Cleaning equipment control method and device, program product, medium and cleaning equipment

Abstract

The invention discloses a cleaning equipment control method and device, a program product, a medium and cleaning equipment, the cleaning equipment comprises an equipment body and a mechanical arm arranged on the equipment body, and the method comprises the steps that area information of an area where the cleaning equipment is about to advance is obtained through a first sensing module on the mechanical arm; and based on the area information, judging whether the to-be-marched area is a reachable area or not. Through the technical scheme provided by the invention, the safety of the cleaning equipment in the walking process can be improved.

Description

Technical Field

[0001] The present application belongs to the technical field of cleaning equipment control, and in particular, relates to a cleaning equipment control method, device, program product, medium and cleaning equipment. Background Art

[0002] Cleaning equipment (such as sweepers and mops) has been widely used in modern families. It can effectively replace users to complete housework and bring great convenience to users. In order to prevent cleaning equipment from being trapped in areas such as cliff obstacles and threshold obstacles, causing safety problems, existing solutions usually configure sensor modules, such as cliff sensors, on the main body (i.e., chassis) of the cleaning equipment. These sensor modules detect the height difference of the obstacle area, assess the risk of the cleaning equipment being trapped in the obstacle area, and thus select the appropriate passage strategy.

[0003] However, in actual applications, it was found that this solution still cannot guarantee the safety of cleaning equipment in complex environments. The perception ability of the sensor module is affected by many factors, such as lighting conditions, surface reflectivity, and the installation angle of the sensor module. This means that in some cases, the cleaning equipment may not be able to accurately identify the height difference in the obstacle area, causing it to misjudge when facing thresholds or cliffs, thereby increasing the risk of being trapped or falling. Based on this, how to improve the safety of cleaning equipment during walking has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a cleaning equipment control method, device, program product, medium and cleaning equipment, which can improve the safety of the cleaning equipment during the walking process at least to a certain extent.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0006] According to a first aspect of an embodiment of the present application, a cleaning equipment control method is provided, wherein the cleaning equipment comprises an equipment body and a robotic arm arranged on the equipment body, and the method comprises: obtaining area information of an area where the cleaning equipment is about to travel through a first sensor module on the robotic arm; and judging whether the area where the cleaning equipment is about to travel is a reachable area based on the area information.

[0007] In some embodiments of the present application, based on the aforementioned scheme, the area information of the area where the cleaning equipment is about to move is obtained through the first sensor module on the robotic arm, including: controlling the first sensor module to collect first sensor data of the area where the cleaning equipment is about to move; determining the target height difference of the area where the cleaning equipment is about to move based on the first sensor data; wherein the area information includes the target height difference.

[0008] In some embodiments of the present application, based on the aforementioned scheme, the first sensing data includes image sensing data of the area to be advanced and / or posture sensing data of the robotic arm when it contacts the area to be advanced.

[0009] In some embodiments of the present application, based on the aforementioned scheme, determining the target height difference of the area to be traveled according to the first sensor data includes: constructing three-dimensional data of the area to be traveled based on the image sensor data; identifying the first height difference of the area to be traveled from the three-dimensional data as the target height difference.

[0010] In some embodiments of the present application, based on the aforementioned scheme, determining the target height difference of the area to be traveled according to the first sensor data includes: determining a second height difference of the area to be traveled according to the posture sensor data as the target height difference.

[0011] In some embodiments of the present application, based on the aforementioned scheme, determining the target height difference of the area to be traveled according to the first sensor data includes: constructing three-dimensional data of the area to be traveled based on the image sensor data, and identifying the first height difference of the area to be traveled from the three-dimensional data; when the first height difference does not fall within the preset height difference interval, determining the first height difference as the target height difference; when the first height difference falls within the preset height difference interval, determining the second height difference of the area to be traveled based on the posture sensor data as the target height difference.

[0012] In some embodiments of the present application, based on the aforementioned scheme, the controlling the first sensor module to collect the first sensor data of the area to be traveled includes: determining the robotic arm collection posture according to the position information and / or obstacle type of the obstacle area in the area to be traveled; controlling the first sensor module to collect image sensor data of the area to be traveled under the robotic arm collection posture.

[0013] In some embodiments of the present application, based on the aforementioned scheme, determining the acquisition posture of the robotic arm according to the position information and / or obstacle type of the obstacle area in the area to be advanced includes: acquiring structural feature information of the robotic arm, and installation position information of the first sensor module in the robotic arm; determining the acquisition posture of the robotic arm according to the position information and / or obstacle type of the obstacle area, the structural feature information, and the installation position information.

[0014] In some embodiments of the present application, based on the aforementioned scheme, controlling the first sensor module to collect first sensor data of the area to be moved includes: controlling the robotic arm to contact the area to be moved; after the robotic arm contacts the area to be moved, controlling the first sensor module to collect posture sensor data of the robotic arm.

[0015] In some embodiments of the present application, based on the aforementioned scheme, judging whether the area to be traveled is a reachable area based on the area information includes: when the target height difference is less than the preset height difference, judging that the area to be traveled is a reachable area; when the target height difference is greater than or equal to the preset height difference, judging that the area to be traveled is a non-reachable area.

[0016] In some embodiments of the present application, based on the aforementioned scheme, before obtaining the area information of the area where the cleaning device is about to move through the first sensor module on the robot arm, the method also includes: collecting second sensor data of the area where the cleaning device is about to move through the second sensor module on the device body; based on the second sensor data, if it is determined that there is an obstacle area in the area where the cleaning device is about to move, obtaining the area information of the area where the cleaning device is about to move through the first sensor module on the robot arm.

[0017] In some embodiments of the present application, based on the aforementioned solution, the method further includes: if it is determined that there is an obstacle area in the area to be traveled, determining the location information and / or obstacle type of the obstacle area based on the second sensing data.

[0018] In some embodiments of the present application, based on the aforementioned solution, the obstacle type includes any one of a cliff obstacle and a threshold obstacle.

