Cleaning equipment control method and device, cleaning equipment and readable storage medium

Abstract

The invention provides a control method and device of cleaning equipment, the cleaning equipment and a readable storage medium, and relates to the field of home control. The method comprises the steps that in the cleaning task process, the actual moving path of the cleaning equipment is recorded, the cleaning equipment is simulated to move in a stable edge state, and a simulated moving path is obtained; and if the actual moving path is compared with the simulated moving path, judging whether the cleaning area needs to be cleaned or not. According to the embodiment of the invention, the problem of missing cleaning in the walking process of the cleaning equipment along the edge can be detected, and the cleaning equipment is controlled to perform supplementary cleaning when the problem of missing cleaning is detected, so that the cleaning area is covered in a larger range, and the cleaning effect of the cleaning equipment on the ground is improved.

Description

Technical Field

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

[0002] Cleaning robots are currently widely used due to their convenience in automated cleaning. However, in areas such as narrow entrances or rows of chairs, when avoiding obstacles, cleaning robots may miss areas to clean due to inaccurate path planning along edges (such as walls) or excessive obstacle avoidance. Incomplete coverage of the cleaning area can affect the cleaning effect of the cleaning robot on the floor. Summary of the Invention

[0003] In view of this, the present application provides a control method, device, cleaning equipment and readable storage medium for cleaning equipment, which realizes the control of the cleaning equipment to perform supplementary cleaning, thereby covering a larger cleaning area and improving the cleaning effect of the cleaning equipment on the ground.

[0004] In a first aspect, an embodiment of the present application provides a method for controlling a cleaning device, comprising:

[0005] During the process of the cleaning device performing a cleaning task on the cleaning area, the actual moving path of the cleaning device is recorded, and the movement of the cleaning device in a stable edgewise state is simulated to obtain a simulated moving path;

[0006] Whether supplementary cleaning is required is determined based on a comparison between the actual moving path and the simulated moving path.

[0007] In a second aspect, an embodiment of the present application provides a control device for a cleaning device, comprising:

[0008] A path recording module is used to record the actual moving path of the cleaning device during the cleaning task of the cleaning device in the cleaning area;

[0009] A path simulation module, used to simulate the movement of the cleaning device in a stable edgewise state to obtain a simulated movement path;

[0010] The supplementary cleaning judgment module is used to judge whether supplementary cleaning is needed based on the comparison between the actual moving path and the simulated moving path.

[0011] In a third aspect, an embodiment of the present application provides a cleaning device, which includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the method of the first aspect are implemented.

[0012] In a fourth aspect, an embodiment of the present application provides a readable storage medium, which stores a program or instruction. When the program or instruction is executed by a processor, the steps of the method of the first aspect are implemented.

[0013] In an embodiment of the present application, while a cleaning device is performing a cleaning task on a cleaning area, the actual movement path of the cleaning device in an unstable edge-adjacent state is recorded, and the movement of the cleaning device in a stable edge-adjacent state is simulated to obtain a simulated movement path. The actual movement path and the simulated movement path are compared to determine whether the cleaning area of the cleaning device requires additional cleaning.

[0014] The embodiment of the present application can detect the problem of missed cleaning that occurs when the cleaning equipment moves along the edge, and control the cleaning equipment to perform additional cleaning when the missed cleaning problem is detected, thereby covering the cleaning area over a larger range and improving the cleaning effect of the cleaning equipment on the ground.

[0015] 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

[0016] 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:

[0017] Figure 1 A schematic flow chart showing a method for controlling a cleaning device according to an embodiment of the present application is shown;

[0018] Figure 2 A structural block diagram of a control device for a cleaning device according to an embodiment of the present application is shown;

[0019] Figure 3 The structural block diagram of the cleaning device according to the embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0021] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0022] The control method, device, cleaning device and readable storage medium of the cleaning device provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0023] The present application embodiment provides a method for controlling a cleaning device, such as Figure 1 As shown, the method includes:

[0024] S101 , when a cleaning device performs a cleaning task on a cleaning area, an actual moving path of the cleaning device is recorded, and the cleaning device is simulated to move in a stable edgewise state to obtain a simulated moving path.

