Operation control method and device of cleaning equipment, cleaning equipment and electronic device

Abstract

The invention provides an operation control method and device of cleaning equipment, the cleaning equipment and an electronic device.The method comprises the steps that in the operation process of the cleaning equipment, obstacle detection is conducted through a detection component on the cleaning equipment; under the condition that it is determined that an inwards-concave area with the area height larger than the target height exists according to the detection result of the detection component, the cleaning equipment is controlled to move along an obstacle on the upper side of the inwards-concave area, and a cleaning piece of the cleaning equipment is controlled to clean the inwards-concave area, at least part of the cleaning piece is allowed to protrude out of an equipment body of the cleaning equipment, and the target height is the height of the cleaning piece. By the adoption of the technical scheme, the problem that according to an operation control method of cleaning equipment in the related technology, area cleaning is not comprehensive is solved.

Description

[Technical field]

[0001] The present application relates to the field of robots, and more specifically, to an operation control method and device for cleaning equipment, cleaning equipment, and an electronic device. [Background technology]

[0002] Currently, area cleaning can be automatically performed by a cleaning device (e.g., a sweeper), and area cleaning can be performed using cleaning components (e.g., a rag, a roller brush, etc.) on the cleaning device. In the related art, in order to ensure the safety of the operation of the cleaning device, the operation control method of the cleaning device in the related art usually avoids objects in the same scene.

[0003] However, since the shapes of the ground surfaces in the regions are usually different, the shapes of the objects in the regions are also different, the operation control methods of the cleaning equipment in the related art have the problem of incomplete regional cleaning. [Summary of the invention]

[0004] The purpose of the present application is to provide a cleaning equipment operation control method and device, cleaning equipment and electronic device, so as to at least solve the problem of incomplete regional cleaning in the cleaning equipment operation control method in the related art.

[0005] The purpose of this application is to achieve the following technical solutions:

[0006] According to one aspect of an embodiment of the present application, there is provided an operation control method for a cleaning device, comprising: during the operation of the cleaning device, performing obstacle detection by a detection component on the cleaning device; in a case where it is determined according to the detection result of the detection component that there is a concave area whose height is higher than a target height, controlling the cleaning device to move along the obstacle on the upper side of the concave area, and controlling a cleaning member of the cleaning device to clean the concave area, wherein at least a portion of the cleaning member is allowed to protrude from a device body of the cleaning device, and the target height is the height of the cleaning member.

[0007] According to another aspect of an embodiment of the present application, an operation control device for a cleaning device is also provided, comprising: a first detection unit, for detecting obstacles through a detection component on the cleaning device during the operation of the cleaning device; a first control unit, for controlling the cleaning device to move along an obstacle on the upper side of the concave area when it is determined that there is a concave area with a height higher than a target height according to a detection result of the detection component, and controlling a cleaning member of the cleaning device to clean the concave area, wherein at least a portion of the cleaning member is allowed to protrude from the device body of the cleaning device, and the target height is the height of the cleaning member.

[0008] According to another aspect of the embodiment of the present application, a cleaning device is also provided, including: a detection component for performing obstacle detection during the operation of the cleaning device; a processing component for controlling the cleaning device to move along the obstacle on the upper side of the concave area when it is determined according to the detection result of the detection component that there is a concave area whose area height is higher than the target height, and controlling the cleaning member of the cleaning device to clean the concave area, wherein at least part of the cleaning member is allowed to protrude from the device body of the cleaning device, and the target height is the height of the cleaning member.

[0009] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned operation control method of the cleaning device when running.

[0010] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the operation control method of the cleaning equipment through the computer program.

[0011] In an embodiment of the present application, a design in which a cleaning member protrudes from the equipment body of the cleaning device is combined with a method of detecting a recessed area by a detection member. During the operation of the cleaning device, obstacle detection is performed by a detection member on the cleaning device. When it is determined according to the detection result of the detection member that there is a recessed area whose area height is higher than the target height, the cleaning device is controlled to move along the obstacle on the upper side of the recessed area, and the cleaning member of the cleaning device is controlled to clean the recessed area, wherein at least a portion of the cleaning member is allowed to protrude from the equipment body of the cleaning device, and the target height is the height of the cleaning member. During the operation of the cleaning device, recessed area detection is performed by a detection member. If a recessed area whose area height is higher than the height of the cleaning member is detected, the cleaning member protruding from the equipment body of the cleaning device is used to clean the recessed area. This can achieve a technical effect of comprehensive regional cleaning, thereby solving the problem of incomplete regional cleaning in the operation control method of the cleaning device in the related art.

Brief Description of the Drawings

[0012] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0014] Figure 1 is a schematic diagram of a hardware environment of an optional operation control method of a cleaning device according to an embodiment of the present application;

[0015] Figure 2 is a flow chart of an optional operation control method of a cleaning device according to an embodiment of the present application;

[0016] Figure 3 is a schematic diagram of an optional cleaning device according to an embodiment of the present application;

[0017] Figure 4 is a schematic diagram of an optional cleaning device rotating according to an embodiment of the present application;

[0018] Figure 5 is a schematic diagram of an optional operation control method of a cleaning device according to an embodiment of the present application;

[0019] Figure 6 is a schematic diagram of another optional operation control method of a cleaning device according to an embodiment of the present application;

[0020] Figure 7 is a schematic diagram of another optional operation control method of a cleaning device according to an embodiment of the present application;

[0021] Figure 8 is a schematic diagram of another optional operation control method of a cleaning device according to an embodiment of the present application;

[0022] Fig. 9 is a structural block diagram of an optional operation control device of a cleaning device according to an embodiment of the present application;

[0023] Fig.10 It is a structural block diagram of an optional electronic device according to an embodiment of the present application. [Specific implementation method]

[0024] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0026] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0028] According to one aspect of an embodiment of the present application, a method for controlling the operation of a cleaning device is provided. Optionally, in this embodiment, the method for controlling the operation of the cleaning device can be applied to Figure 1 In the hardware environment shown in FIG. 1 , a cleaning device 102, a base station 104 and a server 106 are formed. Figure 1 As shown, the cleaning device 102 can be connected to the base station 104 and / or the server 106 (eg, a voice cloud platform) via a network to enable interaction between the cleaning device 102 and the base station 104 and / or the server 106 .

[0029] The above-mentioned network may include but is not limited to at least one of the following: wired network, wireless network. The above-mentioned wired network may include but is not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above-mentioned wireless network may include but is not limited to at least one of the following: WIFI (Wireless Fidelity), Bluetooth, infrared. The network used by the cleaning device 102 to communicate with the base station 104 and / or the server 106 may be the same as or different from the network used by the base station 104 to communicate with the server 106. The cleaning device 102 may include but is not limited to: a sweeping robot (referred to as a sweeping machine), a robot that combines washing and sweeping, a self-cleaning robot, etc.

[0030] The operation control method of the cleaning device of the embodiment of the present application can be executed by the cleaning device 102 and the server 106 alone, or by the cleaning device 102 and the server 106 together. The cleaning device 102 can also execute the operation control method of the cleaning device of the embodiment of the present application by the client installed thereon.