[0019] In some embodiments of the present application, based on the aforementioned solution, after determining whether the area to be traveled is a reachable area, the method further includes: controlling the cleaning device to pass through the area to be traveled according to a travel strategy matching the determination result.

[0020] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device is controlled to pass through the area to be traveled according to a travel strategy that matches the judgment result, including: when the area to be traveled is a reachable area, the cleaning device is controlled to pass through the area to be traveled; when the area to be traveled is a non-reachable area, the cleaning device is controlled to bypass the area to be traveled.

[0021] According to the second aspect of an embodiment of the present application, a cleaning equipment control device is provided, wherein the cleaning equipment includes an equipment body and a robotic arm arranged on the equipment body, and the device includes: an acquisition unit, for acquiring area information of an area where the cleaning equipment is about to travel through a first sensor module on the robotic arm; and a judgment unit, for judging whether the area where the cleaning equipment is about to travel is a reachable area based on the area information.

[0022] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit is configured to: control the first sensor module to collect first sensor data of the area to be traveled; determine the target height difference of the area to be traveled based on the first sensor data; wherein the area information includes the target height difference.

[0023] In some embodiments of the present application, based on the aforementioned scheme, the first sensing data includes image sensing data of the area to be advanced and / or posture sensing data of the robotic arm when it contacts the area to be advanced.

[0024] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit is configured to: construct three-dimensional data of the area to be traveled based on the image sensing data; and identify a first height difference of the area to be traveled from the three-dimensional data as the target height difference.

[0025] In some embodiments of the present application, based on the aforementioned solution, the acquisition unit is configured to: determine a second height difference of the upcoming travel area based on the posture sensing data as the target height difference.

[0026] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit is configured to: construct three-dimensional data of the area to be traveled based on the image sensor data, and identify a first height difference of the area to be traveled from the three-dimensional data; when the first height difference does not fall within the preset height difference interval, determine the first height difference as the target height difference; when the first height difference falls within the preset height difference interval, determine the second height difference of the area to be traveled based on the posture sensor data as the target height difference.

[0027] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit is configured to: determine the robotic arm acquisition posture according to the location information and / or obstacle type of the obstacle area in the area to be advanced; and control the first sensing module to collect image sensing data of the area to be advanced in the robotic arm acquisition posture.

[0028] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit is configured to: obtain the structural feature information of the robotic arm, and the installation position information of the first sensor module in the robotic arm; determine the acquisition posture of the robotic arm according to the position information and / or obstacle type of the obstacle area, the structural feature information, and the installation position information.

[0029] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit is configured to: control the robotic arm to contact the area to be moved to; after the robotic arm contacts the area to be moved to, control the first sensor module to collect posture sensing data of the robotic arm.

[0030] In some embodiments of the present application, based on the aforementioned scheme, the acquisition and judgment unit is configured as follows: when the target height difference is less than the preset height difference, the area to be traveled is determined to be a reachable area; when the target height difference is greater than or equal to the preset height difference, the area to be traveled is determined to be a non-reachable area.

[0031] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit is configured as: before acquiring the area information of the area where the cleaning device is about to move through the first sensor module on the robotic arm, collecting second sensor data of the area where the cleaning device is about to move through the second sensor module on the device body; based on the second sensor data, if it is determined that there is an obstacle area in the area where the cleaning device is about to move, acquiring the area information of the area where the cleaning device is about to move through the first sensor module on the robotic arm.

[0032] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit is configured to: if it is determined that there is an obstacle area in the area to be traveled, determine the location information and / or obstacle type of the obstacle area based on the second sensing data.

[0033] In some embodiments of the present application, based on the aforementioned solution, the obstacle type includes any one of a cliff obstacle and a threshold obstacle.

[0034] In some embodiments of the present application, based on the aforementioned scheme, the device further includes: a control unit for controlling the cleaning device to pass through the area to be traveled according to a travel strategy matching the judgment result after determining whether the area to be traveled is a reachable area.

[0035] In some embodiments of the present application, based on the aforementioned scheme, the control unit is configured to: when the area to be traveled is a reachable area, control the cleaning device to pass through the area to be traveled; when the area to be traveled is a non-reachable area, control the cleaning device to bypass the area to be traveled.

[0036] According to a third aspect of an embodiment of the present application, a computer program product is provided, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes to implement the operations performed by the method described in any one of the embodiments of the first aspect above.

[0037] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which at least one computer program instruction is stored. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the method described in any one of the embodiments of the first aspect above.

[0038] According to a fifth aspect of an embodiment of the present application, a cleaning device is provided, comprising one or more processors and one or more memories, wherein at least one computer program instruction is stored in the one or more memories, and the at least one computer program instruction is loaded and executed by the one or more processors to implement the operations performed by the method described in any one of the embodiments of the first aspect above.

[0039] Based on the technical solution proposed in this application, by obtaining the area information of the area to which the cleaning device is about to move through the first sensor module installed on the robot arm, the detection angle and position of the sensor module for the area to which the cleaning device is about to move can be optimized, and the interference of factors such as lighting conditions and surface reflectivity on the sensor data can be reduced, thereby improving the recognition accuracy of the area information of the area to which the cleaning device is about to move. Further, by judging whether the area to which the cleaning device is about to move is a reachable area based on the area information, the cleaning device can select a travel strategy that matches the judgment result, thereby improving the safety of the cleaning device during the walking process.

[0040] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0042] Figure 1 A scene diagram showing a cleaning device in an embodiment of the present application during movement is shown;

[0043] Figure 2A flow chart showing a cleaning device control method in an embodiment of the present application is shown;

[0044] Figure 3 A scene diagram showing a cleaning device in an embodiment of the present application during movement is shown;

[0045] Figure 4 A block diagram of a cleaning equipment control device in an embodiment of the present application is shown;

[0046] Figure 5 A schematic structural diagram of a cleaning device in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0049] The block diagrams shown in the accompanying drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices. It should also be noted that in the accompanying drawings, in order to ensure the simplicity of the drawings, some components in the drawings that do not affect the explanation of the technical solution of the present application are adaptively omitted.

