stair model is constructed according to the multiple stair parameters, so as to perform multi-dimensional control based on the multiple stair parameters and ensure the accuracy of the stair model, so as to facilitate the cleaning device to perform targeted cleaning of the stair steps in the stair model.

[0152] Furthermore, the stair model and the cleaning device are associated, and the lifting mode of the cleaning device is defined according to the stair model and the model of the cleaning device; the space of each stair step is defined based on the stair model, the stair cleaning space is defined according to the space of each stair step and the extension direction of the stair model, and the stair cleaning path is defined according to the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device; the cleaning device is triggered to clean the stairs based on the stair cleaning path, and the cleaning device is simultaneously controlled to prevent falling, and the stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path. The posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles, which is compatible with the dynamic cleaning and anti-fall control of each stair step by the cleaning device, fully considers the cleaning stability of the cleaning device at each stair step, and overcomes the technical problem that the cleaning device cannot clean the stairs.

[0153] See also Figure 8 , Figure 8 It is a schematic diagram of the structure of the intelligent control system of the cleaning device in the embodiment of the present invention.

[0154] like Figure 8 As shown, an intelligent control system for a cleaning device, the intelligent control system for the cleaning device comprises:

[0155] A cleaning path module 21 is used to collect the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor, and define a cleaning path of the cleaning device according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor;

[0156] A stair subpath module 22 for defining a stair subpath based on the traversal of the cleaning path of the cleaning device;

[0157] A stair module 23, used to collect a plurality of stair parameters according to the positioning detection of the stair sub-path, and to construct a corresponding stair model according to the plurality of stair parameters;

[0158] A lifting module 24, used to associate the stair model with the cleaning device, and define a lifting mode of the cleaning device according to the stair model and the model of the cleaning device;

[0159] A stair cleaning path module 25, for defining the space of each stair step based on the stair model, defining the stair cleaning space according to the space of each stair step and the extension direction of the stair model, and defining the stair cleaning path according to the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device;

[0160] The stair cleaning module 26 is used to trigger the cleaning device to clean the stairs based on the stair cleaning path, and simultaneously perform anti-fall control on the cleaning device. The stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path, and the posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles.

[0161] See also Fig. 9 , refer to the following Fig. 9 The electronic device 40 according to this embodiment of the present invention will be described. Fig. 9 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0162] like Fig. 9 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0163] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0164] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0165] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0166] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0167] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0168] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a multi-parameter sensor device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0169] Those skilled in the art can understand that all or some of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0170] In addition, the intelligent control method and system of the cleaning device provided in the embodiment of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An intelligent control method for a cleaning device, characterized in that: Applied to intelligent control scenarios of cleaning equipment; The intelligent control method of the cleaning device comprises: Collect the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor, and define the cleaning path of the cleaning device according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor; defining a stair subpath based on the traversal of the cleaning path of the cleaning device; Collect multiple stair parameters according to the positioning detection of the stair sub-path, and construct a corresponding stair model according to the multiple stair parameters; Associating the stair model and the cleaning device, and defining a lifting mode of the cleaning device according to the stair model and the model of the cleaning device; Based on the stair model, the space of each stair level is defined, the stair cleaning space is defined according to the space of each stair level and the extension direction of the stair model, and the stair cleaning path is defined according to the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device; Trigger the cleaning device to clean the stairs based on the stair cleaning path, and simultaneously perform anti-fall control on the cleaning device. Build the stair cleaning logic of the cleaning device based on the anti-fall signal and the corresponding stair cleaning path, and dynamically adjust the posture of the cleaning device based on the stair cleaning logic and stair obstacles. The method of defining the space of each stair step based on the stair model, defining the stair cleaning space according to the space of each stair step and the extension direction of the stair model, and defining the stair cleaning path according to the stair cleaning space, the walking mode of a cleaning device, and the lifting mode of the cleaning device includes: freezing the stair model; defining the stair traversal mode according to the extension direction of the stair model and the number of stair steps in the stair model; defining the space of each stair step based on the stair model and the stair traversal mode; performing spatial comparison on the space of each stair step and defining the corresponding spatial variation; associating the spatial variation, the space of each stair step and the extension direction of the stair model, and defining the stair cleaning space according to the spatial variation, the space of each stair step and the extension direction of the stair model; collecting the working status of the cleaning device, and defining the walking mode of the cleaning device and the lifting mode of the cleaning device according to the working status of the cleaning device, associating the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device, and defining the stair cleaning path based on the stair cleaning space, the walking mode of the cleaning device and the lifting mode of the cleaning device.

2. The intelligent control method of the cleaning device according to claim 1, characterized in that: The collecting of the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor, and defining a cleaning path of the cleaning device according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor, comprises: Collect the building where the cleaning device is located, and collect the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor based on the traversal of the building; Defining a stair cleaning area based on the interaction of an upper floor cleaning area and a lower floor cleaning area; Associating the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs, and the cleaning area of ​​the lower floor; Defining the current position of the cleaning device based on the comparison between the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs, and the cleaning area of ​​the lower floor and the position of the cleaning device; A cleaning path of the cleaning device is defined according to the cleaning area of ​​the upper floor, the cleaning area of ​​the stairs, the cleaning area of ​​the lower floor, and the current position of the cleaning device.

