Control method, device and equipment for cleaning equipment

Abstract

The invention discloses a control method, device and equipment of cleaning equipment, relates to the technical field of ground cleaning, and can avoid identifying a complex behavior path of a specific space in a cleaning scene and improve the cleaning efficiency. The method comprises the following steps: acquiring at least one marked space region with a cleaning height requirement; creating a cleaning task according to task requirements of the marked space area in different cleaning scenes; and in response to an execution instruction of the cleaning task in the preset cleaning scene, controlling the cleaning equipment to execute cleaning logic on the corresponding labeled space region according to the cleaning task.

Description

Technical Field

[0001] The present application relates to the field of floor cleaning technology, and in particular to a control method, device and equipment for cleaning equipment. Background Art

[0002] With the development of technology, various intelligent cleaning equipment have emerged, such as sweeping equipment, mopping equipment, window cleaning equipment, etc. These cleaning equipment can be placed in specific areas to execute user-triggered command operations, which not only liberates labor but also saves labor costs.

[0003] In related technologies, cleaning equipment has a liftable upper component, and the height of the equipment can be changed by raising and lowering the component. Specifically, during the control process of the cleaning equipment, a line laser height measurement method can be used to identify specific spaces with height requirements. After the specific space is identified, the specific space can be cleaned by raising and lowering the preset functional components. However, in some special cleaning scenarios, the recognition method of the line laser height measurement has certain errors and cannot accurately identify specific spaces with high cleaning requirements in complex paths, making it difficult to clean specific spaces by raising and lowering the components. Summary of the Invention

[0004] In view of this, the present application provides a control method, device and equipment for cleaning equipment, the main purpose of which is to solve the problem that the centerline laser height measurement in the existing technology cannot accurately identify specific spaces with high cleaning requirements in complex paths, making it difficult for components to be lifted and lowered to achieve cleaning of specific spaces.

[0005] According to a first aspect of the present application, a method for controlling a cleaning device is provided, comprising:

[0006] obtaining at least one marked spatial region having a cleaning height requirement;

[0007] Creating cleaning tasks based on task requirements of the marked spatial area in different cleaning scenarios;

[0008] In response to an execution instruction of a cleaning task in a preset cleaning scene, the cleaning device is controlled to execute cleaning logic on a corresponding marked space area according to the cleaning task.

[0009] Furthermore, the obtaining of at least one marked spatial area having a cleaning height requirement specifically includes:

[0010] Get map information of the area to be cleaned;

[0011] In response to the marking operation of the area to be cleaned, a spatial area with a cleaning height requirement is marked in the area to be cleaned according to the map information to obtain at least one marked spatial area.

[0012] Furthermore, before marking the spatial area with the cleaning height requirement in the area to be cleaned according to the map information to obtain at least one marked spatial area, the method further includes:

[0013] Adding a labeling option for associating a target cleaning object in the area to be cleaned, wherein the target cleaning object has a cleaning height requirement;

[0014] Accordingly, marking a spatial area with a cleaning height requirement in the area to be cleaned according to the map information to obtain at least one marked spatial area specifically includes:

[0015] In response to an operation instruction of a marking option, setting the attribute information of the target cleaning object associated with the marking option to a type having a cleaning height requirement;

[0016] Determining the area location information of the target cleaning object according to the map information;

[0017] According to the area position information of the target cleaning object, a space area with a cleaning height requirement is marked in the area to be cleaned to obtain at least one marked space area.

[0018] Furthermore, before obtaining at least one marked space area having a cleaning height requirement, the method further includes:

[0019] Acquiring historical cleaning information of the cleaning device, wherein the historical cleaning information includes map information of historical cleaning and lifting information of preset functional components of the cleaning device during the historical cleaning process;

[0020] Recording the position of the cleaning device that triggers the lifting of the preset functional component during the historical cleaning process according to the lifting information;

[0021] If the cleaning device triggers the lifting of the preset functional component at the same position a set number of times, at least one marked spatial area with a cleaning height is determined in the historical cleaning map information according to the positions where the preset functional component is triggered to lift multiple times.

[0022] Furthermore, creating a cleaning task according to the task requirements of the marked space area in different cleaning scenarios specifically includes:

[0023] Generating cleaning logic for the marked space area to be executed by the cleaning equipment in different cleaning scenarios according to the task requirements of the marked space area in different cleaning scenarios;

[0024] A cleaning task is created according to the cleaning logic executed by the cleaning equipment on the marked space area in the different cleaning scenarios.

[0025] Furthermore, in response to the execution instruction of the cleaning task in the preset cleaning scene, controlling the cleaning device to execute the cleaning logic on the corresponding marked space area according to the cleaning task specifically includes:

[0026] In response to an execution instruction of a cleaning task in a preset cleaning scene, determining a first cleaning instruction and / or a second cleaning instruction of the cleaning device for the marked spatial area according to the cleaning task on the basis of a set cleaning order;

[0027] When the cleaning device moves toward any marked space area, the cleaning device is controlled to avoid or enter the marked space area according to the first cleaning instruction and / or the second cleaning instruction.

[0028] Furthermore, the change of the cleaning mode of the cleaning device under the control of the first cleaning instruction has no effect on the cleaning of the marked area space, and the cleaning device is controlled to avoid or enter the marked space area according to the first cleaning instruction, specifically including:

[0029] When the cleaning device moves to any marked spatial area, the cleaning progress completed by the cleaning device is obtained according to the first cleaning instruction;

[0030] Controlling the cleaning device to avoid or enter the marked space area according to the cleaning progress completed by the cleaning device;

[0031] The controlling the cleaning device to avoid or enter the marked space area according to the cleaning progress completed by the cleaning device specifically includes:

[0032] If the cleaning device has not completed all areas in the area to be cleaned except the marked space area, controlling the cleaning device to avoid the marked space area;

[0033] If the cleaning device completes cleaning of all areas except the marked space area in the area to be cleaned, the cleaning device is controlled to enter the marked space area for cleaning by lowering a preset functional component.

[0034] Furthermore, the change of the cleaning mode of the cleaning device under the control of the second cleaning instruction affects the cleaning of the marked area space, and the cleaning device is controlled to avoid or enter the marked space area according to the second cleaning instruction, specifically including:

[0035] When the cleaning device moves toward any marked spatial area, a cleaning mode of the cleaning device is obtained according to the second cleaning instruction;

[0036] According to the cleaning mode of the cleaning device, controlling the cleaning device to avoid or enter the marked space area;

[0037] The controlling the cleaning device to avoid or enter the marked space area according to the cleaning mode of the cleaning device specifically includes:

[0038] If the cleaning mode of the cleaning device is a zigzag cleaning mode, controlling the cleaning device to avoid the marked space area;

[0039] If the cleaning mode of the cleaning device is the edge cleaning mode, the cleaning device is controlled to enter the marked space area by lowering the preset functional component and raise the preset functional component after leaving the marked space area, until the cleaning device completes all areas in the area to be cleaned except the marked space area, and then controls the cleaning device to enter the marked space area for cleaning.