[0050] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0051] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0052] In order to make those skilled in the art better understand the present application, firstly, Figure 1 The application scenarios involved in this application are briefly described.

[0053] See also Figure 1 , shows a scene diagram of the cleaning device in the embodiment of the present application during the moving process.

[0054] In this application, if Figure 1 It is indicated that the cleaning device proposed in the present application can be a sweeping machine, a mopping machine, or a sweeping and mopping machine, and the present application does not make any specific limitation on this.

[0055] Furthermore, the device body (i.e., chassis 101) of the cleaning device proposed in the present application may be provided with a mechanical arm 102, which can assist the cleaning device in performing more cleaning actions, thereby enhancing the cleaning ability of the cleaning device. In each joint of the mechanical arm, a driving device (not shown in the figure), such as a driving motor, may be provided. Driven by the driving motor, the joint angles of each joint in the cleaning device will also change, thereby changing the posture of the entire mechanical arm, and enabling the mechanical arm to perform specific actions.

[0056] In the present application, a second sensing module (such as a cliff sensor, a line structured light sensor, a single-point ranging sensor, a structured light sensor, and image sensors such as an RGB camera, a depth sensor, and a 3D imaging sensor, such as a camera) can be configured on the cleaning device body (i.e., the device chassis 101). The second sensing module can include multiple sensors that can detect obstacle areas and detect the height difference of the obstacle area, such as sensor 103 and sensor 104. In some specific embodiments, sensor 104 can be a cliff sensor, which can be used to detect the height difference h1 of the cliff obstacle, and sensor 103 can be a point cloud image sensor, which can be used to detect the height difference h2 of the threshold obstacle.

[0057] In the present application, a first sensor module may also be configured on the robot arm 102 of the cleaning device, for example, the first sensor module may be a sensor 105. These sensors can be used to identify the state and position of the cleaning brush to ensure that the optimal contact angle and pressure are always maintained during the cleaning process, thereby improving the cleaning effect. In addition, these sensors can also be used to identify the position, shape, weight and material of the object to be grasped, so as to intelligently determine whether the grasping method or cleaning strategy needs to be adjusted.

[0058] In the actual application of the existing solution, the cleaning equipment will walk on the ground while performing its tasks. During the walking process, the cleaning equipment will detect whether there is an obstacle area in its walking area, as well as the location of the obstacle area, height difference and other information through the second sensor module configured on its equipment body. The cleaning equipment uses this information to adjust and plan its walking path to avoid being trapped in the obstacle area and causing safety problems. In some specific embodiments, the obstacle type in the obstacle area can be a cliff obstacle or a threshold obstacle. For example, in Figure 1 In the sub-figure (a), the cleaning device moves in the direction A, and the sensor 104 can detect that there is an obstacle area B1 in the walking area, and the obstacle type in the obstacle area B1 is a cliff obstacle 106, and the height difference of the cliff obstacle is h1. Figure 1 In the sub-figure (b) shown, the cleaning device moves in the travel direction A, and the sensor 103 can detect that there is an obstacle area B2 in its walking area, and the obstacle type in the obstacle area B2 is a threshold obstacle 107, and the height difference h2 of the threshold obstacle.

[0059] However, it is found in actual application that the above existing solutions still cannot guarantee the safety of cleaning equipment in complex environments. The inventors of the present application found that the reason is that the perception ability of the second sensor module is affected by many factors, such as lighting conditions, surface reflectivity, and the installation angle of the second sensor module. This makes it possible that in some cases, the cleaning equipment may not be able to accurately identify the height difference of the area it is about to travel (i.e., the height difference of the obstacle area), resulting in misjudgment when facing threshold obstacles or cliff obstacles, thereby increasing the risk of being trapped or falling. In this context, the present application proposes a cleaning equipment control scheme to improve the safety of the cleaning equipment during walking.

[0060] Reference Figure 2 , which shows a flow chart of a cleaning device control method in an embodiment of the present application. The method can be specifically performed by a device having a computing and processing function (such as Figure 1 cleaning equipment shown) to perform, refer to Figure 2 As shown, the cleaning equipment control method at least includes steps 210 to 220, which are described in detail as follows:

[0061] Step 210: Acquire area information of an area where the cleaning device is about to move through a first sensor module on the robot arm.

[0062] Step 220: Based on the area information, determine whether the area to be traveled is a reachable area.

[0063] In the present application, the area information includes terrain information, material information, coordinate information, etc., wherein the terrain information may be the target height difference of the area to be traveled.

[0064] In the present application, by obtaining the area information of the area to which the cleaning device is about to move through the first sensor module installed on the robot arm, the detection angle and position of the sensor module for the area to which the cleaning device is about to move can be optimized, and the interference of factors such as lighting conditions and surface reflectivity on the sensor data can be reduced, thereby improving the recognition accuracy of the area information in the area to which the cleaning device is about to move. Further, by judging whether the area to which the cleaning device is about to move is a reachable area based on the area information, the cleaning device can select a travel strategy that matches the judgment result, thereby improving the safety of the cleaning device during the walking process.

[0065] In the present application, before obtaining the area information of the area where the cleaning device is about to move through the first sensor module on the robot arm, the following steps 201 to 202 may be performed:

[0066] Step 201, collecting second sensor data of the area to be traveled through a second sensor module on the device body.

[0067] Step 202: Based on the second sensing data, if it is determined that there is an obstacle area in the area to be moved, the area information of the area to be moved by the first sensing module on the robot arm is obtained.

[0068] Furthermore, the following step 203 may be performed:

[0069] Step 203: If it is determined that there is an obstacle area in the upcoming travel area, the location information and / or obstacle type of the obstacle area is determined based on the second sensing data.

[0070] In the present application, the obstacle types may include cliff obstacles and threshold obstacles.