[0031] Taking the cleaning device 102 as an example to execute the operation control method of the cleaning device in this embodiment, Figure 2 is a flow chart of an optional operation control method of a cleaning device according to an embodiment of the present application, such as Figure 2As shown, the process of the method may include the following steps:

[0032] Step S202: During the operation of the cleaning device, obstacle detection is performed by a detection component on the cleaning device.

[0033] The operation control method of the cleaning equipment in this embodiment can be applied to the scenario of regional cleaning by the cleaning equipment. The above-mentioned cleaning equipment can be the above-mentioned sweeper, scrubber, etc., and the area cleaned by the cleaning equipment can be an indoor area, such as a user's family room, office, factory workshop, etc., or an outdoor area, such as a camping area, etc. The parts used by the cleaning equipment for regional cleaning can be cleaning parts, which can include one or more, such as rags, roller brushes, etc. This is not limited in this embodiment. In some examples of this embodiment, the cleaning equipment is a sweeper and the cleaning part is a rag as an example for explanation.

[0034] In order to ensure the safety of the operation of the cleaning equipment, the operation control method of the cleaning equipment in the related art usually avoids objects in the same scene. However, since the shape of the regional ground is usually different, the shape of the objects in the region is also different. For example, for suspended and recessed scenes like cabinets, the above-mentioned operation control method of the cleaning equipment cannot complete the cleaning of such suspended and recessed scenes, thereby affecting the comprehensiveness of the regional cleaning.

[0035] In this embodiment, the cleaning member can be designed to protrude from the device body by a certain length, that is, at least part of the cleaning member is allowed to protrude from the device body of the cleaning device. Here, the chassis of the cleaning member itself can protrude from the body, or the cleaning member can be extended through a mechanical structure so that the cleaning member protrudes from the device body. By detecting a specified scene (that is, a scene where there is a concave area with a height higher than the target height), and when the specified scene is detected, the protruding cleaning member is used to clean the concave area in the specified area, thereby expanding the cleaning range of the cleaning device and improving the cleaning effect.

[0036] For example, Figure 3 As shown, the rag (rag tray) of some cleaning robots (for example, sweeping machines) can protrude a certain length from the body (for example, the rag tray itself protrudes from the body, or the rag is extended through a mechanical structure or other means so that the rag protrudes from the body), and is capable of cleaning suspended and recessed scenes such as cabinets. When a designated scene such as suspended or recessed is detected, the designated scene is cleaned using the rag protruding from the body by performing special cleaning actions, thereby cleaning all or part of the recessed area, thereby expanding the cleaning range of the cleaning robot in the scene and improving the cleaning effect of the cleaning robot.

[0037] The user of the cleaning device can control the operation of the cleaning device by voice, touch or operation of a remote control or terminal device matched with the cleaning device, so as to perform regional cleaning through the cleaning device. During the operation of the cleaning device, obstacle detection can be performed by the detection component on the cleaning device. Here, the number of detection components can include one or more, and the type of detection component can include one or more. The detection component can be set on the side of the fuselage of the device body of the cleaning device (for example, the right front side), so that obstacle detection can be performed on the areas on both sides of the moving direction of the cleaning device. Optionally, the detection component includes a forward-looking depth sensor, such as a laser sensor, a ToF (Time of Flight) sensor, an ultrasonic sensor, a point ToF (Time of Flight), etc. Here, the forward-looking depth sensor can be a forward-looking 3D (3Dimensions) sensor.

[0038] For example, a suspended concave scene is identified through a forward-looking depth sensor (eg, line laser, ToF, ultrasound, point ToF, etc.).

[0039] Step S204, when it is determined according to the detection result of the detection component that there is a concave area whose height is higher than the target height, the cleaning device is controlled to move along the obstacle on the upper side of the concave area, and the cleaning member of the cleaning device is controlled to clean the concave area.

[0040] According to the detection results of the detection component, designated scene identification can be performed. The designated scene here refers to a scene that includes a concave area whose area height is higher than the target height, for example, the aforementioned suspended concave scene. Here, the target height can be the height of the cleaning member, that is, the highest height of the cleaning member from the ground. The height of the cleaning member can be pre-configured or detected in real time. The height of the reference point can be detected. The relationship between the height of the reference point and the height of the cleaning member is preset, so that the target height can be determined based on the height of the reference point. By way of example, the reference point can be a designated point on the cleaning member or a designated point on the device body (for example, a designated point on the side of the body or the bottom of the body), which is not limited in this embodiment.

[0041] It should also be noted that the height value configured on the cleaning device can be the target height or a height higher than the target height, as long as the area height is higher than the target height. In addition, due to reasons such as equipment tilt and component accuracy, even if the configured height is the height of the cleaning member, the height of the cleaning member may not be exactly the same as the configured height. As long as it is within a certain error range, that is, the height difference between the height of the cleaning member and the specified height is within a height difference range, the specified height can be considered to be the height of the cleaning member.

[0042] Since at least part of the cleaning member is allowed to protrude from the device body of the cleaning device, for the above-mentioned specified scenario, the cleaning device can be controlled to move along the obstacle on the upper side of the concave area, and the cleaning member of the cleaning device can be controlled to clean the concave area. At this time, at least part of the cleaning member extends into the interior of the concave area, so that the concave area can be cleaned. The cleaning here can be comprehensive cleaning or partial cleaning (some areas may not be cleaned). Here, the upper side of the concave area can be an obstacle, and the lower side can be the ground, so as to facilitate extending at least part of the cleaning member into the concave area. Alternatively, the height of the cleaning member can be adjusted to facilitate extending at least part of the cleaning member into the concave area. In this case, the lower side of the concave area can be a low obstacle.

[0043] For example, when a suspended concave scene is identified by the forward-looking depth sensor, the host cleans next to the obstacle, and at least part of the rag extends into the interior of the concave area, thereby completing the cleaning of the suspended concave scene and achieving the effect of cleaning the concave area.

[0044] Through the above steps S202 to S204, during the operation of the cleaning device, obstacle detection is performed through the detection component on the cleaning device; when it is determined according to the detection result of the detection component that there is a concave area whose area height is higher than the target height, the cleaning device is controlled to move along the obstacle on the upper side of the concave area, and the cleaning member of the cleaning device is controlled to clean the concave area, wherein at least part of the cleaning member is allowed to protrude out of the device body of the cleaning device, and the target height is the height of the cleaning member, which solves the problem of incomplete regional cleaning in the operation control method of the cleaning equipment in the related art and improves the comprehensiveness of regional cleaning.

[0045] In an exemplary embodiment, controlling the cleaning device to move along the obstacle on the upper side of the concave area includes:

[0046] S11, controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area, wherein the cleaning operation of the cleaning member and the twisting operation of the cleaning device are performed simultaneously, or the cleaning operation of the cleaning member and the twisting operation of the cleaning device are performed alternately.