[0040] Furthermore, before controlling the cleaning device to execute cleaning logic on the corresponding injection space area according to the cleaning task, the method further includes:

[0041] During the movement of the cleaning equipment, the current cleaning area is spatially detected;

[0042] If it is detected that the current cleaning area has a cleaning height requirement and coincides with the marked space area, the cleaning equipment is controlled to trigger the preset functional component to descend according to the order in which the cleaning equipment enters the current cleaning area or the marked space area, and the cleaning equipment is controlled to trigger the preset functional component to ascend when the cleaning equipment leaves the current cleaning area and the marked space area.

[0043] Furthermore, after obtaining at least one marked space area having a cleaning height requirement, the method further includes:

[0044] In response to a movement instruction of a cleaning device in a non-cleaning scene, controlling the cleaning device to avoid the marked space area;

[0045] If the cleaning device cannot avoid the marked space area during movement, the cleaning device is controlled to lower a preset functional component to enter the marked space area and to raise the preset functional component after leaving the marked space area.

[0046] Furthermore, before controlling the cleaning device to execute cleaning logic on the corresponding marked space area according to the cleaning task, the method further includes:

[0047] If the cleaning device triggers the ascent of other preset components during the movement of the cleaning device, the cleaning device is controlled to avoid the marked space area.

[0048] According to a second aspect of the present application, a control device for a cleaning device is provided, comprising:

[0049] A first acquisition unit is configured to acquire at least one marked spatial region having a cleaning height requirement;

[0050] A creating unit, configured to create a cleaning task according to task requirements of the marked space area in different cleaning scenarios;

[0051] The first control unit is used to respond to an execution instruction of a cleaning task in a preset cleaning scene, and control the cleaning device to execute cleaning logic on a corresponding marked space area according to the cleaning task.

[0052] Furthermore, the first acquiring unit includes:

[0053] An acquisition module is used to obtain map information of the area to be cleaned;

[0054] The marking module is configured to respond to the marking operation of the area to be cleaned and mark a space area with a cleaning height requirement in the area to be cleaned according to the map information to obtain at least one marked space area.

[0055] Furthermore, the first acquiring unit further includes:

[0056] An adding module, configured to add a marking option for associating a target cleaning object with a cleaning height requirement in the area to be cleaned before marking the spatial area with the cleaning height requirement in the area to be cleaned according to the map information to obtain at least one marked spatial area, wherein the target cleaning object has the cleaning height requirement;

[0057] Accordingly, the annotation module is specifically used to:

[0058] In response to an operation instruction of a marking option, setting the attribute information of the target cleaning object associated with the marking option to a type having a cleaning height requirement;

[0059] Determining the area location information of the target cleaning object according to the map information;

[0060] According to the area position information of the target cleaning object, a space area with a cleaning height requirement is marked in the area to be cleaned to obtain at least one marked space area.

[0061] Furthermore, the device further comprises:

[0062] A second acquiring unit is configured to acquire historical cleaning information of the cleaning equipment before acquiring at least one marked spatial area with a cleaning height requirement, wherein the historical cleaning information includes map information of historical cleaning and lifting information of preset functional components of the cleaning equipment during the historical cleaning process;

[0063] A recording unit, configured to record, according to the lifting information, the position of the cleaning device that triggers the lifting of a preset functional component during a historical cleaning process;

[0064] The determination unit is used to determine at least one marked spatial area with a cleaning height in the map information of the historical cleaning according to the positions where the preset functional component is triggered to rise and fall multiple times if the cleaning equipment triggers the preset functional component to rise and fall a set number of times at the same position.

[0065] Furthermore, the creation unit is specifically configured to:

[0066] Generating cleaning logic for the marked space area to be executed by the cleaning equipment in different cleaning scenarios according to the task requirements of the marked space area in different cleaning scenarios;

[0067] A cleaning task is created according to the cleaning logic executed by the cleaning equipment on the marked space area in the different cleaning scenarios.

[0068] Furthermore, the first control unit includes:

[0069] a determination module, configured to respond to an execution instruction of a cleaning task in a preset cleaning scene, and determine a first cleaning instruction and / or a second cleaning instruction for a cleaning device to perform on a marked space area according to the cleaning task on the basis of a set cleaning order;

[0070] The control module is used to control the cleaning device to avoid or enter any marked space area according to the first cleaning instruction and / or the second cleaning instruction when the cleaning device moves toward the marked space area.

[0071] Furthermore, the change of the cleaning mode of the cleaning device under the control of the first cleaning instruction has no effect on the cleaning of the marked area space, and the control module is specifically configured to:

[0072] When the cleaning device moves to any marked spatial area, the cleaning progress completed by the cleaning device is obtained according to the first cleaning instruction;

[0073] Controlling the cleaning device to avoid or enter the marked space area according to the cleaning progress completed by the cleaning device;

[0074] The control module is further configured to:

[0075] If the cleaning device has not completed all areas in the area to be cleaned except the marked space area, controlling the cleaning device to avoid the marked space area;

[0076] If the cleaning device completes cleaning of all areas except the marked space area in the area to be cleaned, the cleaning device is controlled to enter the marked space area for cleaning by lowering a preset functional component.

[0077] Furthermore, the change of the cleaning mode of the cleaning device under the control of the second cleaning instruction affects the cleaning of the marked area space, and the control module is specifically used to:

[0078] When the cleaning device moves toward any marked spatial area, a cleaning mode of the cleaning device is obtained according to the second cleaning instruction;

[0079] According to the cleaning mode of the cleaning device, controlling the cleaning device to avoid or enter the marked space area;

[0080] The control module is further configured to:

[0081] If the cleaning mode of the cleaning device is a zigzag cleaning mode, controlling the cleaning device to avoid the marked space area;

[0082] If the cleaning mode of the cleaning device is the edge cleaning mode, the cleaning device is controlled to enter the marked space area by lowering the preset functional component and raise the preset functional component after leaving the marked space area, until the cleaning device completes all areas in the area to be cleaned except the marked space area, and then controls the cleaning device to enter the marked space area for cleaning.

[0083] Furthermore, the device further comprises:

[0084] A detection unit, configured to perform spatial detection on a current cleaning area during movement of the cleaning device before controlling the cleaning device to execute cleaning logic on the corresponding marked spatial area according to the cleaning task;

[0085] The first control unit is specifically used to control the cleaning equipment to trigger the preset functional component to descend according to the order in which the cleaning equipment enters the current cleaning area or the marked space area if it is detected that the current cleaning area has a cleaning height requirement and coincides with the marked space area, and to control the cleaning equipment to trigger the preset functional component to ascend when the cleaning equipment leaves the current cleaning area and the marked space area.

[0086] Furthermore, the device further comprises:

[0087] a second control unit, configured to, after acquiring at least one marked space area with a cleaning height requirement, control the cleaning device to avoid the marked space area in response to a movement instruction of the cleaning device in a non-cleaning scene;

[0088] The third control unit is configured to control the cleaning device to enter the marked space area by lowering a preset functional component and to raise the preset functional component after leaving the marked space area if the cleaning device cannot avoid the marked space area during movement.