[0025] In this step, the cleaning device performs its cleaning task within the cleaning area. An expansion map is constructed based on a high-precision map of the cleaning area. The actual movement path of the cleaning device in the unstable edge-adjacent state is recorded on the expansion map. Furthermore, starting from the start detection point on the expansion map, the cleaning device is transformed from a circle to a point. The movement logic of the cleaning device in the actual stable edge-adjacent state is simulated, and the device moves forward on the expansion map to obtain a simulated movement path, i.e., the simulated optimal edge-adjacent path.

[0026] In one embodiment, when the cleaning device is in an unstable edgewise state and moves at a speed greater than a certain speed, the coordinates of the cleaning device are recorded at a certain frequency to achieve the recording of the actual moving path.

[0027] While cleaning, the cleaning device will enter different operating states, including edge-along state, stable edge-along state, unstable edge-along state, and obstacle avoidance state. The edge-along state means that after the cleaning device enters the cleaning state, it will first clean the boundary of the area where the current coordinates are located. The boundary in this process can be the actual walls and obstacles in the user's home, or the cleaning boundary of this area. The edge referred to in this application can refer to the former, that is, cleaning along the actual walls and obstacles in the user's home.

[0028] The obstacle avoidance state means that the objects measured by the detection device on the cleaning equipment will generate a series of point cloud data. The cleaning equipment will convert the point cloud data into obstacles with coordinates. The cleaning equipment will turn on the obstacle avoidance function and will perform evasive actions when encountering such obstacles. This is referred to as obstacle avoidance.

[0029] A stable edge-following state means that the cleaning device is in the edge-following state, the actual wall along which it is located is a straight wall, and the edge-following state is maintained for a certain period of time, for example, 1 second. Conversely, the cleaning device cannot maintain the edge-following state for a certain period of time, for example, performing at least one edge-following obstacle avoidance action while in the edge-following state.

[0030] Cleaning leakage of cleaning equipment usually occurs in an unstable edge state. The embodiment of the present application can address the cleaning leakage problem caused by excessive edge obstacle avoidance action in an unstable edge state (that is, between two stable edge states).

[0031] In one embodiment of the present application, the method includes:

[0032] Update the obstacle point cloud data collected by the detection device of the cleaning equipment to the map and determine the location of the obstacle on the map;

[0033] With the obstacle position as the center and the radius of the cleaning equipment as the expansion radius, map expansion processing is performed to obtain an expanded map. After expansion, the area corresponding to the obstacle position is marked as an inaccessible area.

[0034] In this embodiment, the cleaning equipment collects obstacle point cloud data through a detection device, which includes an LDS (Laser Direct Structuring) device, a line laser device, etc. The LDS device performs laser ranging and can return the shortest distance to obstacles in each degree within 360° at a fixed height around the cleaning equipment every 200 ms; the line laser device is similar to the LDS device and will return the shortest distance to obstacles in each degree within 360° around the cleaning equipment. The difference is that the obstacles measured by the LDS device are all at the same height (the same height as the cleaning equipment), while the line laser device can obtain data within different height ranges.

[0035] The high-precision map is updated using the collected obstacle point cloud data as the data source. The updating method is: when the cleaning equipment has not run to the map boundary, the corresponding coordinates are calculated with the cleaning equipment as the center point of the data source. When the cleaning equipment runs to the map boundary, the map center is moved to the cleaning equipment coordinates. The point cloud data that is no longer within the map range is erased, and the point cloud data that is still within the range is retained.

[0036] The obstacle position is determined on the high-precision map. Specifically, the obstacle is identified and colored on the high-precision map. When the same coordinate of the high-precision map is colored more than a preset threshold number of times, the coordinate point is determined to be a stable obstacle point, thereby determining the obstacle position.

[0037] Furthermore, map expansion processing is performed with the obstacle position as the center and the radius of the cleaning equipment as the expansion radius to obtain an expanded map for path planning. After expansion, the area corresponding to the obstacle position is marked as an inaccessible area for subsequent path planning.