[0047] In this embodiment, when cleaning the concave area, the cleaning device can be controlled to twist forward along the obstacles on the upper side of the concave area, that is, it twists while moving forward to clean, so as to achieve the effect of cleaning the concave area. Optionally, the cleaning operation of the cleaning member can be performed all the time, or it can be performed after a twisting operation is completed. Correspondingly, the cleaning operation of the cleaning member and the twisting operation of the cleaning device are performed simultaneously, or the cleaning operation of the cleaning member and the twisting operation of the cleaning device are performed alternately.

[0048] For example, after identifying a suspended concave scene, the suspended concave scene is cleaned through special cleaning actions (for example, twisting): when the host cleans next to the obstacle, it twists and moves forward to clean, thereby achieving the effect of cleaning the concave area.

[0049] Through this embodiment, by twisting and moving forward to clean, the comprehensiveness of regional cleaning can be improved, and at the same time, the effect of regional cleaning can be improved.

[0050] In an exemplary embodiment, in the process of controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area, the method further includes:

[0051] S21, detecting the distance between the cleaning device body and the obstacle on the upper side of the concave area by a distance sensor on the cleaning device;

[0052] S22, when the distance between the device body and the obstacle on the upper side of the concave area is greater than a preset distance threshold, adjusting the moving direction of the cleaning device to a direction close to the concave area;

[0053] S23, when the distance between the device body and the obstacle on the upper side of the concave area is less than a preset distance threshold, adjusting the moving direction of the cleaning device to a direction away from the concave area.

[0054] Since there is an obstacle on the upper side of the concave area, there is a risk that the equipment body hits the obstacle on the upper side of the concave area when cleaning the concave area. In order to ensure the safety of equipment operation and improve the accuracy of area cleaning, the distance between the equipment body and the obstacle on the upper side of the concave area can be detected by a distance sensor on the cleaning equipment. The distance sensor here can be located on the side of the cleaning equipment body, and it and the detection component can be located on the same side of the equipment body of the cleaning equipment, as long as the distance between the equipment body and the obstacle on the upper side of the concave area can be detected. Optionally, the distance sensor can include but is not limited to at least one of the following: an edge sensor, a line laser sensor, a laser distance sensor, and the laser distance sensor can be an LDS (Laser Distance Sensor) sensor.

[0055] If the distance between the device body and the obstacle on the upper side of the concave area is greater than a preset distance threshold, the moving direction of the cleaning device can be adjusted to a direction close to the concave area, and if the distance between the device body and the obstacle on the upper side of the concave area is less than the preset distance threshold, the moving direction of the cleaning device can be adjusted to a direction away from the concave area. Here, adjusting the moving direction can be offset only by a certain angle to the corresponding direction, for example, offsetting by a certain angle to the direction close to the concave area, and offsetting by a certain angle to the direction away from the concave area. Here, the certain angle can be a specified angle, and can be adjusted slowly in real time, that is, gradually offset to one direction until it is detected that the offset condition is no longer met.

[0056] For example, when the host is twisting forward, a distance sensor can be used to provide distance feedback to ensure that the distance between the host and the obstacle is stable and uniform.

[0057] Through this embodiment, the distance between the main body and the obstacle on the upper side of the concave area is detected by a distance sensor, and the moving direction of the cleaning device is adjusted based on the detected distance, thereby ensuring the stability of the distance between the main body and the obstacle, thereby ensuring the safety of the equipment operation and improving the accuracy of area cleaning.

[0058] In an exemplary embodiment, controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area includes:

[0059] S31, determining a parameter value of a preset twisting parameter of the cleaning device according to a concave depth of the concave area and a protruding distance of the cleaning member, wherein the concave depth is a depth of the concave area detected by a detection component, and the protruding distance is a distance that the cleaning member protrudes from a body of the device;

[0060] S32, controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area according to the determined parameter value of the preset twisting parameter.

[0061] When controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area, the parameter value of the preset twisting parameter of the cleaning device can be dynamically adjusted (adjusted in real time) based on the concave depth of the concave area and the protruding distance of the cleaning member. The preset twisting parameter can include one or more, which can be used to control the way the cleaning device twists forward. Optionally, the preset twisting parameter can include but is not limited to at least one of the following: the amplitude of each twisting, the distance of each twisting, and can also include other parameters, which are not limited in this embodiment.

[0062] In this embodiment, when twisting once is performed, the parameter value of the preset twisting parameter of the cleaning device can be determined according to the concave depth of the concave area and the protruding distance of the cleaning member, where the concave depth is the depth of the concave area, and the protruding distance is the distance that the cleaning member protrudes from the device body. The cleaning device is controlled to twist forward along the obstacle on the upper side of the concave area according to the determined parameter value of the preset twisting parameter.

[0063] Here, the concave depth can be detected by a detection component, or determined based on preset object information, for example, based on the position of the cleaning device, the object to which the concave area belongs is determined, thereby determining the concave depth based on the object information. The protrusion distance can be pre-configured or measured in real time. This is not limited in this embodiment.

[0064] Optionally, for a scenario where the cleaning member chassis is fixed in position, the protrusion distance can be preconfigured, and for a scenario where the cleaning member chassis is not fixed in position, if the cleaning member chassis is located at a specified position when cleaning the concave area, the protrusion distance can also be preconfigured. For a scenario where the cleaning member chassis is not fixed in position, if the cleaning member chassis changes in position when cleaning the concave area, the distance between the center position of the cleaning member and the vertical symmetry axis and the horizontal symmetry axis of the cleaning member can be detected by a distance sensor, etc., so as to determine the current protrusion distance, or the current protrusion distance can be determined directly or by detection by other detection components.

[0065] For example, when the host is twisted for cleaning in the above-mentioned suspended concave scene, the amplitude of the host's twisting and the distance of each twisting are dynamically adjusted according to the distance the rag plate protrudes from the body and the depth difference of the concave (finite or infinite depth).

[0066] Through this embodiment, the parameter value of the twisting parameter of the cleaning device is determined according to the concave depth of the concave area and the protruding distance of the cleaning member, so that the accuracy of the twisting control of the cleaning device can be improved.

[0067] In an exemplary embodiment, the device body and the cleaning element are both circular structures, the body radius of the device body is larger than the cleaning element radius of the cleaning element, the protruding distance can be less than or equal to the cleaning element radius, or it can be larger than the cleaning element radius. In order to improve the convenience of regional cleaning, the protruding distance can be smaller than the cleaning element radius.

[0068] Correspondingly, according to the concave depth of the concave area and the protruding distance of the cleaning member, the parameter value of the preset twisting parameter of the cleaning device is determined, including:

[0069] S41, determining the angle difference between the target angle of the cleaning member and the initial angle of the cleaning member as the angle value of the rotation angle of the cleaning device;

[0070] S42, taking the cleaning member radius of the cleaning member as the hypotenuse and the target depth of the cleaning member as one right-angle side to determine the length of the other right-angle side, and obtain the pitch value of the twisting pitch of the cleaning device.