[0089] Furthermore, the device further comprises:

[0090] The fourth control unit is used to control the cleaning device to avoid the marked space area if the cleaning device triggers the rise of other preset components during the movement of the cleaning device before controlling the cleaning device to execute the cleaning logic for the corresponding marked space area according to the cleaning task.

[0091] According to a third aspect of the present application, a computer device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method for controlling the cleaning device described in the first aspect are implemented.

[0092] According to a fourth aspect of the present application, a readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for controlling the cleaning device described in the first aspect are implemented.

[0093] By means of the above-mentioned technical solution, the present application provides a control method, device and equipment for cleaning equipment. Compared with the current existing method of controlling the cleaning equipment by lifting and lowering components, since the marked spatial area is a known specific space, the cleaning task created by the task requirements of the marked spatial area in different cleaning scenes can avoid identifying the complex behavioral path of the specific space in the cleaning scene and improve the cleaning efficiency. The marked spatial area can control the cleaning equipment to automatically lift and lower the preset functional components when it moves to the edge of the area, so that the preset functional components do not need to be frequently lifted and lowered during the control process of the cleaning equipment, and the cleaning of the specific space can be achieved, thereby saving the life of the cleaning components.

[0094] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0096] Figure 1It is a flow chart of a control method of a cleaning device in one embodiment of the present application;

[0097] Figure 2 yes Figure 1 A schematic flow chart of a specific implementation of step 101;

[0098] Figure 3 This is a schematic diagram of determining at least one marked space area in the area to be cleaned by using a rectangular frame selection method in one embodiment of the present application;

[0099] Figure 4 is a flow chart of a control method for a cleaning device in another embodiment of the present application;

[0100] Figure 5 yes Figure 1 A schematic flow chart of a specific implementation of step 102;

[0101] Figure 6 yes Figure 1 A schematic flow chart of a specific implementation of step 103;

[0102] Figure 7 is a flow chart of a control method for a cleaning device in another embodiment of the present application;

[0103] Figure 8 This is a schematic structural diagram of a control device for a cleaning device according to an embodiment of the present application;

[0104] Figure 9 The figure is a schematic diagram of the device structure of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0105] The present invention will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the present invention, rather than to imply any limitation on the scope of the present invention.

[0106] As used herein, the term "including" and variations thereof are to be interpreted as open-ended terms meaning "including, but not limited to." The term "based on" is to be interpreted as "based, at least in part, on." The terms "one embodiment" and "an embodiment" are to be interpreted as meaning "at least one embodiment." The term "another embodiment" is to be interpreted as meaning "at least one other embodiment."

[0107] In related technologies, cleaning equipment has a liftable upper component, and the height of the equipment can be changed by raising and lowering the component. Specifically, during the control process of the cleaning equipment, a line laser height measurement method can be used to identify specific spaces with height requirements. After the specific space is identified, the specific space can be cleaned by raising and lowering the component. However, in some special cleaning scenarios, the recognition method of line laser height measurement has certain errors and cannot accurately identify specific spaces with high cleaning requirements in complex paths, making it difficult to clean specific spaces by raising and lowering the component.

[0108] Specifically, line laser recognition has the following problems in cleaning scenarios:

[0109] First, in order to reduce misjudgment, line laser recognition usually sets a higher recognition threshold. That is to say, the passing height measured by the line laser is not actually the maximum passing height of the cleaning equipment, which causes the cleaning equipment to miss scanning.

[0110] Second, since exploring the boundaries of a specific space requires special behaviors, such as zigzag exploration, it has a great impact on the cleaning efficiency of cleaning equipment.

[0111] Third, in some special cleaning scenarios, there are certain misjudgments in line laser recognition, which may cause certain specific scenarios that can reduce the entry of components to be unable to be recognized, resulting in the problem of missed scanning by the cleaning equipment.

[0112] In order to solve this problem, this embodiment provides a control method for a cleaning device, such as Figure 1 As shown, the method is applied to the control end of the cleaning device and includes the following steps:

[0113] 101. Obtain at least one marked spatial area having a cleaning height requirement.

[0114] Among them, the cleaning height requirement is a limit on the height of the cleaning equipment. In the absence of any obstacles or obstructions, the cleaning equipment can move freely in the spatial area for cleaning. However, considering the complexity of the actual cleaning scene, many spatial areas are arranged with various cleaning objects of a certain height. The cleaning objects can be furniture, toys, etc. For cleaning objects of a certain height, it is necessary to consider the height requirement of the cleaning equipment in the spatial area covered by the cleaning object. If the spatial area covered by the cleaning object is low, the cleaning equipment cannot move freely in the corresponding spatial area for cleaning without adjusting the height of the cleaning equipment body. In this cleaning scene, the spatial area has a cleaning height requirement.

[0115] Specifically, after the cleaning equipment creates a cleaning map, it can receive an area selection operation on the cleaning map. Taking into account the different cleaning height requirements of different cleaning objects, the height at which the cleaning equipment can enter the corresponding marked space area is also different. In order to facilitate the height adjustment of the cleaning equipment during the subsequent cleaning process, the area selection operation is used to select the area in the cleaning map, and the entry height is marked for the selected space area accordingly, thereby obtaining at least one marked space area with a cleaning height requirement.

[0116] The executing subject of this embodiment may be a control device or device for the cleaning equipment, which may be configured at the control end of the cleaning equipment and may control the cleaning equipment during the cleaning process. The control process includes controlling the accessories on the cleaning equipment and controlling the movement of the cleaning equipment. The height of the cleaning equipment may be changed by controlling the accessories. For example, the height of the cleaning equipment may be adjusted by controlling the upgrade of preset functional components on the cleaning equipment. The position of the cleaning equipment may be changed by controlling the movement. For example, the cleaning equipment may be allowed to enter a certain spatial area by controlling the movement of the cleaning equipment.

[0117] 102. Create a cleaning task according to the task requirements of the marked space area in different cleaning scenarios.

[0118] Taking into account that different marked space areas have different required cleaning properties, some corresponding marked space areas have different task requirements in different cleaning scenarios. The task requirements here may include but are not limited to the required cleaning height, required cleaning area, required cleaning times and required cleaning mode, etc. For example, in some cleaning scenarios, the marked space area requires deep cleaning. In this case, the required cleaning times can be set to at least twice, and the required cleaning mode is deep cleaning. In some cleaning scenarios, the marked area space has great movement restrictions. In this case, the cleaning area can be set smaller. In some cleaning scenarios, the cleaning objects corresponding to the marked space area are very low. In this case, the cleaning requirement height is set according to the height of the cleaning object.

[0119] For example, if the marked space area A is in the deep cleaning scenario, the required cleaning mode is the zigzag cleaning mode, the required cleaning height is 20 cm, and the required cleaning times are 3 times. If the marked space area A is in the corner cleaning scenario, the required cleaning mode is the edge cleaning mode, the required cleaning height is 40 cm, and the required cleaning times are 2 times.