[0071] In order to enable those skilled in the art to better understand the present application, Figure 1 A specific embodiment is used for description.

[0072] like Figure 1As shown, the sensor 103 and the sensor 104 (i.e., the second sensor module) installed on the cleaning device chassis 101 (i.e., the device body) can collect second sensor data in the area where the cleaning device is about to move, and based on the second sensor data, determine whether there is an obstacle area in the area where the cleaning device is about to move. When it is determined that there is an obstacle area in the area where the cleaning device is about to move, the location information of the obstacle area (e.g., located in the left front, right front, or front of the cleaning device) and / or the obstacle type (e.g., cliff obstacle or threshold obstacle) are determined based on the second sensor data. Figure 1 As shown in sub-figure (a) in FIG. 1 , based on the second sensing data collected by the sensor 104 (such as a cliff sensor) installed on the cleaning device chassis 101, it can be determined that there is an obstacle area B1 in front of the area to be traveled, and the obstacle type is a cliff obstacle. Figure 1 As shown in sub-figure (b) in the figure, it can be determined based on the second sensor data collected by the sensor 103 (such as a point cloud image sensor) installed on the chassis 101 of the cleaning equipment that there is an obstacle area B2 in front of the area to be traveled, and the obstacle type is a threshold obstacle.

[0073] Furthermore, if it is determined that there is an obstacle area in the area to be advanced, the area information of the area to be advanced by the first sensor module on the robot arm is obtained, so as to determine whether the area to be advanced is a reachable area based on the area information of the area to be advanced. In this way, after first determining that there is an obstacle area in the area to be advanced by the second sensor data collected by the second sensor module on the main body of the cleaning device, the first sensor module on the robot arm is enabled to obtain the area information of the area to be advanced, and then determine whether the area to be advanced is a reachable area based on the area information, which helps to reduce false triggering of the first sensor module and improve the accuracy of obtaining the area information in the area to be advanced. At the same time, the first sensor module is enabled only when a potential obstacle is detected, thereby avoiding unnecessary resource consumption and improving the energy efficiency of the equipment. In addition, the dual sensor module can provide a more reliable obstacle area judgment capability, reduce operating errors, and improve the adaptability of the cleaning equipment in a changing environment.

[0074] In such Figure 1 In step 210, the first sensor module on the robot arm is used to obtain the area information of the area where the cleaning device is about to move. The steps 211 to 212 can be performed as follows:

[0075] Step 211, controlling the first sensor module to collect first sensor data of the area to be traveled.

[0076] Step 212: determining the target height difference of the area to be traveled based on the first sensing data; wherein the area information includes the target height difference.

[0077] In the present application, the first sensing data may include image sensing data of the area to be moved into, may include posture sensing data when the robotic arm contacts the area to be moved into, or may include both the image sensing data and the posture sensing data.

[0078] Next, the present application will further introduce how to control the first sensor module to collect the first sensor data of the area to be traveled in the above step 211 in combination with several embodiments.

[0079] In one embodiment of the present application, the controlling the first sensor module to collect the first sensor data of the area to be traveled can be performed according to the following steps 2111 to 2112:

[0080] Step 2111: Determine the acquisition posture of the robot arm according to the position information and / or obstacle type of the obstacle area in the area to be advanced.

[0081] Step 2112, controlling the first sensor module to collect image sensor data of the area to be moved in the robot arm acquisition posture.

[0082] In actual applications, the cleaning equipment walks on the ground to detect the room environment or perform cleaning tasks. When the cleaning equipment finds an obstacle area in its travel area, it can obtain the position of the obstacle area in its travel area, and can also obtain the obstacle type of the obstacle area, that is, determine whether the obstacle type is a cliff obstacle or a threshold obstacle. After obtaining the position information and / or obstacle type of the obstacle area, the robotic arm can be controlled to adjust its posture to a collection posture that matches the position information and / or obstacle type, so that the first sensor module installed on the robotic arm can collect the first sensor data for the obstacle area.

[0083] In the present application, the first sensor data (i.e., image data) collected in real time by a first sensor module (e.g., an image sensor, such as an RGB camera, a depth sensor or a 3D imaging sensor, and / or a ranging sensor, such as a cliff sensor, a line structured light sensor, a single point ranging sensor, a structured light sensor, etc.) installed on the robotic arm can be obtained. The first sensor module can observe the ground in the obstacle area from a higher perspective and a wider field of view (FOV), so that the first sensor module can capture more detailed and comprehensive environmental information of the obstacle area.

[0084] In this embodiment, the determination of the robot arm acquisition posture according to the position information and / or obstacle type of the obstacle area in the upcoming travel area can be performed according to the following steps 21111 to 21112:

[0085] Step 21111, obtaining structural feature information of the robotic arm and installation position information of the first sensor module in the robotic arm;

[0086] Step 21112: determine the acquisition posture of the robotic arm according to the location information and / or obstacle type of the obstacle area, the structural feature information, and the installation location information.

[0087] In the present application, the mechanical arm posture of the cleaning equipment is adjusted to the collection posture, which can ensure that the first sensor module installed on the mechanical arm can more accurately collect the sensor data associated with the ground features of the obstacle area. First, the structural feature information of the mechanical arm can be obtained, such as the length of the mechanical arm (such as 10cm or 20cm), the number of joints (such as two joints or three joints), and the installation position of the first sensor module in the mechanical arm on the mechanical arm (such as the installation of the mechanical arm above or below). Then, according to the location information and / or obstacle type of the obstacle area, combined with the structural characteristics of the mechanical arm and the installation position information of the first sensor module, the best collection posture can be calculated for the mechanical arm. This calculation process can take into account the field of view of the first sensor module to ensure that the first sensor module can fully cover the obstacle area. Finally, the mechanical arm can be controlled to adjust to the calculated collection posture to ensure that the first sensor module is in the best position to obtain high-quality sensor data, so as to accurately identify and analyze the ground features of the obstacle area.