3. The intelligent control method of the cleaning device according to claim 2, characterized in that: The step of defining a stair sub-path based on the traversal of a cleaning path of a cleaning device comprises: traversing a cleaning path of a cleaning device; defining a plurality of sub-paths based on traversal of a cleaning path of the cleaning device; Defining multiple sub-path combinations according to the matching of multiple sub-paths; Matching multiple sub-path combinations with stair cleaning areas respectively; Defining a primary stair sub-path according to the matching of the plurality of sub-path combinations with the stair cleaning area; A final stair subpath is defined based on the preliminary stair subpath, the indoor distribution map of the building, and a plurality of stair images.

4. The intelligent control method of the cleaning device according to claim 3, characterized in that: The method of collecting a plurality of stair parameters according to the positioning detection of the stair sub-path and constructing a corresponding stair model according to the plurality of stair parameters includes: Collect stair subpaths; Defining multiple detection nodes for stair subpaths and stair step heights; Collecting stair parameters of multiple detection nodes according to positioning detection of multiple detection nodes; defining a plurality of stair parameters based on the stair parameters of the plurality of detection nodes; Constructing a stair parameter set according to a plurality of stair parameters; Abnormal stair parameters in the stair parameter set are eliminated, and an optimized stair parameter set is output, and a corresponding stair model is constructed according to the optimized stair parameter set and a plurality of stair levels.

5. The intelligent control method of the cleaning device according to claim 4, characterized in that: The associating the stair model and the cleaning device, and defining the lifting mode of the cleaning device according to the stair model and the model of the cleaning device, includes: Freeze-frame staircase model and cleaning device; Matching the stair model and the cleaning device, and outputting a corresponding matching coefficient, defining a corresponding association level based on the matching coefficient, and triggering an association between the stair model and the cleaning device along the association level; Dynamically adjust the parameters of the cleaning device based on the association between the stair model and the cleaning device, and collect the model of the cleaning device; The lifting mode of the cleaning device is defined according to the stair model and the model of the cleaning device. At this time, the lifting height of the cleaning device is defined based on the lifting mode, and the lifting nodes of the cleaning device relative to each stair step in the stair model are defined. The lifting of the cleaning device is triggered according to each lifting node and the position of the cleaning device to complete the regulation of the cleaning device to the stair step.

6. The intelligent control method of the cleaning device according to claim 1, characterized in that: The method triggers the cleaning device to clean the stairs based on the stair cleaning path, and simultaneously performs anti-fall control on the cleaning device, constructs the stair cleaning logic of the cleaning device according to the anti-fall signal and the corresponding stair cleaning path, and dynamically controls the posture of the cleaning device based on the stair cleaning logic and stair obstacles, including: Freeze the stair cleaning path; defining each stair subspace based on the stair cleaning path and each stair step; The cleaning device is triggered to clean the stairs according to each stair subspace and the position of the cleaning device relative to the stairs, and the cleaning mode of the cleaning device is defined according to the surface material of each stair subspace and the cleaning efficiency of the cleaning device.

7. The intelligent control method of the cleaning device according to claim 6, characterized in that: The cleaning device is triggered to clean the stairs based on the stair cleaning path, and the anti-fall control of the cleaning device is performed simultaneously, the stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path, and the posture of the cleaning device is dynamically controlled based on the stair cleaning logic and stair obstacles, and also includes: Real-time monitoring of the cleaning of each stair subspace by the cleaning device, and simultaneous fall prevention control of the cleaning device; An anti-fall signal is triggered based on the exposed area of ​​the cleaning device relative to the gap between two adjacent stair subspaces, and anti-fall control is performed on the cleaning device; The stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path, and the posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles to realize the cleaning work of the cleaning device on the stairs.

8. An intelligent control system for a cleaning device, characterized in that: The intelligent control system of the cleaning device is applied to the intelligent control method of the cleaning device as claimed in any one of claims 1 to 7, and the intelligent control system of the cleaning device comprises: A cleaning path module, used to collect the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor, and define the cleaning path of the cleaning device according to the cleaning area of ​​the upper floor and the cleaning area of ​​the lower floor; A stair subpath module, for defining a stair subpath based on the traversal of a cleaning path of a cleaning device; A stair module, used to collect multiple stair parameters according to the positioning detection of the stair sub-path, and construct a corresponding stair model according to the multiple stair parameters; A lifting module, used to associate the stair model and the cleaning device, and define a lifting mode of the cleaning device according to the stair model and the model of the cleaning device; A stair cleaning path module is used to define the space of each stair step based on the stair model, define the stair cleaning space according to the space of each stair step and the extension direction of the stair model, and define the stair cleaning path according to the stair cleaning space, the walking mode of the cleaning device, and the lifting mode of the cleaning device; The stair cleaning module is used to trigger the cleaning device to clean the stairs based on the stair cleaning path, and simultaneously perform anti-fall control on the cleaning device. The stair cleaning logic of the cleaning device is constructed according to the anti-fall signal and the corresponding stair cleaning path, and the posture of the cleaning device is dynamically adjusted based on the stair cleaning logic and stair obstacles.

Images