[0120] It can be understood that, based on the creation and completion of the cleaning task, for the marked space area in the selected cleaning scene, the built-in sensors and algorithms can be used to plan the first path for the cleaning equipment to move to the marked space area and the second path for the cleaning equipment to clean within the marked space area. Accordingly, movement control instructions are issued to the cleaning equipment according to the first path and the second path.

[0121] 103. In response to an execution instruction of a cleaning task in a preset cleaning scene, control the cleaning device to execute cleaning logic on a corresponding marked space area according to the cleaning task.

[0122] In this embodiment, the cleaning task in the preset cleaning scene can be triggered by the user's real-time operation of the cleaning device. For example, the user can send control instructions to the cleaning device through the terminal to achieve deep cleaning of the spatial area B. The cleaning device can also automatically jump to the cleaning task of the preset scene according to the task stage. For example, after the cleaning device completes the cleaning tasks of all spatial areas except the marked spatial area B, it can jump to the next task stage, that is, the cleaning task of the marked spatial area B.

[0123] It is understandable that after receiving the cleaning task in the preset cleaning scene, the cleaning device will control the cleaning device to go to the space area to be cleaned according to the cleaning task. In the process of moving the cleaning device to the space area to be cleaned, the cleaning device may move to any marked space area. For cleaning tasks in different cleaning scenes, the cleaning logic executed by the cleaning device on the corresponding marked space area is different. Accordingly, the cleaning device will receive different control instructions. In one execution scenario, the cleaning device will receive a control instruction to enter the marked space area for cleaning, and leave the marked space area after cleaning the marked space area. In another execution scenario, the cleaning device will receive a control instruction to avoid cleaning the marked space area, and enter the marked space area for cleaning after cleaning other space areas. In another execution scenario, although the cleaning device will receive a control instruction to enter the marked space area, the cleaning device will enter if it moves outside the marked space area to the edge of the marked space area, and leave if it moves within the marked space area to the edge of the marked space area.

[0124] The control method for cleaning equipment provided in the embodiment of the present application is compared with the current method of controlling the cleaning equipment by lifting and lowering components. Since the marked spatial area is a known specific space, the cleaning task created by the task requirements of the marked spatial area in different cleaning scenarios can avoid identifying the complex behavioral path of the specific space in the cleaning scene, thereby improving cleaning efficiency. The marked spatial area can control the cleaning equipment to automatically lift and lower the preset functional components when it moves to the edge of the area, so that the cleaning equipment can achieve cleaning of the specific space without frequently lifting and lowering the preset functional components during the control process of the cleaning equipment, thereby saving the life of the cleaning components.

[0125] In actual application scenarios, users can select areas on the map through terminal devices to mark out the spatial areas with high cleaning requirements and obtain at least one marked spatial area. Figure 2As shown, step 101 specifically includes the following steps:

[0126] 201. Obtain map information of the area to be cleaned.

[0127] 202 . In response to the marking operation of the area to be cleaned, mark a spatial area with a cleaning height requirement in the area to be cleaned according to the map information to obtain at least one marked spatial area.

[0128] In this embodiment, before cleaning, the cleaning device typically completes mapping of the area to be cleaned through positioning to obtain map information of the area to be cleaned. This mapping process requires the cleaning device to start from an unknown location in an unknown environment and repeatedly locate its position and posture by observing map features (such as corners and pillars) during movement. The map is then incrementally constructed based on its own position, thereby achieving the purpose of simultaneous positioning and mapping. That is, starting from a certain position, the cleaning device uses sensors to explore the environment, obtain environmental information, interpret the scene, and update or construct map information through a specific algorithm.

[0129] It is understandable that the map information of the area to be cleaned is usually obtained by combining multiple different spatial areas. For a spatial area with a high cleaning requirement, you can select from multiple different spatial areas by marking to obtain at least one marked spatial area. The marked spatial area can be a custom shape or a circle, rectangle, polygon, etc. obtained by graphic selection. Figure 3 As shown, Figure 3 A schematic diagram of determining at least one marked space area in the area to be cleaned by a rectangular frame is shown in the figure. Here, the area to be cleaned is composed of multiple cleaning areas, and a schematic diagram of determining at least one marked space area in each cleaning area can be determined by a rectangular frame (dashed line in the figure).

[0130] Furthermore, considering that the marked spatial area with the cleaning height requirement is usually the area covered by the cleaning object, in the above embodiment, before step 202, the above method includes the following steps:

[0131] A marking option for associating a target cleaning object is added in the area to be cleaned, and the target cleaning object has a cleaning height requirement.

[0132] Accordingly, step 202 specifically includes the following steps:

[0133] In response to an operation instruction of a marking option, setting the attribute information of the target cleaning object associated with the marking option to a type having a cleaning height requirement;

[0134] Determining the area location information of the target cleaning object according to the map information;

[0135] According to the area position information of the target cleaning object, a space area with a cleaning height requirement is marked in the area to be cleaned to obtain at least one marked space area.

[0136] In this embodiment, the cleaning objects can be furniture, toys, electrical appliances, etc. deployed in the area to be cleaned. Normally, the spatial area covered by the target cleaning object has cleaning height requirements, such as tables, beds, etc. In order to facilitate the operation of the marked spatial area, the target cleaning object with cleaning height requirements can be combined with the marked spatial area, and a marking option for associating the target cleaning object can be added to the area to be cleaned. The marking option is equivalent to a quick operation option added on the editing page. Through the marking option of the target cleaning object, the spatial area covered by the corresponding target cleaning object can be quickly set as the marked spatial area.

[0137] For example, a labeling option for associating a bed with the area to be cleaned is added, and a labeling option for associating a sofa with the area to be cleaned is added. Accordingly, by triggering the labeling option for the bed, the space area covered by the bed can be set as the labeled space area, and by triggering the labeling option for the sofa, the space area covered by the sofa can be set as the labeled space area.

[0138] It can be understood that the marked space area is a space area that has been marked with cleaning height requirements. At this time, there is no need to perform height detection on the marked space area. By marking the space area, the cleaning equipment can be prevented from identifying complex behavior paths, thereby improving the cleaning efficiency of the cleaning equipment.

[0139] In order to facilitate the acquisition of the marked space area, further, in the above embodiment, as Figure 4 As shown, after step 101, the method further includes the following steps:

[0140] 301. Obtain historical cleaning information of the cleaning equipment.

[0141] 302. Record, according to the lifting information, the position of the cleaning device that triggered the lifting of a preset functional component during a historical cleaning process.

[0142] 303. If the cleaning device triggers the lifting of the preset functional component at the same position a set number of times, determine at least one marked spatial area with a cleaning height in the historical cleaning map information according to the positions where the preset functional component is triggered to lift multiple times.

[0143] Among them, the historical cleaning information includes the map information of historical cleaning and the lifting information of the preset functional components of the cleaning equipment during the historical cleaning process. The preset functional components here are components with lifting functions on the cleaning equipment, such as laser radar components, walking wheel servo lifting components, etc.

