Control method, system, cleaning device, equipment and medium for cleaning device

Abstract

The present application discloses a control method, system, cleaning device, equipment and medium for a cleaning device. The control method for a cleaning device comprises: detecting a carpet and obtaining carpet detection data, wherein the carpet detection data comprises a plurality of carpet edge detection data points; fitting a carpet shape according to the plurality of carpet edge detection data points; and cleaning along the edge of the carpet according to the carpet shape. The method of the present application can effectively improve the cleaning effect of the carpet edge, and the cleaning device has a better user experience.

Description

Technical Field

[0001] The present disclosure relates to the field of smart home technology, and in particular to a control method, system, cleaning device, equipment and medium for a cleaning device. Background Art

[0002] When a cleaning device such as a sweeping robot is performing a cleaning task and is in mopping mode, the user usually does not want the sweeping robot to enter the carpet. After entering the carpet, the mopping dish of the sweeping robot is likely to contaminate the carpet. Therefore, in order to avoid entering the carpet, in the related art, the cleaning robot carries a carpet detection sensor. When the sweeping machine's carpet recognition sensor detects the carpet, it will make a stress-type avoidance action until the entire carpet is avoided.

[0003] However, in the process of avoiding the carpet, the sweeper is limited by the avoidance action and may not be able to completely adhere to the edge of the carpet for cleaning. Usually, there will be jagged unclean areas at the edge of the carpet, that is, there will be cleaning dead corners that are not cleaned, and the edge of the carpet cannot be thoroughly cleaned. Over time, stains will accumulate more and more at the edge of the carpet, that is, the cleaning effect of the carpet edge is not good, which affects the user experience of the sweeper. Summary of the invention

[0004] Based on this, it is necessary to provide a control method, system, cleaning device, equipment and medium for a cleaning device to address the above technical problems. The method of the present application can effectively improve the cleaning effect of the carpet edge, and the cleaning device has a better user experience.

[0005] In a first aspect, a control method for a cleaning device is provided, comprising:

[0006] Detecting a carpet and obtaining carpet detection data, wherein the carpet detection data includes a plurality of carpet edge detection data points;

[0007] Fitting the carpet shape according to the plurality of carpet edge detection data points;

[0008] Clean along the edges of the carpet according to the carpet profile.

[0009] Furthermore, the carpet detection and obtaining carpet detection data includes:

[0010] During the cleaning process of the cleaning device, when a carpet is detected, determining whether carpet detection data corresponding to the carpet is stored;

[0011] If the carpet detection data is stored, the carpet detection data is read.

[0012] Furthermore, the carpet detection and obtaining carpet detection data includes:

[0013] During the cleaning process of the cleaning device, when a carpet is detected, a stress-type evasive action is performed;

[0014] In the process of performing the stress-type avoidance action, the carpet detection data is obtained.

[0015] Furthermore, fitting the carpet shape according to the plurality of carpet edge detection data points comprises:

[0016] By minimizing the distance between the fitting line and the corresponding carpet edge detection data points, the parameters of the fitting line are determined, and the carpet shape is fitted according to the parameters of the fitting line; or,

[0017] According to the plurality of carpet edge detection data points, estimate the parameters of the fitting line through a probability distribution model, and fit the carpet shape according to the parameters of the fitting line; or,

[0018] Each carpet edge detection data point is weighted and a fitting curve is obtained by using a kernel function, wherein the fitting curve represents the shape of the carpet.

[0019] Further, the cleaning along the edge of the carpet according to the shape of the carpet includes:

[0020] Determining a carpet edge line according to the carpet shape;

[0021] According to the carpet edge line, clean along the edge of the carpet.

[0022] Further, the cleaning along the edge of the carpet according to the carpet edge line includes:

[0023] According to the edge line of the carpet and the size of the cleaning device, a moving track along the edge around the edge line of the carpet is obtained;

[0024] Cleaning is performed along the edge of the carpet according to the edge movement track.

[0025] In a second aspect, another method for controlling a cleaning device is provided, comprising:

[0026] Acquire an evasive motion trajectory of the cleaning device along the edge of the carpet, wherein the evasive motion trajectory is a moving trajectory generated by the cleaning device performing a stress-type evasive motion when encountering the carpet during the cleaning process;

[0027] According to the avoidance action trajectory, an edge movement trajectory for cleaning along the edge of the carpet is determined, and the cleaning device is controlled to clean along the edge movement trajectory.