[0071] In this embodiment, the preset twisting parameters may include but are not limited to at least one of the following: rotation angle, twisting pitch. In order to determine the rotation angle of the cleaning device, the target angle of the cleaning member and the initial angle of the cleaning member may be determined first, the initial angle being the angle between the center point line and the vertical symmetry axis of the cleaning device, the center point line being the line between the center point of the device body and the center point of the cleaning member, and the vertical symmetry axis being the symmetry axis corresponding to the forward direction of the cleaning device, such as Figure 4 The target angle is the angle between the center point line and the vertical symmetry axis when the cleaning device rotates to the point where the cleaning member sticks to the inner side of the concave area, as shown in Figure 4 α shown in .

[0072] The twisting spacing value of the cleaning device can also be obtained by using the cleaning member radius of the cleaning member as the hypotenuse and the target depth of the cleaning member as one right-angled side to determine the length of the other right-angled side. Here, the target depth is the depth to which the cleaning member enters the concave area, which can be less than or equal to a value of the protrusion distance.

[0073] For example, Figure 5 As shown, for the rag plate, the radius of the rag plate is 65mm, and the suspended concave scene corresponds to the set cabinet mode, that is, in the cabinet mode, the rag is swung outward, and the aforementioned twisting and moving forward cleaning operation can be performed. When adjusting the distance of each twist of the host, assuming that the penetration depth (which can be the depth of the rag entering the concave area) is y, the formula for calculating the twisting distance D based on the cabinet depth is shown in formula (1):

[0074]

[0075] For example, if y=40 mm, the twisting distance D of the rag is If y = 20 mm, the twisting distance D of the rag is

[0076] Through this embodiment, the rotation angle and twisting distance of the cleaning member are determined respectively, and the twisting of the cleaning member is controlled based on the rotation angle and the twisting distance, so that the convenience of controlling the cleaning member can be improved.

[0077] In an exemplary embodiment, the method further comprises:

[0078] S51, taking the arc sine of the target value to obtain an angle value, and determining it as the target angle, wherein the target value is a value obtained by dividing the sum of the concave depth and the body radius of the device body by the sum of the length of the line connecting the center points and the radius of the cleaning member;

[0079] S52, determining the concave depth as the target depth; or determining the depth of the cleaning member entering the concave area when the cleaning device rotates to the point where the cleaning member sticks to the inner side of the concave area as the target depth; or determining the protrusion distance as the target depth.

[0080] In order to determine the target angle, the depth of the concave and the body radius of the device body can be summed, and the length of the center point line and the radius of the cleaning member can be summed. The first summation result is divided by the second summation result, and the arc sine of the target value obtained is taken, and the angle value obtained is the target value. Here, the initial angle can be the angle value obtained by taking the arc tangent of the distance from the center point of the cleaning member to the vertical symmetry axis of the device body divided by the distance from the center point of the cleaning member to the horizontal symmetry axis of the device body, and the initial angle is determined. The vertical symmetry axis is similar to that in the aforementioned embodiment, and the horizontal symmetry axis is a symmetry axis perpendicular to the vertical symmetry axis (the vertical symmetry axis and the horizontal symmetry axis can be located in the same horizontal plane).

[0081] For example, Figure 6 As shown, the body radius is 175, and the distances from the center point of the cloth chassis to the two symmetry axes are 108.9 and 104.6 respectively. The angle value of θ is arctan(108.9 / 104.6)=46.15°, and the protruding distance is: ||108.9, 104.6||+65-175=151+65-175=41mm, that is, the cloth protrudes at most 41mm in the outward swing state. At this time, the main unit can rotate 90°-46.15°=43.85°.

[0082] It should be noted that the rotation angle is the angle of rotation in the direction close to the concave area. If the concave depth is greater than the protruding distance, the cleaning device can be rotated 90 degrees minus the initial angle to use the protruding part of the cleaning piece to clean the concave area.

[0083] When determining the target angle, Figure 7 As shown, the concave depth of the concave area is x, and the angle value of α is: arcsin((175+x) / 216)-θ=arcsin((175+x) / 216)-45.15°.

[0084] Here, the above angle calculation method is an estimated angle calculation method, that is, the calculated result may deviate from the actual angle, as long as the angle deviation does not affect the area cleaning.

[0085] There may be one or more ways to determine the target depth, which may be but is not limited to at least one of the following: determining the recessed depth as the target depth; determining the depth to which the cleaning member enters the recessed area when the cleaning device rotates to the point where the cleaning member sticks to the inner side of the recessed area as the target depth; determining the protruding distance as the target depth.

[0086] Through this embodiment, the angle after rotation and the insertion depth of the cleaning member are determined based on the concave depth, the body radius, the cleaning member radius, the length of the connecting line, etc., which can improve the convenience of information determination.

[0087] In an exemplary embodiment, controlling a cleaning member of a cleaning device to clean a recessed area includes:

[0088] S61, controlling the cleaning member to swing through a preset structure to clean the concave area, wherein, in the moving direction of the cleaning device, the position where the cleaning member swings toward the device body is located in front of the position where the cleaning member swings away from the device body.

[0089] In this embodiment, the cleaning member may be a swingable structure, that is, the cleaning member is controlled to swing by a preset mechanism (for example, the aforementioned mechanical structure), and the shape of the swing may be circular, elliptical or other shapes, and the manner of the swing may be: in the moving direction of the cleaning device, the position of the cleaning member swinging toward the device body is located in front of the position of the cleaning member swinging away from the device body, so as to achieve a forward sweeping effect, thereby reducing the risk of bringing dirt to the back side of the cleaning device while cleaning the concave area, thereby improving the cleaning effect of the cleaning device.

[0090] Through this embodiment, the cleaning member is controlled to swing along a specified direction to clean the concave area, thereby improving the cleaning effect of the cleaning device.

[0091] In an exemplary embodiment, the detection component may include a transmitting component and an image acquisition component, wherein the transmitting component is used to project the detection light, such as a line laser, and the image acquisition component is used to perform image acquisition, such as a camera.

[0092] Correspondingly, during the operation of the cleaning device, obstacle detection is performed by the detection components on the cleaning device, including:

[0093] S71, when the cleaning device is running, if a first obstacle is detected within the height range of the impact plate of the cleaning device, a detection light is projected toward the first obstacle by a transmitting component, and an image is captured by an image acquisition component on the projected detection light to obtain an image to be analyzed;

[0094] S72, analyzing the detection light spot in the image to be analyzed to obtain an obstacle light spot and a ground light spot, wherein the detection light spot is a light spot formed by the detection light, and the obstacle light spot includes a light spot on the first obstacle;

[0095] S73, when it is determined based on the obstacle light spot and the ground light spot that there is a target ground whose distance from the image acquisition component is greater than the first obstacle in the detection direction of the detection light, and the suspended height of the first obstacle is greater than or equal to the target height, it is determined that there is a concave area whose height is higher than the target height.