[0144] By raising and lowering the preset functional components, the cleaning equipment can be controlled to enter or leave the marked space area during the historical cleaning process. Specifically, when the cleaning equipment moves to the edge of the marked space area, it can enter the marked space area by lowering the preset functional components. Correspondingly, the preset functional components are raised after leaving the marked space area.

[0145] In this embodiment, the position at which the preset functional component is triggered to be lifted during the historical plot can be obtained through the lifting information of the preset functional component. If the preset functional component is triggered to be lifted multiple times at the same position, it means that the spatial area corresponding to the position has a cleaning height requirement. At least one annotated spatial area with a cleaning height is determined in the historical cleaning map information based on the position at which the preset functional component is triggered to be lifted multiple times. Specifically, after triggering the lifting of the preset functional component multiple times, multiple different positions can be obtained. The spatial areas corresponding to the multiple different positions can be recommended as potential annotated spatial areas. The multiple different positions can also form a boundary line, and a spatial area can be selected as a potential annotated spatial area based on the boundary coil. The spatial area formed by each position here can be a circumscribed rectangle of the position, a circle formed with the position as the center, or a circumscribed square. It can be understood that the potential annotated spatial area is equivalent to the edge area of the annotated spatial area, and at least one annotated spatial area with a cleaning height requirement is inferred in the map information based on the multiple edge areas.

[0146] For example, during multiple cleaning processes, the cleaning equipment moves to position A and lowers the preset functional component for cleaning. At this time, it indicates that position A may be an edge point of a potential annotation space area. The space area corresponding to position A can be recommended to the user as a potential annotation space area for the user to select for annotation.

[0147] Specifically, in the above embodiment, Figure 5 As shown, step 102 includes the following steps:

[0148] 401. Generate cleaning logic for the marked space area to be executed by a cleaning device in different cleaning scenarios based on task requirements of the marked space area in different cleaning scenarios.

[0149] 402. Create a cleaning task according to the cleaning logic executed by the cleaning device on the marked space area in the different cleaning scenarios.

[0150] In this embodiment, the cleaning logic executed by the cleaning device on the marked space area in different cleaning scenarios is different. The cleaning logic here includes at least the cleaning mode, number of cleanings, cleaning duration, etc. Under the control of the corresponding cleaning logic, the cleaning device can trigger different cleaning strategies when it moves to the edge of the marked space area. For example, in the cleaning logic of the edge cleaning mode, when the cleaning device moves to the edge of the marked space area, it will trigger the cleaning strategy of entering or leaving the marked space area. In the cleaning logic of the zigzag cleaning mode, when the cleaning device moves to the edge of the marked space area, it will trigger the cleaning strategy of avoiding the marked space area. Further, according to the cleaning strategy triggered when the cleaning device moves to the edge of the marked space area in the cleaning logic, a cleaning task is created.

[0151] It is understandable that, through the cleaning task, different cleaning strategies can be triggered when the cleaning device moves to the edge of the marked space area. In the case of entering or leaving the marked space area, since the marked space area has cleaning height requirements, the cleaning device needs to adjust the overall height of the cleaning device when entering or leaving the marked space area. In this embodiment, the overall height of the cleaning device can be adjusted by raising and lowering the preset functional components. When entering the marked space area, the overall height of the cleaning device is lowered by lowering the height of the preset functional components. Correspondingly, when leaving the marked space area, the overall height of the cleaning device is raised by raising the height of the preset functional components.

[0152] Accordingly, in the above embodiment, Figure 6 As shown, step 103 includes the following steps:

[0153] 501. In response to an execution instruction of a cleaning task in a preset cleaning scene, determine a first cleaning instruction and / or a second cleaning instruction of a cleaning device for a marked spatial area according to the cleaning task.

[0154] 502. When the cleaning device moves toward any marked space area, the cleaning device is controlled to avoid or enter the marked space area according to the first cleaning instruction and / or the second cleaning instruction.

[0155] In this embodiment, the cleaning order of the marked space area by the cleaning equipment is determined by the cleaning logic of the cleaning task. The cleaning order can control the use of different cleaning instructions when the cleaning equipment moves to the edge of the marked space area during the cleaning process. For example, the cleaning order is to clean the marked space area last. When the cleaning equipment has not completed the cleaning of other space areas except the marked space area, the cleaning equipment will trigger the cleaning instruction to avoid the marked space area when it moves toward the marked space area. Conversely, when the cleaning equipment has completed the cleaning of other space areas except the marked space area, the cleaning equipment will trigger the cleaning instruction to enter the marked space area when it moves toward the marked space area.

[0156] Taking into account that the cleaning instructions of the cleaning device to the marked space area may be affected by the cleaning mode, accordingly, the cleaning strategies triggered when the cleaning device moves to the edge of the marked space area under different cleaning modes are different. For example, in the first cleaning mode, the cleaning instructions of the cleaning device to the marked space area are not to clean. At this time, the avoiding cleaning strategy is triggered when the cleaning device moves to the edge of the marked space area. In the second cleaning mode, the cleaning instructions of the cleaning device to the marked space area are to clean. At this time, the entering cleaning strategy is triggered when the cleaning device moves to the edge of the marked space area.

[0157] Specifically, the cleaning instructions of the cleaning equipment to the marked space area are affected by the cleaning order. On the basis of setting the cleaning order, as an implementable method, the change of the cleaning mode of the cleaning equipment under the control of the first cleaning instruction has no effect on the cleaning of the marked area space. The cleaning equipment is controlled to avoid or enter the marked space area according to the first cleaning instruction, specifically including: when the cleaning equipment moves to any marked space area, the cleaning progress completed by the cleaning equipment is obtained according to the first cleaning instruction; according to the cleaning progress completed by the cleaning equipment, the cleaning equipment is controlled to avoid or enter the marked space area. Specifically, if the cleaning equipment has not completed all areas in the area to be cleaned except the marked space area, the cleaning equipment is controlled to avoid the marked space area; if the cleaning equipment has completed all areas in the area to be cleaned except the marked space area, the cleaning equipment is controlled to enter the marked space area for cleaning by lowering the preset functional components. As another feasible method, the change of the cleaning mode of the cleaning device under the control of the second cleaning instruction affects the cleaning of the marked area space, and the cleaning device is controlled to avoid or enter the marked space area according to the second cleaning instruction, specifically including: when the cleaning device moves toward any marked space area, the cleaning mode of the cleaning device is obtained according to the second cleaning instruction; according to the cleaning mode of the cleaning device, the cleaning device is controlled to avoid or enter the marked space area. Specifically, if the cleaning mode of the cleaning device is a zigzag cleaning mode, the cleaning device is controlled to avoid the marked space area; if the cleaning mode of the cleaning device is an edge cleaning mode, the cleaning device is controlled to enter the marked space area by lowering the preset functional component and to leave the marked space area by raising the preset functional component, until the cleaning device completes all areas in the area to be cleaned except the marked space area, and then the cleaning device is controlled to enter the marked space area for cleaning.