[0028] Furthermore, the avoidance action trajectory is a zigzag trajectory along the edge of the carpet.

[0029] Furthermore, the evasive action trajectory includes at least one backward trajectory and at least one arc-shaped forward trajectory.

[0030] Further, the step of determining an edge movement trajectory for cleaning along the edge of the carpet according to the avoidance action trajectory, and controlling the cleaning device to clean along the edge movement trajectory includes:

[0031] Fitting the carpet shape according to the avoidance action trajectory;

[0032] According to the shape of the carpet and the size of the cleaning device, a moving track along the edge that surrounds the edge line of the carpet and is the same as the shape of the carpet is obtained;

[0033] The cleaning device is controlled to clean along the edge movement track.

[0034] Furthermore, fitting the carpet shape according to the avoidance action trajectory includes:

[0035] Obtaining a plurality of trajectory points of the avoidance action trajectory, wherein the plurality of trajectory points are points in the avoidance action trajectory that are closest to the edge of the carpet;

[0036] By minimizing the distance between the fitting line and the corresponding trajectory point, the parameters of the fitting line are determined, and the carpet shape is fitted according to the parameters of the fitting line; or,

[0037] According to the plurality of trajectory points, the parameters of the fitting line are estimated by a probability distribution model, and the carpet shape is fitted according to the parameters of the fitting line; or,

[0038] Each trajectory point is weighted and a kernel function is used to solve the problem to obtain a fitting curve, wherein the fitting curve represents the shape of the carpet.

[0039] In a third aspect, a control system for a cleaning device is provided, comprising:

[0040] A detection module, used to detect a carpet and obtain carpet detection data, wherein the carpet detection data includes a plurality of carpet edge detection data points;

[0041] A fitting module, used for fitting the carpet shape according to the plurality of carpet edge detection data points;

[0042] The cleaning module is used for cleaning along the edge of the carpet according to the shape of the carpet.

[0043] In a fourth aspect, another control system of a cleaning device is provided, comprising:

[0044] An avoidance control module is used to obtain an avoidance action trajectory of the cleaning device along the edge of the carpet, wherein the avoidance action trajectory is a movement trajectory generated by the cleaning device performing a stress-type avoidance action when encountering the carpet during the cleaning process;

[0045] The edge cleaning module is used to determine the edge moving trajectory for cleaning along the edge of the carpet according to the avoidance action trajectory, and control the cleaning device to clean along the edge moving trajectory.

[0046] In a fifth aspect, a cleaning device is provided, comprising: a control system of the cleaning device according to the second aspect.

[0047] In a sixth aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the control method of the cleaning device of the first aspect and any possible implementation method of the first aspect are implemented.

[0048] In a seventh aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the control method of the cleaning device of the above-mentioned first aspect and any possible implementation method of the first aspect are implemented.

[0049] In a sixth aspect, a computer program product is provided, the computer program product comprising instructions, which, when executed, implement the steps of the control method of the cleaning device of the above-mentioned first aspect and any possible implementation method of the first aspect.

[0050] By using the embodiment of the present application, during the cleaning process, the cleaning device obtains carpet detection data including a plurality of carpet edge detection data points when detecting a carpet, and then fits the carpet shape according to these carpet edge detection data points. Finally, the edge of the carpet can be cleaned close to and along the edge of the carpet according to the fitted carpet shape. In this way, there will be no dead corners at the edge of the carpet that cannot be cleaned, thus avoiding the accumulation of stains at the cleaning dead corners at the edge of the carpet, effectively improving the cleaning effect of the edge of the carpet, ensuring that the edge of the carpet is cleaned thoroughly, and improving the user experience of the cleaning device.

[0051] Therefore, by adopting the embodiments of the present application, the cleaning effect of the carpet edge can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0053] Figure 1 A flow chart of a control method for a cleaning device provided in an embodiment of the present application;

[0054] Figure 2 A top view of a cleaning device provided in an embodiment of the present application;

[0055] Figure 3 A trajectory diagram of a responsive avoidance action when encountering a rectangular carpet in a control method of a cleaning device provided in an embodiment of the present application;

[0056] Figure 4 A trajectory diagram of a responsive avoidance action when encountering a circular carpet in a control method of a cleaning device provided in an embodiment of the present application;

[0057] Figure 5 A schematic diagram of cleaning along a rectangular carpet according to a fitted carpet shape in a control method of a cleaning device provided in an embodiment of the present application;