[0096] In this embodiment, the specified scene can be: there is an obstacle blocking the cleaning device within the collision plate height range, and there is no obstacle blocking the cleaning device within the height range. For example, the suspended scene can be defined as: there is an obstacle blocking the host collision plate height range, but there is no obstacle blocking the cleaning device within the height range.

[0097] In order to perform designated scene detection, during the operation of the cleaning device, the impact plate of the cleaning device (which can be set on the side of the body, on the same side as the detection component) or line laser or other detection components can be used to detect whether there is an obstacle within the height range of the impact plate of the cleaning device. If the presence of a first obstacle is detected, a detection light can be projected to the first obstacle through the emitting component, and the projected detection light can be imaged through the image acquisition component to obtain an image to be analyzed.

[0098] The light spot formed by the detection light is the detection light spot. The detection light spot in the image to be analyzed can be analyzed to obtain obstacle light spots and ground light spots. There can be one or more obstacle light spots at the analyzed location, which can include the light spot on the first obstacle. There can also be one or more ground light spots, or there may be no ground light spots.

[0099] According to the obstacle light spot and the ground light spot, it can be determined that there is a target ground whose distance from the image acquisition component is greater than the first obstacle in the detection direction of the detection light, and the first obstacle can be considered as a suspended obstacle. If the suspended height of the first obstacle is greater than or equal to the target height, it can be determined that the specified scene is detected, that is, the concave area whose area height is greater than or equal to the target height.

[0100] For example, taking the cabinet as an example, in order to guide cleaning robots such as sweepers to implement special cleaning strategies for suspended concave scenes, dual vertical line lasers, other line lasers or other methods can be used to identify suspended concave scenes. The obstacle height is calculated by projecting the vertical light spot of the line laser on the cabinet. If there is an obstacle within the height range of the collision plate of the target cleaning robot, it is listed as an alternative; the line laser spot projected onto the ground is analyzed. If it is found that there is an obstacle at the position where the line laser spot on the ground passes, and the ground spot can observe the ground farther away from the camera than the obstacle, then the obstacle is considered to be a suspended obstacle.

[0101] For example, Figure 8 As shown, the height of the upper edge of the collision plate from the ground is 81mm, and an obstacle is observed within the range of 22mm to 81mm from the ground. At the same time, the lower part is suspended (the ground line passes through the suspended obstacle), then the cabinet scene is considered to be established. Through the line laser, the suspended obstacle point cloud and the concave obstacle point cloud can be detected. If the concave is too large, it will move directly to 5cm from the suspended obstacle.

[0102] Through this embodiment, the suspended obstacle detection is performed by combining the transmitting component with the image acquisition component, thereby detecting the specified scene, which can improve the convenience of concave area detection.

[0103] In an exemplary embodiment, controlling the cleaning device to move along the obstacle on the upper side of the concave area includes:

[0104] S81, determining a parameter value of a preset twisting parameter of the cleaning device according to a concave depth of the concave area and a protruding distance of the cleaning member, wherein the concave depth is the depth of the concave area, and the protruding distance is the distance that the cleaning member protrudes from the device body;

[0105] S82, controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area according to the determined parameter value of the preset twisting parameter.

[0106] If it is determined based on the obstacle light spot and the ground light spot that there is a second obstacle in the detection direction whose distance from the image acquisition component is greater than the target ground, the second obstacle may be a low obstacle, and the distance between the first obstacle and the second obstacle may be determined as the concave depth. The distance here may be the distance in a specific direction, for example, the distance in the vertical direction of the concave area. If it is determined based on the obstacle light spot and the ground light spot that there is no obstacle in the detection direction whose distance from the image acquisition component is greater than the target ground, the width of the concave area may be considered to be infinite, and the specified concave depth may be determined as the concave depth, and the specified concave depth may be infinite or may be a width wider than the cleaning member radius of the cleaning member.

[0107] For example, if there are still vertical obstacles at a position farther away from the ground, then this obstacle is considered to be a low ground obstacle. After necessary filtering processing is performed on the "suspended obstacle" and the "low ground obstacle", the two types of obstacles are sent to the external execution logic; the distance between the "suspended obstacle" and the "low ground obstacle" is calculated as the depth difference of the suspended concave obstacle; if the "low ground obstacle" cannot be observed, the depth of this scene is considered to be infinite.

[0108] For the determined concave depth, the parameter value of the preset twisting parameter can be determined in a manner similar to that in the aforementioned embodiment, thereby controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area. This has been explained and will not be repeated here.

[0109] Through this embodiment, the concave depth of the concave area is determined based on whether a low obstacle is detected, which can improve the convenience of determining the depth information and at the same time improve the efficiency of the twisting control of the cleaning device.

[0110] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0111] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0112] According to another aspect of an embodiment of the present application, there is also provided an operation control device for a cleaning device for implementing the above-mentioned operation control method for a cleaning device. Fig. 9 is a structural block diagram of an optional operation control device for a cleaning device according to an embodiment of the present application, such as Fig. 9 As shown, the device may include:

[0113] The first detection unit 902 is used to detect obstacles through the detection components on the cleaning device during the operation of the cleaning device;

[0114] The first control unit 904 is connected to the first detection unit 902, and is used to control the cleaning device to move along the obstacles on the upper side of the concave area when it is determined according to the detection result of the detection component that there is a concave area with a height higher than the target height, and control the cleaning member of the cleaning device to clean the concave area, wherein at least part of the cleaning member is allowed to protrude from the device body of the cleaning device, and the target height is the height of the cleaning member.

[0115] It should be noted that the first detection unit 902 in this embodiment can be used to execute the above step S202, and the first control unit 904 in this embodiment can be used to execute the above step S204.

[0116] Through the above-mentioned module, during the operation of the cleaning equipment, obstacle detection is performed through the detection component on the cleaning equipment; when it is determined according to the detection result of the detection component that there is a concave area whose area height is higher than the target height, the cleaning equipment is controlled to move along the obstacle on the upper side of the concave area, and the cleaning member of the cleaning equipment is controlled to clean the concave area, wherein at least part of the cleaning member is allowed to protrude from the equipment body of the cleaning equipment, and the target height is the height of the cleaning member, thereby solving the problem of incomplete regional cleaning in the operation control method of the cleaning equipment in the related art and improving the comprehensiveness of regional cleaning.

[0117] In an exemplary embodiment, the first control unit comprises:

[0118] The first control module is used to control the cleaning device to twist forward along the obstacle on the upper side of the concave area, wherein the cleaning operation of the cleaning member and the twisting operation of the cleaning device are performed simultaneously, or the cleaning operation of the cleaning member and the twisting operation of the cleaning device are performed alternately.

[0119] In an exemplary embodiment, the above device further comprises:

[0120] The second detection unit is used to detect the distance between the cleaning device body and the obstacle on the upper side of the concave area through a distance sensor on the cleaning device during the process of controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area;

[0121] A first adjustment unit, used to adjust the moving direction of the cleaning device to a direction close to the concave area when the distance between the device body and the obstacle on the upper side of the concave area is greater than a preset distance threshold;

[0122] The second adjustment unit is used to adjust the moving direction of the cleaning device to a direction away from the concave area when the distance between the device body and the obstacle on the upper side of the concave area is less than a preset distance threshold.