[0158] In the first cleaning scenario, for the first cleaning instruction generated based on the cleaning order of last cleaning the marked space area, at this time, the change of cleaning mode does not affect the cleaning of the marked space area by the cleaning equipment. When the cleaning equipment moves to the edge of the marked space area during edge cleaning, the cleaning equipment is controlled to avoid the marked space area along the edge according to the first cleaning instruction. When the cleaning equipment moves to the edge of the marked space area during zigzag cleaning, the cleaning equipment is also controlled to avoid the marked space area according to the first cleaning instruction. After all space areas except the marked space area are cleaned, when the cleaning equipment moves to the edge of the marked space area, the cleaning equipment is controlled according to the first cleaning instruction to enter the marked space area for cleaning by lowering the preset functional components.

[0159] In the second cleaning scenario, for the second cleaning instruction generated based on the cleaning order of last cleaning the marked space area, at this time, the change in cleaning mode affects the cleaning of the marked space area by the cleaning equipment. When the cleaning equipment moves to the edge of the marked space area during edge cleaning, the cleaning equipment is controlled according to the second cleaning instruction to enter the marked space area by lowering the preset functional component for edge cleaning. When the cleaning equipment moves to the edge of the marked space area during edge cleaning in the marked space area, the cleaning equipment is controlled according to the second cleaning instruction to leave the marked space area and then raise the preset functional component. When the cleaning equipment moves to the edge of the marked space area during zigzag cleaning, the cleaning equipment is controlled according to the second cleaning instruction to avoid the marked space area until all space areas except the marked space area are cleaned. When the cleaning equipment moves to the edge of the marked space area, the cleaning equipment is controlled according to the second cleaning instruction to enter the marked space area by lowering the preset functional component for cleaning.

[0160] In the third cleaning scenario, for the first cleaning instruction generated on the basis of no restriction on the cleaning order, at this time, the change of the cleaning mode does not affect the cleaning of the marked space area by the cleaning equipment. Regardless of any cleaning mode, if the cleaning equipment moves outside the marked space area to the edge of the marked space area, the cleaning equipment is controlled according to the first cleaning instruction to enter the marked space area for cleaning by lowering the preset functional component. If the cleaning equipment moves within the marked space area to the edge of the marked space area, the cleaning equipment is controlled according to the second cleaning instruction to leave the marked space area and then raise the preset functional component.

[0161] Furthermore, in the above embodiment, if Figure 7 As shown, before step 103, the method further includes the following steps:

[0162] 601. During the movement of the cleaning equipment, perform spatial detection on the current cleaning area.

[0163] 602. If it is detected that the current cleaning area has a cleaning height requirement and coincides with the marked space area, the cleaning device is controlled to trigger the preset functional component to descend according to the order in which the cleaning device enters the current cleaning area or the marked space area, and the cleaning device is controlled to trigger the preset functional component to ascend when the cleaning device leaves the current cleaning area and the marked space area.

[0164] It can be understood that the marked spatial area is the area to be cleaned that has been determined to have a high cleaning requirement. However, considering the complexity of the cleaning environment in actual application scenarios, there may be missed areas in the marked spatial area. At this time, during the movement of the cleaning equipment, spatial detection can be performed on the current cleaning area to combine the results obtained from real-time spatial detection with the marked spatial area to control the movement strategy of the cleaning equipment.

[0165] In an implementable scenario, the space corresponding to the current cleaning area is detected as having a cleaning height requirement and overlaps with the marked space area, indicating that the marked space area is relatively accurate. At this time, the current cleaning area and the marked space area can be taken as the updated marked space area. According to the updated standard space area, the cleaning equipment is controlled to trigger the lifting of the preset functional components to enter or leave the updated marked space area.

[0166] Specifically, the updated annotated space area is equivalent to the space area where the current cleaning area and the annotated space area are combined. At this time, the cleaning device is controlled to trigger the preset functional component to descend according to the order in which the cleaning device enters the current cleaning area or the annotated space area, and is controlled to trigger the preset functional component to ascend according to when the cleaning device leaves the current cleaning area and the annotated space area. For example, when entering the updated annotated space area, the cleaning device first enters the current cleaning area, and when leaving the updated annotated space area, the cleaning device leaves the annotated space area later. At this time, the cleaning device is controlled to trigger the preset functional component to descend before entering the current cleaning area, and to trigger the preset functional component to ascend after leaving the annotated space area.

[0167] Furthermore, in the above embodiment, before step 103, the method further includes the following steps:

[0168] In response to a movement instruction of a cleaning device in a non-cleaning scene, the cleaning device is controlled to avoid the marked space area.

[0169] If the cleaning device cannot avoid the marked space area during movement, the cleaning device is controlled to lower a preset functional component to enter the marked space area and to raise the preset functional component after leaving the marked space area.

[0170] Among them, non-cleaning scenarios are scenarios where cleaning equipment is not required to perform cleaning tasks, including but not limited to recharging, cruising, mapping, and going to the target location. Considering that the marked space area has a cleaning height requirement, if the cleaning equipment needs to adjust the components when passing through the marked space area, at this time, the cleaning equipment is controlled to avoid the marked space area to avoid the cleaning equipment using the component lifting function. If the cleaning equipment cannot avoid the marked space area during movement in the non-cleaning scenario, the cleaning equipment is controlled to use the component lifting function to enter and leave the marked space area. For example, if the cleaning equipment must pass through the marked space area on its way to the target location, the cleaning equipment is controlled to enter and leave the marked space area through the component lifting function.

[0171] It should be noted that for non-cleaning scenarios in mapping, the cleaning equipment does not need to pass through the marked space area. At this time, the cleaning equipment is controlled to avoid the marked airborne area and map along the marked space area to avoid the cleaning equipment frequently using the component lifting function during the mapping process, thereby saving component life.

[0172] Furthermore, considering that the current height of the cleaning equipment will affect whether the cleaning equipment can smoothly enter the marked space area, before controlling the cleaning equipment to execute the cleaning logic for the corresponding marked space area according to the cleaning task, if the cleaning equipment triggers the rise of other preset components during the movement of the cleaning equipment, the cleaning equipment is controlled to avoid the marked space area.

[0173] In this embodiment, when the height of the cleaning equipment is increased by other preset functional components, the cleaning height requirement of the cleaning equipment for the marked space area will also change accordingly, that is, the cleaning height requirement will become more, and it will be difficult to enter the marked space area by lowering the preset functional components. At this time, if the preset components are not lowered, the cleaning components are controlled to avoid the marked space area.

[0174] In actual application scenarios, cleaning equipment is usually equipped with a large number of component functions, and there may be more than one preset functional components with lifting functions. Before controlling the cleaning equipment to execute the cleaning logic for the corresponding marked space area according to the cleaning task, if the cleaning equipment has used other preset functional components to increase the height of the cleaning equipment, and the cleaning equipment is already elevated and cannot reach the cleaning height requirement corresponding to the marked space area, then the cleaning equipment is controlled to avoid the marked space area.

[0175] Further, as Figure 1-7 The specific implementation of the method, the embodiment of the present application provides a control device for a cleaning device, such as Figure 8 As shown, the device includes: a first acquiring unit 71 , a creating unit 72 , and a first control unit 73 .