[0058] Figure 6 A schematic diagram of cleaning along a circular carpet according to a fitted carpet shape in a control method of a cleaning device provided in an embodiment of the present application;

[0059] Figure 7 A flow chart of a control method for a cleaning device provided by another embodiment of the present application;

[0060] Figure 8 A structural block diagram of a control system for a cleaning device provided in an embodiment of the present application;

[0061] Fig. 9 A structural block diagram of a control system of a cleaning device provided in another embodiment of the present application;

[0062] Fig.10 A structural block diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The present application is further described in detail below in conjunction with the embodiments and drawings. It is to be understood that the specific embodiments described herein are only used to explain the relevant application, rather than to limit the application. It is also necessary to explain that, for ease of description, only the parts related to the application are shown in the drawings.

[0064] It should be noted that, in the absence of conflict, the embodiments of the present application, that is, the features of the embodiments, can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0065] In the prior art, when a cleaning device such as a sweeping robot is in mopping mode during the cleaning task, the user usually does not want the sweeping robot to enter the carpet. After entering the carpet, the mopping plate of the sweeping robot is likely to contaminate the carpet. Therefore, in order to avoid entering the carpet, the sweeping robot carries a carpet detection sensor. When the sweeping robot carpet recognition sensor detects the carpet, it will make a stress-type evasive action until the entire carpet is evaded. However, in the process of evading the carpet, the sweeping robot is limited by the evasive action and cannot completely adhere to the edge of the carpet for cleaning. Usually, there will be jagged uncleaned areas at the edge of the carpet, that is, there will be cleaning dead corners that are not cleaned, and the edge of the carpet cannot be thoroughly cleaned. Over time, stains will accumulate more and more at the edge of the carpet, that is, the cleaning effect of the carpet edge is not good.

[0066] Based on this, the present application provides a control method, system, cleaning device, equipment and medium for a cleaning device that can effectively improve the cleaning effect of the carpet edge, thereby improving the user experience of the cleaning device.

[0067] The following describes in detail the control method, system, cleaning device, equipment and medium of the cleaning device according to the embodiments of the present application in conjunction with the accompanying drawings.

[0068] Figure 1 FIG. 1 is a flow chart of a control method for a cleaning device according to an embodiment of the present application. Figure 1 As shown, the control method of the cleaning device according to the embodiment of the present application includes the following steps:

[0069] S101: Detect a carpet and obtain carpet detection data, wherein the carpet detection data includes a plurality of carpet edge detection data points.

[0070] Among them, carpet detection can be performed by a carpet detection sensor (also called a carpet recognition sensor) that can recognize carpets. A cleaning device such as a sweeping robot is equipped with a carpet detection sensor, such as Figure 2 As shown, it is a top view of the sweeping robot, which includes a sweeping robot body outline 1, a right wheel 2, a left wheel 3, a right wiping disc 4, a left wiping disc 5 and a carpet recognition sensor 6.

[0071] When the sweeping robot is performing the cleaning task, the carpet recognition sensor 6 continuously performs carpet detection. If the sweeping robot encounters a carpet while moving to clean the floor, the carpet recognition sensor 6 can detect it. For example, when the sweeping robot approaches or touches the carpet on its moving route, the carpet recognition sensor 6 can detect a point on the edge of the carpet. This point is called a carpet edge detection data point.

[0072] In one application scenario, some sweeping robots support sweeping mode and mopping mode. When the user selects the mopping mode, if the sweeping robot cleans on the carpet, the wiper carried by the robot is likely to contaminate the carpet. Therefore, in this scenario, the user almost does not want the sweeping robot to clean on the carpet in the mopping mode. Therefore, some sweeping robots are equipped with a carpet recognition sensor for carpet detection.

[0073] When the carpet recognition sensor of the sweeping robot detects a carpet, it usually performs a stress-type evasive action until the entire carpet is evaded. That is, when the sweeping robot encounters a carpet during the cleaning process, the carpet detection sensor will be triggered and the carpet detection result will be output. According to the carpet detection result, the sweeping robot will perform a stress-type evasive action, such as: encountering a carpet-backward-arc route forward-encountering a carpet-backward repeatedly. Until the stress-type evasive action is completely completed around the carpet or the entire stress-type evasive action is completed after being interrupted by an obstacle. In the process of performing a stress-type evasive action on the carpet, each time the sweeping robot approaches or contacts the carpet, the carpet detection sensor will detect the corresponding edge point on the carpet as a carpet edge detection data point. Therefore, after the sweeping robot performs a complete stress-type evasive action on the carpet, the carpet detection data, that is, multiple carpet edge detection data points, can be obtained through the carpet detection sensor. After obtaining multiple carpet edge detection data points, the multiple carpet edge detection data points collected in real time can be stored.