[0088] Based on the technical solution proposed in the present application, the collection posture of the robotic arm is determined according to the location information and / or obstacle type of the obstacle area, the structural feature information of the robotic arm, and the installation position information of the first sensor module, so that the robotic arm posture can be adjusted to the collection posture, which not only improves the accuracy of sensor collection, but also enhances the flexibility of the first sensor module in the robotic arm to collect environmental data of different obstacle areas, so that the cleaning equipment can more intelligently collect ground environmental data in complex obstacle areas.

[0089] In another embodiment of the present application, the controlling the first sensor module to collect the first sensor data of the area to be traveled can be performed according to the following steps 2113 to 2114:

[0090] Step 2113, controlling the robot arm to contact the area to be moved into.

[0091] Step 2114, after the robotic arm contacts the area to be moved into, control the first sensor module to collect posture sensor data of the robotic arm.

[0092] In the present application, the first sensor data collected in real time by other first sensor modules (i.e., in-position switches, current detection sensors, and force feedback sensors) installed on the robotic arm can also be obtained, that is, whether the robotic arm contacts the ground of the area to be moved to is determined based on the first sensor module, so as to determine the posture data of the robotic arm when it contacts the ground of the area to be moved to. The ground characteristics of the area to be moved to can be indirectly inferred through the posture data of the robotic arm when it contacts the ground of the area to be moved to.

[0093] Next, the present application will further introduce how to control the first sensor module to collect the first sensor data of the area to be traveled in the above step 212 in combination with several embodiments.

[0094] In one embodiment of the present application, determining the target height difference of the upcoming travel area according to the first sensor data may be performed according to the following steps 2121 to 2122:

[0095] Step 2121, constructing three-dimensional data of the area to be traveled based on the image sensing data.

[0096] Step 2122: Identify a first height difference of the upcoming travel area from the three-dimensional data as the target height difference.

[0097] In the present application, specifically, the image data acquired by the first sensor module can be used to construct a three-dimensional data model of the area to be traveled, and the three-dimensional data model can provide a detailed description of the ground features in the area to be traveled. Further, the height change of the area to be traveled can be analyzed from the three-dimensional data, and the maximum height difference can be identified and used as the target height difference. Through this solution, the complexity of the terrain can be judged and it can be decided whether the travel path needs to be adjusted to avoid the area to be traveled.

[0098] In one embodiment of the present application, determining the target height difference of the upcoming travel area according to the first sensor data may be performed according to the following step 2123:

[0099] Step 2123: Based on the posture sensing data, determine a second height difference of the area to be traveled as the target height difference.

[0100] In order to make those skilled in the art better understand the present application, Figure 3 A specific embodiment is used for description.

[0101] See also Figure 3 , shows a scene diagram of the cleaning device in the embodiment of the present application during the moving process.

[0102] like Figure 3 As shown, the robot arm 102 can be controlled to adjust its posture so that the end of the robot arm away from the device body tries to contact the ground of the obstacle area in the area to be moved. Specifically, during the posture adjustment process of the robot arm, the first sensor module on the robot arm, such as the in-position switch, the current detection sensor, and the force feedback sensor, can monitor whether the robot arm contacts the ground of the obstacle area. When the robot arm contacts the ground of the obstacle area, the posture data of the robot arm at this time is recorded. Figure 3 As shown in the sub-figure (a), the target height difference h1 of the cliff obstacle 106 can be determined by the posture data when the robot arm contacts the ground of the obstacle area B1. Figure 3 As shown in the sub-figure (b), the target height difference h2 of the threshold obstacle 107 can be determined through the posture data when the robot arm contacts the ground of the obstacle area B2.

[0103] like Figure 3 As shown, the robot arm 102 can be controlled to adjust its posture so that the end away from the device body tries to touch the ground in the obstacle area. Specifically, in the process of adjusting the posture of the robot arm, the first sensor module on the robot arm, such as the in-position switch, the current detection sensor and the force feedback sensor, can be used to monitor whether the robot arm touches the ground in the obstacle area. When the robot arm touches the ground, the posture data of the robot arm at this time is recorded. For example, Figure 3 As shown in sub-figure (a) of , the target height difference h1 of the cliff obstacle 106 can be determined by the posture data when the robot arm contacts the ground of the obstacle area B1. Figure 3 As shown in sub-figure (b), the target height difference h2 of the threshold obstacle 107 can be determined through the posture data when the robot arm contacts the ground of the obstacle area B2.

[0104] In this embodiment, the advantage is that by using the robotic arm and the first sensor module to detect and record the height difference of the area to be traveled, it is possible to more accurately identify and respond to terrain changes of different obstacle types, thereby improving the accuracy of identifying the height difference of the area to be traveled.

[0105] In one embodiment of the present application, determining the target height difference of the upcoming travel area according to the first sensor data may be performed according to the following steps 2121 to 2122:

[0106] Step 2124: construct three-dimensional data of the area to be traveled based on the image sensing data, and identify a first height difference of the area to be traveled from the three-dimensional data.

[0107] Step 2125: When the first height difference does not fall within the preset height difference interval, the first height difference is determined as the target height difference.

[0108] Step 2126: When the first height difference falls within the preset height difference interval, based on the posture sensing data, determine the second height difference of the upcoming travel area as the target height difference.

[0109] In this embodiment, first, three-dimensional data of the area to be traveled can be constructed through image data, and the first height difference of the area to be traveled can be identified. If the first height difference is not within the preset height difference interval, it means that it is an extreme value (too large or too small). Even if the error existing when the first sensor module collects image data is taken into account, such a height difference can still be used to determine whether the area to be traveled is suitable for the passage of cleaning equipment, so it can be directly used as the target height difference. On the contrary, if the first height difference is within the preset interval, it means that it is an intermediate value. Taking into account the error existing when the first sensor module collects image data, such a height difference is not enough to judge the passability of the area to be traveled. Therefore, it is necessary to determine the second height difference with higher reliability based on the posture data as the target height difference.