[0176] A first acquiring unit 71 is configured to acquire at least one marked spatial region having a cleaning height requirement;

[0177] A creating unit 72, configured to create a cleaning task according to the task requirements of the marked space area in different cleaning scenarios;

[0178] The first control unit 73 is configured to respond to an execution instruction of a cleaning task in a preset cleaning scene and control the cleaning device to execute cleaning logic on a corresponding marked space area according to the cleaning task.

[0179] The control device for cleaning equipment provided by an embodiment of the present invention is compared with the current existing method of controlling the cleaning equipment by lifting and lowering components. Since the marked spatial area is a known specific space, the cleaning tasks created by the task requirements of the marked spatial area in different cleaning scenarios can avoid identifying the complex behavioral paths of specific spaces in the cleaning scenes, thereby improving cleaning efficiency. The marked spatial area can control the cleaning equipment to automatically lift and lower the preset functional components when it moves to the edge of the area, so that the preset functional components do not need to be frequently lifted and lowered during the control process of the cleaning equipment, thereby achieving cleaning of the specific space and saving the life of the cleaning components.

[0180] In a specific application scenario, the first acquiring unit includes:

[0181] An acquisition module is used to obtain map information of the area to be cleaned;

[0182] The marking module is configured to respond to the marking operation of the area to be cleaned and mark a space area with a cleaning height requirement in the area to be cleaned according to the map information to obtain at least one marked space area.

[0183] In a specific application scenario, the first acquiring unit further includes:

[0184] An adding module, configured to add a marking option for associating a target cleaning object with a cleaning height requirement in the area to be cleaned before marking the spatial area with the cleaning height requirement in the area to be cleaned according to the map information to obtain at least one marked spatial area, wherein the target cleaning object has the cleaning height requirement;

[0185] Accordingly, the annotation module is specifically used to:

[0186] In response to an operation instruction of a marking option, setting the attribute information of the target cleaning object associated with the marking option to a type having a cleaning height requirement;

[0187] Determining the area location information of the target cleaning object according to the map information;

[0188] According to the area position information of the target cleaning object, a space area with a cleaning height requirement is marked in the area to be cleaned to obtain at least one marked space area.

[0189] In a specific application scenario, the device further includes:

[0190] A second acquiring unit is configured to acquire historical cleaning information of the cleaning equipment before acquiring at least one marked spatial area with a cleaning height requirement, wherein the historical cleaning information includes map information of historical cleaning and lifting information of preset functional components of the cleaning equipment during the historical cleaning process;

[0191] A recording unit, configured to record, according to the lifting information, the position of the cleaning device that triggers the lifting of a preset functional component during a historical cleaning process;

[0192] The determination unit is used to determine at least one marked spatial area with a cleaning height in the map information of the historical cleaning according to the positions where the preset functional component is triggered to rise and fall multiple times if the cleaning equipment triggers the preset functional component to rise and fall a set number of times at the same position.

[0193] In a specific application scenario, the creation unit is specifically used to:

[0194] Generating cleaning logic for the marked space area to be executed by the cleaning equipment in different cleaning scenarios according to the task requirements of the marked space area in different cleaning scenarios;

[0195] A cleaning task is created according to the cleaning logic executed by the cleaning equipment on the marked space area in the different cleaning scenarios.

[0196] In a specific application scenario, the first control unit includes:

[0197] a determination module, configured to respond to an execution instruction of a cleaning task in a preset cleaning scene, and determine a first cleaning instruction and / or a second cleaning instruction for a cleaning device to perform on a marked space area according to the cleaning task on the basis of a set cleaning order;

[0198] The control module is used to control the cleaning device to avoid or enter any marked space area according to the first cleaning instruction and / or the second cleaning instruction when the cleaning device moves toward the marked space area.

[0199] In a specific application scenario, the change of the cleaning mode of the cleaning device under the control of the first cleaning instruction has no effect on the cleaning of the marked area space, and the control module is specifically used to:

[0200] When the cleaning device moves to any marked spatial area, the cleaning progress completed by the cleaning device is obtained according to the first cleaning instruction;

[0201] Controlling the cleaning device to avoid or enter the marked space area according to the cleaning progress completed by the cleaning device;

[0202] The control module is further configured to:

[0203] If the cleaning device has not completed all areas in the area to be cleaned except the marked space area, controlling the cleaning device to avoid the marked space area;

[0204] If the cleaning device completes cleaning of all areas except the marked space area in the area to be cleaned, the cleaning device is controlled to enter the marked space area for cleaning by lowering a preset functional component.

[0205] In a specific application scenario, the change of the cleaning mode of the cleaning device under the control of the second cleaning instruction affects the cleaning of the marked area space, and the control module is specifically used to:

[0206] When the cleaning device moves toward any marked spatial area, a cleaning mode of the cleaning device is obtained according to the second cleaning instruction;

[0207] According to the cleaning mode of the cleaning device, controlling the cleaning device to avoid or enter the marked space area;

[0208] The control module is further configured to:

[0209] If the cleaning mode of the cleaning device is a zigzag cleaning mode, controlling the cleaning device to avoid the marked space area;

[0210] If the cleaning mode of the cleaning device is the edge cleaning mode, the cleaning device is controlled to enter the marked space area by lowering the preset functional component and raise the preset functional component after leaving the marked space area, until the cleaning device completes all areas in the area to be cleaned except the marked space area, and then controls the cleaning device to enter the marked space area for cleaning.

[0211] In a specific application scenario, the device further includes:

[0212] A detection unit, configured to perform spatial detection on a current cleaning area during movement of the cleaning device before controlling the cleaning device to execute cleaning logic on the corresponding marked spatial area according to the cleaning task;

[0213] The first control unit is specifically used to control the cleaning equipment to trigger the preset functional component to descend according to the order in which the cleaning equipment enters the current cleaning area or the marked space area if it is detected that the current cleaning area has a cleaning height requirement and coincides with the marked space area, and to control the cleaning equipment to trigger the preset functional component to ascend when the cleaning equipment leaves the current cleaning area and the marked space area.

[0214] In a specific application scenario, the device further includes:

[0215] a second control unit, configured to, after acquiring at least one marked space area with a cleaning height requirement, control the cleaning device to avoid the marked space area in response to a movement instruction of the cleaning device in a non-cleaning scene;

[0216] The third control unit is configured to control the cleaning device to enter the marked space area by lowering a preset functional component and to raise the preset functional component after leaving the marked space area if the cleaning device cannot avoid the marked space area during movement.

[0217] In a specific application scenario, the device further includes:

[0218] The fourth control unit is used to control the cleaning device to avoid the marked space area if the cleaning device triggers the rise of other preset components during the movement of the cleaning device before controlling the cleaning device to execute the cleaning logic for the corresponding marked space area according to the cleaning task.

[0219] It should be noted that for other corresponding descriptions of the various functional units involved in the control device of a cleaning device provided in this embodiment, please refer to Figure 1-Figure 7 The corresponding description in will not be repeated here.