[0074] In the above example, if Figure 3 As shown, for the rectangular carpet 31, the motion trajectory corresponding to the stress-type avoidance action made when encountering the carpet is Figure 3 The trajectory 32 shown in FIG. Figure 4 As shown, for the circular carpet 41, the corresponding motion trajectory of the stress-type avoidance action when encountering the carpet is Figure 4 The trajectory 42 is shown in FIG.

[0075] Depend on Figure 3 and Figure 4 It can be seen from the figure that each contact point of the motion trajectory corresponding to the stress-type evasive action with the edge of the carpet is a carpet edge detection data point. Therefore, one way to obtain monitoring data is to detect the carpet and obtain carpet detection data, which specifically includes: during the cleaning process, when the carpet is detected, perform stress-type evasive action; during the process of performing stress-type evasive action, obtain carpet detection data, that is, through the complete stress-type evasive action, multiple carpet edge detection data points can be obtained.

[0076] The above method of obtaining carpet edge detection data points is obtained by the cleaning robot encountering the carpet through stress avoidance actions during each cleaning task. That is, each time the cleaning robot performs a cleaning task, it re-detects the carpet and performs stress avoidance actions to obtain carpet edge detection data points.

[0077] In other examples, if a plurality of carpet edge detection data points of a carpet are pre-stored, then when a carpet is detected, the plurality of existing carpet edge detection data points of the carpet can be read out. Specifically, detecting a carpet and obtaining carpet detection data includes: during the cleaning process of the cleaning device, when a carpet is detected, determining whether carpet detection data corresponding to the carpet is stored; if the carpet detection data is stored, reading the carpet detection data. For example, the sweeping robot has performed a cleaning task more than once, so the carpet has been detected in the previous cleaning task execution process, that is, the carpet edge detection data points of the carpet have been obtained in the previous cleaning task execution process, so during the current cleaning task execution process, when the carpet is detected, the plurality of carpet edge detection data points corresponding to the carpet can be directly read out from the storage unit. In this way, the sweeping robot can obtain a plurality of carpet edge detection data points without performing a complete stress avoidance action, thereby improving the efficiency of obtaining carpet edge detection data points. In this example, a storage unit is configured in the sweeping robot to facilitate data storage, for example, storing carpet edge detection data points.

[0078] S102: Fitting the carpet shape according to a plurality of carpet edge detection data points.

[0079] The carpet shape may be the contour of the carpet. In a specific example of the present invention, the method of fitting a line (such as a curve and a straight line) according to the data points includes but is not limited to the least square method, the maximum likelihood method, and the kernel function fitting method. Specifically, fitting the carpet shape according to the plurality of carpet edge detection data points includes but is not limited to one of the following methods:

[0080] Least square method, that is, determining the parameters of the fitting line by minimizing the distance between the fitting line and the corresponding carpet edge detection data points, and fitting the carpet shape according to the parameters of the fitting line;

[0081] Maximum likelihood method, that is, estimating the parameters of the fitting line through a probability distribution model according to the plurality of carpet edge detection data points, and fitting the carpet shape according to the parameters of the fitting line; or

[0082] Kernel function fitting method: that is, weighting each carpet edge detection data point, and using the kernel function to solve to obtain a fitting curve, wherein the fitting curve represents the shape of the carpet.

[0083] The carpet shape can be fitted by, but not limited to, one of the above methods, wherein the carpet shape is composed of line segments and arcs, and is determined based on the actual carpet shape through a plurality of carpet edge detection data points collected.

[0084] like Figure 5 As shown, for a rectangular carpet, the carpet shape obtained by fitting multiple carpet edge detection data points is as follows Figure 5 The carpet shape shown in 7. Figure 6 As shown, for a circular carpet, the carpet shape obtained by fitting multiple carpet edge detection data points is as follows: Figure 6 The carpet profile 10 shown in FIG. Figure 5 It can be seen that the fitted carpet shape is Figure 3 The actual carpet shown is almost identical in appearance; Figure 6 It can be seen that the fitted carpet shape is Figure 4 The actual carpet shown is almost identical in appearance. Therefore, it can meet the requirements well.