[0110] For example, the cleaning device detects a step with a first height difference of 15 cm, while the preset height difference interval is 5 to 10 cm. Since 15 cm is a large value, the cleaning device can determine that the step is not an area where it can be safely walked up and down, so it directly uses 15 cm as the target height difference to avoid trying to enter; for another example, the cleaning device detects the edge of a carpet with a first height difference of 7 cm, which falls within the preset range of 5 to 10 cm. Since 7 cm is an intermediate value, considering the error when the first sensor module collects image data, the cleaning device cannot judge the passability of the edge of the carpet based on this data alone. Therefore, the cleaning device needs to determine the second height difference, such as 6.5 cm, based on the posture data when its robotic arm contacts the ground in the obstacle area in the area to be traveled, and use it as the target height difference to determine whether it can pass safely with higher reliability.

[0111] In this embodiment, the advantage is that by judging whether the first height difference falls within the preset height difference interval, it is possible to evaluate whether the error in the image data collected by the first sensor module will affect the judgment of the passability of the area to be traveled, and then, based on the evaluation result, it is possible to judge whether it is necessary to determine the second height difference with higher reliability as the target height difference through the posture data when the robot arm contacts the ground of the obstacle area in the area to be traveled. In this way, the reliability and reference value of the target height difference can be enhanced, thereby improving the accuracy of the judgment of the passability of the area to be traveled.

[0112] In the present application, the above-mentioned steps can be performed according to the following steps 221 to 222:

[0113] Step 221: When the target height difference is less than a preset height difference, it is determined that the area to be traveled is a reachable area.

[0114] Step 222: When the target height difference is greater than or equal to the preset height difference, it is determined that the area to be traveled is an unreachable area.

[0115] Furthermore, in the present application, after determining whether the area to be traveled is a reachable area, the following step 230 may be performed:

[0116] Step 230 , controlling the cleaning device to pass through the area to be traveled according to a travel strategy that matches the judgment result.

[0117] In the present application, the above step 230 can be specifically performed according to the following steps 231 to 232:

[0118] Step 231, when the area to be traveled is a reachable area, control the cleaning device to pass through the area to be traveled, wherein the passing includes direct passing, passing by adjusting the posture (raising the height of the whole or part of the main body (or chassis) from the ground), passing at the right time, etc., wherein the passing at the right time includes passing after completing a certain task, or passing after a predetermined time.

[0119] Step 232, when the area to be traveled is an inaccessible area, control the cleaning device to bypass the area to be traveled. The bypass includes direct bypass, timely bypass, etc., wherein timely bypass includes bypassing after a certain task is completed, or bypassing after a predetermined time. For example: when encountering an inaccessible area such as a step, bypass after completing the step wiping task.

[0120] In the present application, the path selection of the cleaning equipment can be optimized by controlling the cleaning equipment to pass through the area to be traveled according to the travel strategy that matches the target height difference. When the target height difference is less than the preset height difference, the cleaning equipment can be directed to pass directly through the area to be traveled, thereby improving the cleaning efficiency. When the target height difference is greater than or equal to the preset height difference, the cleaning equipment bypasses the area to be traveled, thereby avoiding potential equipment damage or trapped risks. This flexible strategy ensures the safety and efficiency of the cleaning equipment in different environments.

[0121] Based on the technical solution proposed in this application, the acquisition posture of the manipulator is determined according to the location information and / or obstacle type of the obstacle area in the area to be moved, and the first sensor data collected by the first sensor module on the manipulator when the manipulator is in the acquisition posture is obtained, so that the target height difference of the area to be moved can be identified according to the first sensor data for the area to be moved, and the cleaning equipment is controlled to pass through the area to be moved according to the travel strategy matching the target height difference. In this way, by dynamically adjusting the acquisition posture of the manipulator, the detection angle and position of the first sensor module in the manipulator can be optimized, and the interference of factors such as lighting conditions and surface reflectivity on the sensor data can be reduced, thereby improving the recognition accuracy of the height difference of the area to be moved. Further, by identifying the target height difference of the area to be moved, the cleaning equipment can select a travel strategy that matches the target height difference of the area to be moved, thereby improving the safety of the cleaning equipment during walking.

[0122] The following describes an apparatus embodiment of the present application, which can be used to execute the cleaning equipment control method in the above embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the above embodiment of the cleaning equipment control method of the present application.

[0123] See also Figure 4 , shows a block diagram of a cleaning equipment control device in an embodiment of the present application, wherein the cleaning equipment includes an equipment body and a robotic arm disposed on the equipment body.

[0124] like Figure 4 As shown, the cleaning equipment control device 400 according to the embodiment of the present application includes: an acquisition unit 401 and a judgment unit 402.

[0125] Among them, the acquisition unit 401 is used to obtain the area information of the area where the cleaning device is about to move through the first sensor module on the robot arm; the judgment unit 402 is used to judge whether the area to be moved is a reachable area based on the area information.

[0126] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit 401 is configured to: control the first sensor module to collect the first sensor data of the area to be traveled; determine the target height difference of the area to be traveled based on the first sensor data; wherein the area information includes the target height difference.

[0127] In some embodiments of the present application, based on the aforementioned scheme, the first sensing data includes image sensing data of the area to be advanced and / or posture sensing data of the robotic arm when it contacts the area to be advanced.

[0128] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit 401 is configured to: construct three-dimensional data of the area to be traveled based on the image sensing data; and identify a first height difference of the area to be traveled from the three-dimensional data as the target height difference.

[0129] In some embodiments of the present application, based on the aforementioned solution, the acquisition unit 401 is configured to: determine a second height difference of the upcoming travel area based on the posture sensing data as the target height difference.

[0130] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit 401 is configured to: construct three-dimensional data of the area to be traveled based on the image sensing data, and identify a first height difference of the area to be traveled from the three-dimensional data; when the first height difference does not fall within the preset height difference interval, determine the first height difference as the target height difference; when the first height difference falls within the preset height difference interval, determine the second height difference of the area to be traveled based on the posture sensing data as the target height difference.