[0220] Based on the above Figure 1-Figure 7 The method shown in FIG. 1 is a method for performing the above-mentioned operation. Accordingly, the embodiment of the present application further provides a storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned operation is performed. Figure 1-Figure 7 The control method of the cleaning equipment shown.

[0221] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0222] Based on the above Figure 1-Figure 7 The method shown, and Figure 8In order to achieve the above-mentioned purpose, the embodiment of the present application further provides a physical device for controlling the cleaning device, which can be a computer, a smart phone, a tablet computer, a smart watch, a server, or a network device, etc. The physical device includes a storage medium and a processor; the storage medium is used to store a computer program; the processor is used to execute the computer program to achieve the above-mentioned Figure 1-Figure 7 The control method of the cleaning equipment shown.

[0223] Optionally, the physical device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a Wi-Fi module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a Wi-Fi interface), etc.

[0224] In an exemplary embodiment, see Figure 9 The physical device includes a communication bus, a processor, a memory, and a communication interface. It may also include an input / output interface and a display device. The various functional units can communicate with each other via the bus. The memory stores a computer program, and the processor is configured to execute the program stored in the memory and perform the painting mounting method described in the above embodiment.

[0225] Those skilled in the art will understand that the physical device structure of the control of a cleaning device provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or a combination of certain components, or different component arrangements.

[0226] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device used to process store search information, supporting the execution of the information processing program and other software and / or programs. The network communication module is used to enable communication between components within the storage medium and with other hardware and software within the physical device used to process the information.

[0227] Through the description of the above implementation methods, those skilled in the art can clearly understand that this application can be implemented by means of software plus the necessary general hardware platform, or by hardware. By applying the technical solution of this application, compared with the current existing methods, this application creates cleaning tasks by marking the task requirements of spatial areas in different cleaning scenes, which can avoid identifying the complex behavioral paths of specific spaces in the cleaning scenes and improve cleaning efficiency. The marked spatial area can allow the cleaning equipment to control the automatic lifting of the preset functional components of the cleaning equipment when it moves to the edge of the area, so that the cleaning of a specific space can be achieved without frequently lifting the preset functional components during the control process of the cleaning equipment, thus saving the life of the cleaning components.

[0228] Those skilled in the art will understand that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required to implement the present application. Those skilled in the art will understand that the modules in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the implementation scenario description, or can be changed accordingly and located in one or more devices different from the implementation scenario. The modules of the above-mentioned implementation scenario can be combined into one module, or can be further split into multiple sub-modules.

[0229] The serial numbers of the above application are for descriptive purposes only and do not represent the advantages or disadvantages of the implementation scenarios. The above disclosure only discloses several specific implementation scenarios of the present application, but the present application is not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present application.

Claims

1. A method for controlling a cleaning device, characterized in that: include: obtaining at least one marked spatial region having a cleaning height requirement; Creating cleaning tasks based on task requirements of the marked spatial area in different cleaning scenarios; In response to an execution instruction of a cleaning task in a preset cleaning scene, the cleaning device is controlled to execute cleaning logic on a corresponding marked space area according to the cleaning task.

2. The method according to claim 1, characterized in that The obtaining of at least one marked spatial area having a cleaning height requirement specifically includes: Obtain map information of the area to be cleaned; In response to the marking operation of the area to be cleaned, a spatial area with a cleaning height requirement is marked in the area to be cleaned according to the map information to obtain at least one marked spatial area.

3. The method according to claim 2, characterized in that Before marking the spatial area with the cleaning height requirement in the area to be cleaned according to the map information to obtain at least one marked spatial area, the method further includes: Adding a labeling option for associating a target cleaning object in the area to be cleaned, wherein the target cleaning object has a cleaning height requirement; Accordingly, marking a spatial area with a cleaning height requirement in the area to be cleaned according to the map information to obtain at least one marked spatial area specifically includes: In response to an operation instruction of a marking option, setting the attribute information of the target cleaning object associated with the marking option to a type having a cleaning height requirement; Determining the area location information of the target cleaning object according to the map information; According to the area position information of the target cleaning object, a space area with a cleaning height requirement is marked in the area to be cleaned to obtain at least one marked space area.

4. The method according to claim 1, wherein Before obtaining at least one marked space area having a cleaning height requirement, the method further includes: Acquiring historical cleaning information of the cleaning device, wherein the historical cleaning information includes map information of historical cleaning and lifting information of preset functional components of the cleaning device during the historical cleaning process; Recording the position of the cleaning device that triggers the lifting of the preset functional component during the historical cleaning process according to the lifting information; If the cleaning device triggers the lifting of the preset functional component at the same position a set number of times, at least one marked spatial area with a cleaning height is determined in the historical cleaning map information according to the positions where the preset functional component is triggered to lift multiple times.

5. The method according to claim 1, wherein The step of creating a cleaning task according to the task requirements of the marked space area in different cleaning scenarios specifically includes: Generating cleaning logic for the marked space area to be executed by the cleaning equipment in different cleaning scenarios according to the task requirements of the marked space area in different cleaning scenarios; A cleaning task is created according to the cleaning logic executed by the cleaning equipment on the marked space area in the different cleaning scenarios.

6. The method according to claim 1, characterized in that The step of responding to an execution instruction of a cleaning task in a preset cleaning scene and controlling the cleaning device to execute cleaning logic on a corresponding marked space area according to the cleaning task specifically includes: In response to an execution instruction of a cleaning task in a preset cleaning scene, determining a first cleaning instruction and / or a second cleaning instruction of the cleaning device for the marked spatial area according to the cleaning task on the basis of a set cleaning order; When the cleaning device moves toward any marked space area, the cleaning device is controlled to avoid or enter the marked space area according to the first cleaning instruction and / or the second cleaning instruction.

7. The method according to claim 6, characterized in that The change of the cleaning mode of the cleaning device under the control of the first cleaning instruction does not affect the cleaning of the marked area space, and the cleaning device is controlled to avoid or enter the marked space area according to the first cleaning instruction, specifically including: When the cleaning device moves to any marked spatial area, the cleaning progress completed by the cleaning device is obtained according to the first cleaning instruction; Controlling the cleaning device to avoid or enter the marked space area according to the cleaning progress completed by the cleaning device; The controlling the cleaning device to avoid or enter the marked space area according to the cleaning progress completed by the cleaning device specifically includes: If the cleaning device has not completed all areas in the area to be cleaned except the marked space area, controlling the cleaning device to avoid the marked space area; If the cleaning device completes cleaning of all areas except the marked space area in the area to be cleaned, the cleaning device is controlled to enter the marked space area for cleaning by lowering a preset functional component.

8. A control device for a cleaning device, characterized in that: include: A first acquisition unit is configured to acquire at least one marked spatial region having a cleaning height requirement; A creating unit, configured to create a cleaning task according to task requirements of the marked space area in different cleaning scenarios; The first control unit is used to respond to an execution instruction of a cleaning task in a preset cleaning scene, and control the cleaning device to execute cleaning logic on a corresponding marked space area according to the cleaning task.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method for controlling the cleaning device according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for controlling the cleaning device according to any one of claims 1 to 7 are implemented.

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