[0085] S103: Clean along the edge of the carpet according to the shape of the carpet. That is, after fitting the shape of the carpet, cleaning can be performed closely along the edge of the carpet, so that there will be no cleaning dead corners at the edge of the carpet (also called the edge), that is, there will be no large uncleaned area at the edge of the carpet, thereby improving the cleaning effect of the edge of the carpet.

[0086] In one embodiment of the present invention, cleaning along the edge of the carpet according to the carpet shape includes: determining the carpet edge line according to the carpet shape; and cleaning along the edge of the carpet according to the carpet edge line. That is, firstly, the carpet edge line can be determined according to the fitted carpet shape, and then the sweeping robot can closely follow and perform deep cleaning along the edge of the carpet, eliminating the cleaning dead corner of the carpet edge, so that the carpet edge can be cleaned more thoroughly.

[0087] In this example, according to the edge line of the carpet, the edge of the carpet is cleaned, including: according to the size of the carpet edge line and the cleaning device, obtaining an edge movement trajectory around the carpet edge line; according to the edge movement trajectory, cleaning along the edge of the carpet. Assume that the cleaning robot moves back and forth along the center line between the right wiping plate and the left wiping plate, therefore. According to the size of the cleaning robot, half of the lateral width of the cleaning robot is determined as the distance value, and the carpet edge line is expanded outward by a certain distance as the edge movement trajectory, and the expansion distance is the distance value. For example: if the width of the cleaning robot is 50 cm, the carpet edge line is expanded outward by 25 cm as the edge movement trajectory, so that the sweeping robot can clean the edge of the carpet close to and along the carpet edge line, avoiding the occurrence of cleaning dead corners and improving the cleaning effect of the carpet edge.

[0088] like Figure 5 As shown in FIG. 8 , the edge movement trajectory of the rectangular carpet obtained by the sweeping robot 9 is the edge movement trajectory 8 . Figure 6 As shown, the edge movement trajectory of the circular carpet obtained by the sweeping robot 9 is the edge movement trajectory 11 .

[0089] According to the control method of the cleaning device of the embodiment of the present invention, during the cleaning process, the cleaning device obtains carpet detection data including a plurality of carpet edge detection data points when detecting a carpet, and then fits the carpet shape according to the carpet edge detection data points. Finally, the edge of the carpet can be cleaned close to and along the edge of the carpet according to the fitted carpet shape. In this way, there will be no dead corners at the edge of the carpet that cannot be cleaned, and the accumulation of stains at the cleaning dead corners of the edge of the carpet is avoided, which effectively improves the cleaning effect of the edge of the carpet, ensures that the edge of the carpet is cleaned thoroughly, and improves the user experience of the cleaning device.

[0090] Figure 7 FIG. 1 is a flow chart of a control method for a cleaning device according to another embodiment of the present invention. Figure 7 As shown, the control method of the cleaning device according to the embodiment of the present invention includes the following steps:

[0091] S701: Acquire an avoidance action trajectory of the cleaning device along the edge of the carpet, wherein the avoidance action trajectory is a movement trajectory generated by the cleaning device performing a stress-type avoidance action when encountering the carpet during the cleaning process.

[0092] That is, when the cleaning device encounters a carpet during the cleaning process, it performs a stress-type avoidance action, so that an avoidance action trajectory along the edge of the carpet generated by the stress-type avoidance action can be obtained.

[0093] Take a sweeping robot as an example. When the sweeping robot's carpet recognition sensor detects a carpet, the sweeping robot usually performs a stress-avoidance action until the entire carpet is avoided. That is, when the sweeping robot encounters a carpet during cleaning, it performs a stress-avoidance action, such as: encountering a carpet - retreating - moving forward in a circular arc - encountering a carpet - retreating repeatedly. The stress-avoidance action is completed completely around the carpet or is interrupted by an obstacle.

[0094] When performing a stress-type evasive action, the movement trajectory, i.e., the evasive action trajectory, is usually a sawtooth-like trajectory around the edge of the carpet. Figure 3 As shown, for the rectangular carpet 31, the motion trajectory corresponding to the stress-type avoidance action made when encountering the carpet is Figure 3 The trajectory 32 shown in FIG. Figure 4As shown, for the circular carpet 41, the corresponding motion trajectory of the stress-type avoidance action when encountering the carpet is Figure 4 The trajectory 42 is shown in FIG.