[0131] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit 401 is configured to: determine the robotic arm acquisition posture according to the location information and / or obstacle type of the obstacle area in the area to be advanced; and control the first sensing module to collect image sensing data of the area to be advanced in the robotic arm acquisition posture.

[0132] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit 401 is configured to: obtain the structural feature information of the robotic arm, and the installation position information of the first sensor module in the robotic arm; determine the acquisition posture of the robotic arm according to the position information and / or obstacle type of the obstacle area, the structural feature information, and the installation position information.

[0133] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit 401 is configured to: control the robotic arm to contact the area to be moved; after the robotic arm contacts the area to be moved, control the first sensor module to collect posture sensor data of the robotic arm.

[0134] In some embodiments of the present application, based on the aforementioned scheme, the acquisition and judgment unit 402 is configured as follows: when the target height difference is less than the preset height difference, the area to be traveled is determined to be a reachable area; when the target height difference is greater than or equal to the preset height difference, the area to be traveled is determined to be a non-reachable area.

[0135] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit 401 is configured as: before acquiring the area information of the area where the cleaning device is about to move through the first sensor module on the robotic arm, collecting second sensor data of the area where the cleaning device is about to move through the second sensor module on the device body; based on the second sensor data, if it is determined that there is an obstacle area in the area where the cleaning device is about to move, acquiring the area information of the area where the cleaning device is about to move through the first sensor module on the robotic arm.

[0136] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit 401 is configured to: if it is determined that there is an obstacle area in the area to be traveled, determine the location information and / or obstacle type of the obstacle area based on the second sensing data.

[0137] In some embodiments of the present application, based on the aforementioned solution, the obstacle type includes any one of a cliff obstacle and a threshold obstacle.

[0138] In some embodiments of the present application, based on the aforementioned scheme, the device further includes: a control unit for controlling the cleaning device to pass through the area to be traveled according to a travel strategy matching the judgment result after determining whether the area to be traveled is a reachable area.

[0139] In some embodiments of the present application, based on the aforementioned scheme, the control unit is configured to: when the area to be traveled is a reachable area, control the cleaning device to pass through the area to be traveled; when the area to be traveled is a non-reachable area, control the cleaning device to bypass the area to be traveled.

[0140] Based on the same inventive concept, an embodiment of the present application provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device with the processor executes to implement the operations performed by the cleaning equipment control method as described above.

[0141] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which at least one computer program instruction is stored. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the cleaning equipment control method as described above.

[0142] Based on the same inventive concept, the present application also provides a cleaning device, referring to Figure 5 , shows a schematic diagram of the structure of the cleaning device in an embodiment of the present application, wherein the cleaning device includes one or more memories 504, one or more processors 502, and at least one computer program (computer program instruction) stored in the memory 504 and executable on the processor 502, and when the processor 502 executes the computer program, the cleaning device control method as described above is implemented.

[0143] Among them, Figure 5 In the embodiment of the present invention, a bus architecture (represented by bus 500) is shown, which may include any number of interconnected buses and bridges, and bus 500 links various circuits including one or more processors represented by processor 502 and memory represented by memory 504. Bus 500 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. Bus interface 505 provides an interface between bus 500 and receiver 501 and transmitter 503. Receiver 501 and transmitter 503 may be the same element, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 502 is responsible for managing bus 500 and general processing, while memory 504 may be used to store data used by processor 502 when performing operations.

[0144] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0145] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0146] The units described as separate components may or may not be physically separated, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0147] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly or all or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store computer program instructions.

[0148] The above description is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A cleaning equipment control method, characterized in that: The cleaning device comprises a device body and a mechanical arm arranged on the device body, and the method comprises: Acquiring area information of an area where the cleaning device is about to move through a first sensor module on the robot arm; Based on the area information, it is determined whether the area to be traveled is a reachable area.

2. The method according to claim 1, characterized in that The step of obtaining the area information of the area where the cleaning device is about to move through the first sensor module on the robot arm includes: Controlling the first sensor module to collect first sensor data of the area to be traveled; Determine the target height difference of the area to be traveled according to the first sensor data; wherein the area information includes the target height difference.

3. The method according to claim 2, characterized in that The first sensing data includes image sensing data of the area to be moved and / or posture sensing data when the robotic arm contacts the area to be moved.

4. The method according to claim 3, characterized in that Determining the target height difference of the upcoming travel area according to the first sensor data includes: Based on the image sensing data, construct three-dimensional data of the area to be traveled; A first height difference of the upcoming travel area is identified from the three-dimensional data as the target height difference.

5. The method according to claim 3, characterized in that: Determining the target height difference of the upcoming travel area according to the first sensor data includes: Based on the posture sensing data, a second height difference of the area to be traveled is determined as the target height difference.

6. The method according to claim 3, characterized in that Determining the target height difference of the upcoming travel area according to the first sensor data includes: constructing three-dimensional data of the area to be traveled based on the image sensing data, and identifying a first height difference of the area to be traveled from the three-dimensional data; When the first height difference does not fall within the preset height difference interval, determining the first height difference as the target height difference; When the first height difference falls within the preset height difference interval, a second height difference of the upcoming travel area is determined based on the posture sensing data as the target height difference.

7. The method according to claim 3, characterized in that The controlling the first sensor module to collect the first sensor data of the area to be traveled includes: Determine the acquisition posture of the robot arm according to the position information and / or obstacle type of the obstacle area in the area to be advanced; The first sensor module is controlled to collect image sensor data of the area to be moved in the robot arm acquisition posture.

8. The method according to claim 7, characterized in that Determining the robot arm acquisition posture according to the position information and / or obstacle type of the obstacle area in the area to be advanced includes: Acquire structural feature information of the robotic arm and installation position information of a first sensor module in the robotic arm; The acquisition posture of the robotic arm is determined according to the position information and / or obstacle type of the obstacle area, the structural feature information, and the installation position information.