[0123] In an exemplary embodiment, the first control module includes:

[0124] A determination submodule, for determining a parameter value of a preset twisting parameter of the cleaning device according to a concave depth of the concave area and a protruding distance of the cleaning member, wherein the concave depth is the depth of the concave area detected by the detection component, and the protruding distance is the distance that the cleaning member protrudes from the device body;

[0125] The control submodule is used to control the cleaning device to twist forward along the obstacle on the upper side of the concave area according to the determined parameter value of the preset twisting parameter.

[0126] In an exemplary embodiment, both the device body and the cleaning member are circular structures;

[0127] The submodules include:

[0128] A first determining subunit, configured to determine an angle difference between a target angle of the cleaning member and an initial angle of the cleaning member as an angle value of a rotation angle of the cleaning device;

[0129] A second determining subunit is used to determine the length of another right-angled side by taking the cleaning member radius of the cleaning member as a hypotenuse and the target depth of the cleaning member as a right-angled side, so as to obtain a spacing value of the twisting spacing of the cleaning device;

[0130] Among them, the initial angle is the angle between the center point line and the vertical symmetry axis of the cleaning device, the target angle is the angle between the center point line and the vertical symmetry axis when the cleaning device is rotated to the point where the cleaning part sticks to the inner side of the concave area, the center point line is the line between the center point of the device body and the center point of the cleaning part, the vertical symmetry axis is the symmetry axis corresponding to the forward direction of the cleaning device, and the target depth is the depth to which the cleaning part enters the concave area.

[0131] In an exemplary embodiment, the above device further comprises:

[0132] A first determining unit is used to determine an angle value obtained by taking the arc sine of the target value as a target angle, wherein the target value is a value obtained by dividing the sum of the length of the line connecting the center points and the radius of the cleaning member by the sum of the concave depth and the body radius of the device body;

[0133] The second determination unit is used to determine the concave depth as the target depth; or, when the cleaning device rotates to the point where the cleaning member sticks to the inner side of the concave area, determine the depth of the cleaning member entering the concave area as the target depth; or, determine the protrusion distance as the target depth.

[0134] In an exemplary embodiment, the first control unit comprises:

[0135] The second control module is used to control the cleaning member to swing through a preset structure to clean the concave area, wherein, in the moving direction of the cleaning device, the position of the cleaning member swinging toward the device body is located in front of the position of the cleaning member swinging away from the device body.

[0136] In an exemplary embodiment, the detection component includes an emitting component for projecting detection light and an image acquisition component for performing image acquisition;

[0137] The first detection unit includes:

[0138] An execution module is used for, when the cleaning device is running, if a first obstacle is detected within the height range of the collision plate of the cleaning device, projecting a detection light to the first obstacle through the transmitting component, and performing image acquisition on the projected detection light through the image acquisition component to obtain an image to be analyzed;

[0139] A parsing module, used for parsing the detection light spot in the image to be parsed to obtain the obstacle light spot and the ground light spot, wherein the detection light spot is a light spot formed by the detection light, and the obstacle light spot includes a light spot on the first obstacle;

[0140] The first determination module is used to determine that there is a concave area whose height is higher than the target height when it is determined based on the obstacle light spot and the ground light spot that there is a target ground whose distance from the image acquisition component is greater than the first obstacle in the detection direction of the detection light, and the suspended height of the first obstacle is greater than or equal to the target height.

[0141] In an exemplary embodiment, the first control unit comprises:

[0142] A second determination module is used to determine a parameter value of a preset twisting parameter of the cleaning device according to a concave depth of the concave area and a protruding distance of the cleaning member, wherein the concave depth is the depth of the concave area detected by the detection component, and the protruding distance is the distance that the cleaning member protrudes from the device body;

[0143] A third control module, used for controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area according to the determined parameter value of the preset twisting parameter;

[0144] The concave depth is determined in one of the following ways:

[0145] In the case where it is determined according to the obstacle light spot and the ground light spot that there is a second obstacle in the detection direction whose distance from the image acquisition component is greater than the target ground, the distance between the first obstacle and the second obstacle is determined as the concave depth;

[0146] When it is determined according to the obstacle light spot and the ground light spot that there is no obstacle in the detection direction whose distance from the image acquisition component is greater than the target ground, the designated concave depth is determined as the concave depth.

[0147] In an exemplary embodiment, the cleaning device is a sweeper, and the detection component includes a forward-looking depth sensor, which is located on the side of the sweeper body. The forward-looking depth sensor includes at least one of the following: a line laser sensor, a ToF sensor, and an ultrasonic sensor.

[0148] According to another aspect of the embodiment of the present application, a cleaning device for implementing the above-mentioned operation control method of the cleaning device is also provided, and the cleaning device may include:

[0149] A detection component, used for detecting obstacles during the operation of the cleaning equipment;

[0150] The processing component is used to control the cleaning device to move along the obstacles on the upper side of the concave area and control the cleaning parts of the cleaning device to clean the concave area when it is determined that there is a concave area within the target height range according to the detection result of the detection component, wherein the target height range is the height range in which the cleaning parts protrude from the device body of the cleaning device.

[0151] Through the above-mentioned cleaning device, when it is determined according to the detection result of the detection component that there is a concave area with a regional height higher than the target height, the cleaning device is controlled to move along the obstacles on the upper side of the concave area, and the cleaning member of the cleaning device is controlled to clean the concave area, wherein at least part of the cleaning member is allowed to protrude from the device body of the cleaning device, and the target height is the height of the cleaning member, thereby solving the problem of incomplete regional cleaning in the operation control method of the cleaning equipment in the related art and improving the comprehensiveness of regional cleaning.

[0152] In an exemplary embodiment, the processing component is also used to control the cleaning device to twist forward along the obstacle on the upper side of the concave area, wherein the cleaning operation of the cleaning member and the twisting operation of the cleaning device are performed simultaneously, or the cleaning operation of the cleaning member and the twisting operation of the cleaning device are performed alternately.

[0153] In an exemplary embodiment, the cleaning device further comprises: a distance sensor, wherein:

[0154] A distance sensor is used to detect the distance between the device body and the obstacle on the upper side of the concave area when controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area;

[0155] The processing component is also used to adjust the moving direction of the cleaning device to a direction close to the concave area when the distance between the device body and the obstacle on the upper side of the concave area is greater than a preset distance threshold; and to adjust the moving direction of the cleaning device to a direction away from the concave area when the distance between the device body and the obstacle on the upper side of the concave area is less than a preset distance threshold.

[0156] In an exemplary embodiment, the processing component is also used to determine the parameter value of a preset twisting parameter of the cleaning device based on the concave depth of the concave area and the protruding distance of the cleaning member, wherein the concave depth is the depth of the concave area detected by the detection component, and the protruding distance is the distance that the cleaning member protrudes from the device body; and the cleaning device is controlled to twist forward along the obstacle on the upper side of the concave area according to the determined parameter value of the preset twisting parameter.