[0095] Of course, the evasive action trajectory is not limited to Figure 3 and Figure 4 The jagged trajectory shape shown in the figure is usually a repeated action of: encountering a carpet - retreating - advancing in an arc - encountering a carpet - retreating. Therefore, the evasive action trajectory includes a retreating trajectory when encountering a carpet and an advancing trajectory when approaching the carpet. In a specific example, in the evasive action, retreating is usually a straight-line retreat, and advancing is usually an arc-shaped advance. Therefore, the evasive action trajectory includes at least one retreating trajectory and at least one arc-shaped advance trajectory.

[0096] S702: Determine an edge movement trajectory for cleaning along the edge of the carpet according to the avoidance action trajectory, and control the cleaning device to clean along the edge movement trajectory.

[0097] Specifically, based on the avoidance action trajectory, an edge movement trajectory for cleaning along the edge of the carpet is determined, and the cleaning device is controlled to clean along the edge movement trajectory, including: fitting the carpet shape according to the avoidance action trajectory; obtaining an edge movement trajectory that surrounds the carpet edge line and is the same as the carpet shape according to the carpet shape and the size of the cleaning device; and controlling the cleaning device to clean along the edge movement trajectory.

[0098] In this example, fitting the shape of the carpet according to the avoidance action trajectory includes: obtaining multiple trajectory points of the avoidance action trajectory, where the multiple trajectory points are points in the avoidance action trajectory that are closest to the edge of the carpet; determining parameters of the fitting line by minimizing the distance between the fitting line and the corresponding trajectory points, and fitting the carpet shape according to the parameters of the fitting line; or, estimating parameters of the fitting line through a probability distribution model according to the multiple trajectory points, and fitting the carpet shape according to the parameters of the fitting line; or, weighting each trajectory point, and solving with a kernel function to obtain a fitting curve, wherein the fitting curve represents the carpet shape.

[0099] The carpet shape can be the outline of the carpet. In a specific example of the present invention, the method of fitting lines (such as curves and straight lines) according to data points includes but is not limited to the least squares method, the maximum likelihood method and the kernel function fitting method. Specifically, the least squares method, that is, by minimizing the distance between the fitting line and the corresponding trajectory point (that is, the point on the edge of the carpet), the parameters of the fitting line are determined, and the carpet shape is fitted according to the parameters of the fitting line; the maximum likelihood method, that is, according to multiple trajectory points, the parameters of the fitting line are estimated by a probability distribution model, and the carpet shape is fitted according to the parameters of the fitting line; or, the kernel function fitting method, that is, each trajectory point is weighted, and the fitting curve is obtained by using the kernel function solution, wherein the fitting curve represents the carpet shape.

[0100] like Figure 5 As shown, for a rectangular carpet, the carpet shape obtained by fitting multiple trajectory points is as follows Figure 5 The carpet shape shown in 7. Figure 6 As shown, for a circular carpet, the carpet shape obtained by fitting multiple trajectory points is as follows Figure 6 The carpet profile 10 shown in FIG. Figure 5 It can be seen that the fitted carpet shape is Figure 3 The actual carpet shown is almost identical in appearance; Figure 6 It can be seen that the fitted carpet shape is Figure 4 The actual carpet shown is almost identical in appearance. Therefore, it can meet the requirements well.

[0101] The control method of the cleaning device according to the embodiment of the present invention effectively improves the cleaning effect of the carpet edge, ensures that the carpet edge is cleaned thoroughly, and improves the user experience of the cleaning device.

[0102] Figure 8 : is a structural block diagram of a control system of a cleaning device according to an embodiment of the present application. Figure 8 As shown, according to an embodiment of the present application, the control system of the cleaning device includes: a detection module 810, a fitting module 820 and a cleaning module 830, wherein:

[0103] A detection module 810 is used to detect a carpet and obtain carpet detection data, wherein the carpet detection data includes a plurality of carpet edge detection data points;

[0104] A fitting module 820, for fitting a carpet shape according to the plurality of carpet edge detection data points;

[0105] The cleaning module 830 is used to clean along the edge of the carpet according to the shape of the carpet.

[0106] According to the control system of the cleaning device of the embodiment of the present invention, during the cleaning process, the cleaning device obtains carpet detection data including a plurality of carpet edge detection data points when detecting a carpet, and then fits the carpet shape according to the carpet edge detection data points. Finally, the edge of the carpet can be cleaned close to and along the edge of the carpet according to the fitted carpet shape. In this way, there will be no dead corners at the edge of the carpet that cannot be cleaned, and the accumulation of stains at the cleaning dead corners at the edge of the carpet is avoided, thereby effectively improving the cleaning effect of the edge of the carpet, ensuring that the edge of the carpet is cleaned thoroughly, and improving the user experience of the cleaning device.