9. The method according to claim 3, characterized in that: The controlling the first sensor module to collect the first sensor data of the area to be traveled includes: Controlling the robot arm to contact the area to be moved; After the robotic arm contacts the area to be moved into, the first sensing module is controlled to collect posture sensing data of the robotic arm.

10. The method according to claim 2, characterized in that, judging whether the upcoming travel area is a reachable area based on the area information comprises: When the target height difference is less than the preset height difference, the area to be traveled is determined to be a reachable area; When the target height difference is greater than or equal to the preset height difference, the area to be traveled is determined to be an unreachable area.

11. The method according to any one of claims 1 to 10, characterized in that: Before acquiring the area information of the area where the cleaning device is about to travel through the first sensor module on the robot arm, the method further includes: Collecting second sensor data of the area to be traveled through by a second sensor module on the device body; Based on the second sensing data, if it is determined that there is an obstacle area in the area to be moved, the area information of the area to be moved by the cleaning device is obtained through the first sensing module on the robot arm.

12. The method according to claim 11, characterized in that The method further comprises: If it is determined that there is an obstacle area in the upcoming travel area, the position information and / or obstacle type of the obstacle area is determined based on the second sensing data.

13. The method according to claim 12, characterized in that The obstacle type includes any one of a cliff obstacle and a threshold obstacle.

14. The method according to any one of claims 1 to 10, characterized in that: After determining whether the area to be traveled is a reachable area, the method further includes: The cleaning device is controlled to pass through the area to be traveled according to a travel strategy matching the judgment result.

15. The method according to claim 14, characterized in that the step of controlling the cleaning device to pass through the area to be traveled according to a travel strategy matching the judgment result comprises: When the area to be traveled is a reachable area, controlling the cleaning device to pass through the area to be traveled; When the area to be traveled is an inaccessible area, the cleaning device is controlled to bypass the area to be traveled.

16. A cleaning equipment control device, characterized in that: The cleaning equipment includes an equipment body and a robotic arm arranged on the equipment body, and the device includes: an acquisition unit, used to acquire area information of the area where the cleaning equipment is about to move through a first sensor module on the robotic arm; and a judgment unit, used to judge whether the area where the cleaning equipment is about to move is a reachable area based on the area information.

17. The device according to claim 16, characterized in that The acquisition unit is configured to: control the first sensor module to collect first sensor data of the area to be traveled; determine the target height difference of the area to be traveled according to the first sensor data; wherein the area information includes the target height difference.

18. The device according to claim 17, characterized in that The first sensing data includes image sensing data of the area to be moved and / or posture sensing data when the robotic arm contacts the area to be moved.

19. The device according to claim 18, characterized in that The acquisition unit is configured to: construct three-dimensional data of the area to be traveled based on the image sensing data; and identify a first height difference of the area to be traveled from the three-dimensional data as the target height difference.

20. The device according to claim 18, characterized in that The acquisition unit is configured to determine, based on the posture sensing data, a second height difference of the area to be traveled as the target height difference.

21. The device according to claim 18, characterized in that The acquisition unit is configured to: construct three-dimensional data of the area to be traveled based on the image sensor data, and identify a first height difference of the area to be traveled from the three-dimensional data; when the first height difference does not fall into a preset height difference interval, determine the first height difference as the target height difference; when the first height difference falls into the preset height difference interval, determine a second height difference of the area to be traveled based on the posture sensor data as the target height difference.

22. The device according to claim 18, characterized in that The acquisition unit is configured to: determine the robotic arm acquisition posture according to the location information and / or obstacle type of the obstacle area in the area to be advanced; and control the first sensor module to collect image sensing data of the area to be advanced in the robotic arm acquisition posture.

23. The device according to claim 22, characterized in that The acquisition unit is configured to: acquire the structural feature information of the robotic arm and the installation position information of the first sensor module in the robotic arm; determine the acquisition posture of the robotic arm according to the position information and / or obstacle type of the obstacle area, the structural feature information, and the installation position information.

24. The device according to claim 18, characterized in that The acquisition unit is configured to: control the robotic arm to contact the area to be moved; and after the robotic arm contacts the area to be moved, control the first sensor module to collect posture sensor data of the robotic arm.

25. The device according to claim 17 is characterized in that the acquisition and judgment unit is configured as: when the target height difference is less than the preset height difference, the area to be traveled is determined to be a reachable area; when the target height difference is greater than or equal to the preset height difference, the area to be traveled is determined to be a non-reachable area.

26. The device according to any one of claims 16 to 25, characterized in that The acquisition unit is configured to: before acquiring the area information of the area where the cleaning device is about to move through the first sensor module on the robot arm, collect the second sensor data of the area where the cleaning device is about to move through the second sensor module on the device body; Based on the second sensing data, if it is determined that there is an obstacle area in the area to be moved, the area information of the area to be moved by the cleaning device is obtained through the first sensing module on the robot arm.

27. The device according to claim 26, characterized in that The acquisition unit is configured to: if it is determined that there is an obstacle area in the upcoming travel area, determine the position information and / or obstacle type of the obstacle area based on the second sensing data.

28. The device according to claim 27, characterized in that The obstacle type includes any one of a cliff obstacle and a threshold obstacle.

29. The device according to any one of claims 16 to 25, characterized in that The device further comprises: a control unit for controlling the cleaning device to pass through the area to be traveled according to a travel strategy matching the judgment result after judging whether the area to be traveled is a reachable area.

30. The device according to claim 29, characterized in that the control unit is configured to: when the area to be traveled is a reachable area, control the cleaning device to pass through the area to be traveled; when the area to be traveled is a non-reachable area, control the cleaning device to bypass the area to be traveled.

31. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes the method according to any one of claims 1 to 15.

32. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one program code, and the at least one program code is loaded and executed by a processor to implement the operations performed by the method according to any one of claims 1 to 15.

33. A cleaning device, characterized in that: The cleaning device comprises one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the method according to any one of claims 1 to 15.

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