[0157] In an exemplary embodiment, both the device body and the cleaning member are circular structures;

[0158] The processing component is further used to determine the angle difference between the target angle of the cleaning member and the initial angle of the cleaning member as the angle value of the rotation angle of the cleaning device; determine the length of the other right-angle side by taking the cleaning member radius of the cleaning member as the hypotenuse and the target depth of the cleaning member as one right-angle side, and obtain the spacing value of the twisting spacing of the cleaning device;

[0159] Among them, the initial angle is the angle between the center point line and the vertical symmetry axis of the cleaning device, the target angle is the angle between the center point line and the vertical symmetry axis when the cleaning device is rotated to the point where the cleaning part sticks to the inner side of the concave area, the center point line is the line between the center point of the device body and the center point of the cleaning part, the vertical symmetry axis is the symmetry axis corresponding to the forward direction of the cleaning device, and the target depth is the depth to which the cleaning part enters the concave area.

[0160] In an exemplary embodiment, the processing component is also used to determine the angle value obtained by taking the arcsine of the target value as the target angle, wherein the target value is the value obtained by dividing the sum of the concave depth and the body radius of the device body by the sum of the length of the line connecting the center points and the radius of the cleaning member; the concave depth is determined as the target depth; or, when the cleaning device is rotated to the point where the cleaning member sticks to the inner side of the concave area, the depth to which the cleaning member enters the concave area is determined as the target depth; or, the protrusion distance is determined as the target depth.

[0161] In an exemplary embodiment, the cleaning device further comprises:

[0162] The preset structure is used to control the cleaning member to swing so as to clean the concave area, wherein, in the moving direction of the cleaning device, the position where the cleaning member swings toward the device body is located in front of the position where the cleaning member swings away from the device body.

[0163] In an exemplary embodiment, the detection component includes a transmitting component and an image acquisition component, wherein:

[0164] The emitting component is used to project a detection light toward the first obstacle when the first obstacle is detected within the height range of the impact plate of the cleaning device during the operation of the cleaning device;

[0165] An image acquisition component is used to acquire images of the projected detection light to obtain an image to be analyzed;

[0166] The processing component is also used to analyze the detection light spot in the image to be analyzed to obtain an obstacle light spot and a ground light spot, wherein the detection light spot is a light spot formed by the detection light, and the obstacle light spot includes a light spot on the first obstacle; when it is determined according to the obstacle light spot and the ground light spot that there is a target ground whose distance from the image acquisition component is greater than the first obstacle in the detection direction of the detection light, and the suspended height of the first obstacle is greater than or equal to the target height, it is determined that there is a concave area whose height is higher than the target height.

[0167] In an exemplary embodiment, the processing component is also used to determine a parameter value of a preset twisting parameter of the cleaning device based on the concave depth of the concave area and the protruding distance of the cleaning member, wherein the concave depth is the depth of the concave area, and the protruding distance is the distance the cleaning member protrudes from the device body; the cleaning device is controlled to twist forward along the obstacle on the upper side of the concave area according to the determined parameter value of the preset twisting parameter; wherein the concave depth is determined in one of the following ways: when it is determined based on the obstacle light spot and the ground light spot that there is a second obstacle whose distance from the image acquisition component is greater than the target ground in the detection direction, the distance between the first obstacle and the second obstacle is determined as the concave depth; when it is determined based on the obstacle light spot and the ground light spot that there is no obstacle whose distance from the image acquisition component is greater than the target ground in the detection direction, the specified concave depth is determined as the concave depth.

[0168] In an exemplary embodiment, the cleaning device is a sweeper, and the detection component includes a forward-looking depth sensor, which is located on the side of the sweeper body. The forward-looking depth sensor includes at least one of the following: a line laser sensor, a ToF sensor, an ultrasonic sensor, and a point ToF sensor.

[0169] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. It should be noted that the above modules as part of the device can be run in Figure 1 In the hardware environment shown, it can be implemented by software or by hardware, wherein the hardware environment includes a network environment.

[0170] According to another aspect of the embodiments of the present application, a storage medium is further provided. Optionally, in this embodiment, the storage medium can be used to execute the program code of any of the above cleaning device operation control methods in the embodiments of the present application.

[0171] Optionally, in this embodiment, the storage medium may be located on at least one network device among a plurality of network devices in the network shown in the above embodiment.

[0172] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps:

[0173] S1, during the operation of the cleaning device, obstacle detection is performed through the detection components on the cleaning device;

[0174] S2, when it is determined according to the detection result of the detection component that there is a concave area whose height is higher than the target height, the cleaning device is controlled to move along the obstacles on the upper side of the concave area, and the cleaning member of the cleaning device is controlled to clean the concave area, wherein at least part of the cleaning member is allowed to protrude from the device body of the cleaning device, and the target height is the height of the cleaning member.

[0175] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0176] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0177] According to another aspect of an embodiment of the present application, an electronic device for implementing the above-mentioned operation control method of the cleaning equipment is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0178] Fig.10 is a structural block diagram of an optional electronic device according to an embodiment of the present application, such as Fig.10 As shown, it includes a processor 1002, a communication interface 1004, a memory 1006 and a communication bus 1008, wherein the processor 1002, the communication interface 1004 and the memory 1006 communicate with each other through the communication bus 1008, wherein,

[0179] Memory 1006, used for storing computer programs;

[0180] The processor 1002 is used to execute the computer program stored in the memory 1006 to implement the following steps:

[0181] S1, during the operation of the cleaning equipment, obstacle detection is performed through the detection components on the cleaning equipment:

[0182] S2, when it is determined according to the detection result of the detection component that there is a concave area whose height is higher than the target height, the cleaning device is controlled to move along the obstacles on the upper side of the concave area, and the cleaning member of the cleaning device is controlled to clean the concave area, wherein at least part of the cleaning member is allowed to protrude from the device body of the cleaning device, and the target height is the height of the cleaning member.

[0183] Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 The communication interface is used for communication between the electronic device and other devices.

[0184] The above-mentioned memory may include RAM, or may include non-volatile memory (non-volatile memory), for example, at least one disk memory. Optionally, the memory may also be at least one storage device located far away from the above-mentioned processor.

[0185] As an example, the memory 1006 may include but is not limited to the first detection unit 902 and the first control unit 904 in the control device of the device. In addition, it may also include but is not limited to other module units in the control device of the device, which will not be repeated in this example.

[0186] The above-mentioned processor can be a general-purpose processor, which can include but not be limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0187] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0188] It can be understood by those skilled in the art that Fig.10 The structure shown is for illustration only. The device for implementing the operation control method of the above-mentioned cleaning device may be a terminal device, which may be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, and other terminal devices. Fig.10 The structure of the electronic device is not limited. Fig.10 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Fig.10 Different configurations shown.

[0189] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which can include: a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0190] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0191] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0192] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0193] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only 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.