[0107] Fig. 9 1 is a block diagram of a control system of a cleaning device according to an embodiment of the present invention. Fig. 9 As shown, according to an embodiment of the present application, the control system of the cleaning device includes: an avoidance control module 910 and an edge cleaning module 920, wherein:

[0108] The avoidance control module 910 is used to obtain the avoidance action trajectory of the cleaning device along the edge of the carpet, wherein the avoidance action trajectory is the movement trajectory generated by the cleaning device performing a stress avoidance action when encountering the carpet during the cleaning process;

[0109] The edge cleaning module 920 is used to determine the edge moving trajectory of the carpet edge cleaning according to the avoidance action trajectory, and control the cleaning device to clean along the edge moving trajectory.

[0110] The control system of the cleaning device according to the embodiment of the present invention avoids the accumulation of stains in the cleaning dead corners of the carpet edge, effectively improves the cleaning effect of the carpet edge, ensures that the carpet edge is clean and thorough, and improves the user experience of the cleaning device.

[0111] For the specific definition of the control system of the cleaning device, please refer to the definition of the control system of the cleaning device above, which will not be repeated here. Each module of the control system of the above cleaning device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0112] In one embodiment, a cleaning device is provided, comprising: a control system of the cleaning device according to any one of the above embodiments. The cleaning device can effectively improve the cleaning effect of the carpet edge, and the cleaning device has a better user experience.

[0113] The cleaning device is but not limited to a sweeping robot.

[0114] Reference below Fig.10 , Fig.10 A schematic diagram of the structure of a computer device suitable for implementing the embodiments of the present application is shown.

[0115] like Fig.10 As shown, the computer system includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage part 1008 into the random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation instructions of the system are also stored. The CPU 1001, the ROM 1002, and the RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0116] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed, so that a computer program read therefrom is installed into the storage section 1008 as needed.

[0117] In particular, according to an embodiment of the present application, the above reference flow chart Figure 1 The described process can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flow chart. In such an embodiment, the computer program includes a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1009, and / or installed from the removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, the above-mentioned functions defined in the system of the present application are executed.

[0118] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium such as a computer-readable storage medium that can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0119] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operating instructions of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the aforementioned module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, the boxes represented by two connections can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operating instruction, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] The units or modules involved in the embodiments described in the present application may be implemented by software or hardware. The units or modules described may also be arranged in a processor. The names of these units or modules do not, in some cases, constitute limitations on the units or modules themselves.

[0121] The present application also provides a computer-readable storage medium, which stores a computer program. When the processor executes the computer program, the control method embodiment of the cleaning device described above is implemented. For example, the following steps are performed: detecting a carpet and obtaining carpet detection data, wherein the carpet detection data includes a plurality of carpet edge detection data points; fitting a carpet shape according to the plurality of carpet edge detection data points; and cleaning along the edge of the carpet according to the carpet shape.

[0122] The present application embodiment provides a computer program product, which includes instructions. When the instructions are executed, the method described in the present application embodiment is executed. For example, Figure 1 The various steps of the control method of the cleaning device shown, for example, are performed: detecting a carpet and obtaining carpet detection data, wherein the carpet detection data includes a plurality of carpet edge detection data points; fitting a carpet shape according to the plurality of carpet edge detection data points; and cleaning along the edge of the carpet according to the carpet shape.

[0123] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A method for controlling a cleaning device, characterized in that: include: Detecting a carpet and obtaining carpet detection data, wherein the carpet detection data includes a plurality of carpet edge detection data points; Fitting the carpet shape according to the plurality of carpet edge detection data points; Clean along the edges of the carpet according to the carpet profile.

2. The control method of the cleaning device according to claim 1, characterized in that: The carpet detection and carpet detection data acquisition includes: During the cleaning process of the cleaning device, when a carpet is detected, determining whether carpet detection data corresponding to the carpet is stored; If the carpet detection data is stored, the carpet detection data is read.

3. The control method of the cleaning device according to claim 1, characterized in that: The carpet detection and carpet detection data acquisition includes: During the cleaning process of the cleaning device, when a carpet is detected, a stress-type evasive action is performed; In the process of performing the stress-type avoidance action, the carpet detection data is obtained.