[0194] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

[0195] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0196] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for controlling the operation of a cleaning device, characterized in that: include: During the operation of the cleaning device, obstacle detection is performed by a detection component on the cleaning device; When it is determined according to the detection result of the detection component that there is a concave area whose height is higher than the target height, the cleaning device is controlled to move along the obstacle on the upper side of the concave area, and the cleaning member of the cleaning device is controlled to clean the concave area, wherein at least part of the cleaning member is allowed to protrude from the device body of the cleaning device, and the target height is the height of the cleaning member.

2. The method according to claim 1, characterized in that The controlling the cleaning device to move along the obstacle on the upper side of the concave area comprises: The cleaning device is controlled to twist forward along the obstacle on the upper side of the concave area, wherein the cleaning operation of the cleaning member and the twisting operation of the cleaning device are performed simultaneously, or the cleaning operation of the cleaning member and the twisting operation of the cleaning device are performed alternately.

3. The method according to claim 2, characterized in that In the process of controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area, the method further includes: Detecting the distance between the cleaning device body and the obstacle on the upper side of the concave area by a distance sensor on the cleaning device; When the distance between the device body and the obstacle on the upper side of the concave area is greater than a preset distance threshold, adjusting the moving direction of the cleaning device to a direction close to the concave area; When the distance between the device body and the obstacle on the upper side of the concave area is less than a preset distance threshold, the moving direction of the cleaning device is adjusted to a direction away from the concave area.

4. The method according to claim 2, characterized in that: The step of controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area comprises: Determining a parameter value of a preset twisting parameter of the cleaning device according to a concave depth of the concave area and a protruding distance of the cleaning member, wherein the concave depth is a depth of the concave area detected by the detection component, and the protruding distance is a distance that the cleaning member protrudes from the device body; The cleaning device is controlled to twist forward along the obstacle on the upper side of the concave area according to the determined parameter value of the preset twisting parameter.

5. The method according to claim 4, characterized in that The equipment body and the cleaning element are both circular structures; The step of determining the parameter value of the preset twisting parameter of the cleaning device according to the concave depth of the concave area and the protruding distance of the cleaning member comprises: determining the angle difference between the target angle of the cleaning member and the initial angle of the cleaning member as the angle value of the rotation angle of the cleaning device; Taking the cleaning member radius of the cleaning member as a hypotenuse and the target depth of the cleaning member as a right angle side, determining the length of another right angle side, and obtaining the spacing value of the twisting spacing of the cleaning device; Among them, the initial angle is the angle between the center point line and the vertical symmetry axis of the cleaning device, the target angle is the angle between the center point line and the vertical symmetry axis when the cleaning device is rotated to the point where the cleaning member is attached to the inner side of the concave area, the center point line is the line between the center point of the device body and the center point of the cleaning member, the vertical symmetry axis is the symmetry axis corresponding to the forward direction of the cleaning device, and the target depth is the depth to which the cleaning member enters the concave area.

6. The method according to claim 5, characterized in that The method further comprises: The target angle is determined by taking the arc sine of the target value, wherein the target value is the sum of the depth of the concave and the body radius of the device body divided by the sum of the length of the line connecting the center points and the radius of the cleaning member; The recessed depth is determined as the target depth; or, when the cleaning device is rotated to the point where the cleaning member sticks to the inner side of the recessed area, the depth to which the cleaning member enters the recessed area is determined as the target depth; or, the protruding distance is determined as the target depth.

7. The method according to claim 1, characterized in that The controlling the cleaning member of the cleaning device to clean the concave area comprises: The cleaning member is controlled to swing by a preset structure to clean the concave area, wherein, in the moving direction of the cleaning device, the position of the cleaning member swinging toward the device body is located in front of the position of the cleaning member swinging away from the device body.

8. The method according to claim 1, characterized in that The detection component includes an emitting component for projecting detection light and an image acquisition component for performing image acquisition; During the operation of the cleaning device, obstacle detection is performed by a detection component on the cleaning device, including: During the operation of the cleaning device, when a first obstacle is detected within the height range of the collision plate of the cleaning device, a detection light is projected toward the first obstacle by the emitting component, and an image of the projected detection light is captured by the image acquisition component to obtain an image to be analyzed; Analyze the detection light spot in the image to be analyzed to obtain an obstacle light spot and a ground light spot, wherein the detection light spot is a light spot formed by the detection light, and the obstacle light spot includes a light spot on the first obstacle; When it is determined based on the obstacle light spot and the ground light spot that there exists a target ground whose distance from the image acquisition component is greater than the first obstacle in the detection direction of the detection light, and the suspended height of the first obstacle is greater than or equal to the target height, it is determined that there exists a concave area whose height is higher than the target height.

9. The method according to claim 8, characterized in that The controlling the cleaning device to move along the obstacle on the upper side of the concave area comprises: Determining a parameter value of a preset twisting parameter of the cleaning device according to a concave depth of the concave area and a protruding distance of the cleaning member, wherein the concave depth is the depth of the concave area, and the protruding distance is the distance that the cleaning member protrudes from the device body; Controlling the cleaning device to twist forward along the obstacle on the upper side of the concave area according to the determined parameter value of the preset twisting parameter; Wherein, the concave depth is determined in one of the following ways: In the case where it is determined according to the obstacle light spot and the ground light spot that there is a second obstacle in the detection direction whose distance from the image acquisition component is greater than the target ground, the distance between the first obstacle and the second obstacle is determined as the concave depth; When it is determined according to the obstacle light spot and the ground light spot that there is no obstacle in the detection direction whose distance from the image acquisition component is greater than the target ground, the designated concave depth is determined as the concave depth.

10. The method according to any one of claims 1 to 9, characterized in that The cleaning device is a sweeper, and the detection component includes a forward-looking depth sensor, which is located on the side of the body of the sweeper. The forward-looking depth sensor includes at least one of the following: a line laser sensor, a time-of-flight ToF sensor, an ultrasonic sensor, and a point ToF sensor.

11. An operation control device for a cleaning device, characterized in that: include: A first detection unit, used for performing obstacle detection through a detection component on the cleaning device during the operation of the cleaning device; A first control unit is used to control the cleaning device to move along an obstacle on the upper side of the concave area when it is determined that there is a concave area with a height higher than a target height according to the detection result of the detection component, and to control a cleaning member of the cleaning device to clean the concave area, wherein at least a portion of the cleaning member is allowed to protrude from a device body of the cleaning device, and the target height is the height of the cleaning member.

12. A cleaning device, characterized in that: include: A detection component, used for detecting obstacles during the operation of the cleaning device; A processing component is used to control the cleaning device to move along the obstacles on the upper side of the concave area when it is determined according to the detection result of the detection component that there is a concave area with an area height higher than the target height, and control the cleaning member of the cleaning device to clean the concave area, wherein at least part of the cleaning member is allowed to protrude from the device body of the cleaning device, and the target height is the height of the cleaning member.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 10 when executed.

14. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 10 through the computer program.

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