4. The control method of the cleaning device according to any one of claims 1 to 3, characterized in that: The step of fitting the carpet shape according to the plurality of carpet edge detection data points comprises: By minimizing the distance between the fitting line and the corresponding carpet edge detection data points, the parameters of the fitting line are determined, and the carpet shape is fitted according to the parameters of the fitting line; or, According to the plurality of carpet edge detection data points, estimate the parameters of the fitting line through a probability distribution model, and fit the carpet shape according to the parameters of the fitting line; or, Each carpet edge detection data point is weighted and a fitting curve is obtained by using a kernel function, wherein the fitting curve represents the shape of the carpet.

5. The control method of the cleaning device according to claim 1, characterized in that: The step of cleaning along the edge of the carpet according to the carpet shape comprises: Determining a carpet edge line according to the carpet shape; According to the carpet edge line, clean along the edge of the carpet.

6. The control method of the cleaning device according to claim 5, characterized in that: The step of cleaning along the edge of the carpet according to the carpet edge line comprises: According to the edge line of the carpet and the size of the cleaning device, a moving track along the edge around the edge line of the carpet is obtained; Cleaning is performed along the edge of the carpet according to the edge movement trajectory.

7. A method for controlling a cleaning device, characterized in that: include: Acquire an evasive motion trajectory of the cleaning device along the edge of the carpet, wherein the evasive motion trajectory is a moving trajectory generated by the cleaning device performing a stress-type evasive motion when encountering the carpet during the cleaning process; According to the avoidance action trajectory, an edge movement trajectory for cleaning along the edge of the carpet is determined, and the cleaning device is controlled to clean along the edge movement trajectory.

8. The control method of the cleaning device according to claim 7, characterized in that: The evasive action trajectory is a zigzag trajectory along the edge of the carpet.

9. The control method of the cleaning device according to claim 7, characterized in that: The evasive action trajectory includes at least one backward trajectory and at least one arc-shaped forward trajectory.

10. The control method of the cleaning device according to any one of claims 7 to 9, characterized in that: The step of determining a moving trajectory along the edge of the carpet for cleaning according to the avoiding action trajectory, and controlling the cleaning device to clean along the moving trajectory along the edge, comprises: Fitting the carpet shape according to the avoidance action trajectory; According to the shape of the carpet and the size of the cleaning device, a moving track along the edge that surrounds the edge line of the carpet and is the same as the shape of the carpet is obtained; The cleaning device is controlled to clean along the edge movement track.

11. The control method of the cleaning device according to claim 10, characterized in that: The step of fitting the carpet shape according to the avoidance action trajectory includes: Obtaining a plurality of trajectory points of the avoidance action trajectory, wherein the plurality of trajectory points are points in the avoidance action trajectory that are closest to the edge of the carpet; By minimizing the distance between the fitting line and the corresponding trajectory point, the parameters of the fitting line are determined, and the carpet shape is fitted according to the parameters of the fitting line; or, According to the plurality of trajectory points, the parameters of the fitting line are estimated by a probability distribution model, and the carpet shape is fitted according to the parameters of the fitting line; or, Each trajectory point is weighted and a kernel function is used to solve the problem to obtain a fitting curve, wherein the fitting curve represents the shape of the carpet.

12. A control system for a cleaning device, characterized in that: include: A detection module, used to detect a carpet and obtain carpet detection data, wherein the carpet detection data includes a plurality of carpet edge detection data points; A fitting module, used for fitting the carpet shape according to the plurality of carpet edge detection data points; The cleaning module is used for cleaning along the edge of the carpet according to the shape of the carpet.

13. A control system for a cleaning device, characterized in that: include: An avoidance control module is used to obtain an avoidance action trajectory of the cleaning device along the edge of the carpet, wherein the avoidance action trajectory is a movement trajectory generated by the cleaning device performing a stress-type avoidance action when encountering the carpet during the cleaning process; The edge cleaning module is used to determine the edge moving trajectory for cleaning along the edge of the carpet according to the avoidance action trajectory, and control the cleaning device to clean along the edge moving trajectory.

14. A cleaning device, characterized in that: include: A control system for a cleaning device according to claim 12 or 13.

15. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the control method of the cleaning device according to any one of claims 1-11 is implemented.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a control method for a cleaning device according to any one of claims 1 to 11 is implemented.

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