[0038] The expansion map extends the boundaries of obstacles, providing additional safety margins for cleaning equipment. When simulating a path based on the expansion map, the expanded boundaries ensure that the planned path will not collide with obstacles, ensuring a high level of safety. Furthermore, in dynamic environments, where the position and state of obstacles may change, the expanded boundaries ensure that the planned path adapts to these changes, helping cleaning equipment to respond promptly to unexpected situations.

[0039] In one embodiment of the present application, in the process of simulating the simulated moving path of the cleaning device, the simulated movement data of the cleaning device within the preset time period is less than the actual movement data of the cleaning device within the preset time period; the simulated movement data includes the simulated movement speed or the simulated movement distance, and the actual movement data includes the actual movement speed or the actual movement distance.

[0040] In this embodiment, when simulating the moving path of the cleaning device, attention should be paid to the speed of the simulated moving path. If the simulation speed is too fast, two problems may occur:

[0041] (1) The simulation speed is too fast, and the obstacles in places where the cleaning equipment has not reached are inaccurate, resulting in low accuracy of the simulated moving path.

[0042] Because obstacles are constantly updated during the movement of the cleaning equipment, even at locations farther away, there may be point cloud data. However, this point cloud data is relatively inaccurate. Creating an expansion map relies heavily on the accuracy of the obstacle point cloud data. If the expansion map is inaccurate, the simulated movement path based on it will also be inaccurate.

[0043] (2) Too fast a simulation speed will result in a huge path deviation.

[0044] Since some obstacles may appear when the cleaning device is relatively close (such as a pet that suddenly appears), the cleaning device needs to avoid the obstacle. If the simulation speed is too fast, the simulated moving path may have crossed the obstacle. At this time, the simulated moving path is an incorrect path.

[0045] Therefore, when simulating the simulated movement path of the cleaning device, it is necessary to control the simulated speed. During the simulation of the simulated movement path of the cleaning device, the simulated movement speed of the cleaning device within a preset time period can be controlled to be less than the actual movement speed of the cleaning device within the preset time period, or the simulated movement distance of the cleaning device within the preset time period can be controlled to be less than the actual movement distance of the cleaning device within the preset time period, thereby ensuring the accuracy of the simulated movement path.

[0046] S102: Determine whether the cleaning area needs additional cleaning based on the comparison between the actual moving path and the simulated moving path.

[0047] In this step, the actual moving path and the simulated moving path are compared to determine whether the cleaning area of the cleaning device needs additional cleaning.

[0048] In one embodiment of the present application, a method for determining whether a cleaning area needs additional cleaning based on a comparison of an actual moving path and a simulated moving path includes: if there is a path deviation between the actual moving path and the simulated moving path, determining that the cleaning area needs additional cleaning.

[0049] In this embodiment, starting from the detection, the simulated movement path and the actual movement path are generally similar for at least a small section, but in some cases, paths may diverge in areas where cleaning is missed. Therefore, whether there is a path deviation between the actual movement path and the simulated movement path can be used to determine whether a cleaning area has missed cleaning. If there is no path deviation between the actual movement path and the simulated movement path, it is determined that no cleaning area has been missed. If there is a path deviation between the actual movement path and the simulated movement path, it is determined that a cleaning area has been missed.

[0050] By comparing the simulated moving path in the stable edgewise state with the actual moving path, it is possible to accurately determine whether the cleaning area needs additional cleaning, and thus control the cleaning device to perform additional cleaning on the area that needs additional cleaning.

[0051] In one embodiment of the present application, a method for determining whether there is a path deviation between the actual movement path and the simulated movement path includes:

[0052] Obtaining the distance and travel direction between the end point of the actual movement path and the end point of the simulated movement path, and if the distance exceeds a preset distance threshold and / or the angle between the travel directions exceeds a first preset angle threshold, determining that there is a path deviation between the actual movement path and the simulated movement path; or,

[0053] A first travel path is predicted based on the actual travel path, and a second travel path is predicted based on the simulated travel path. If an angle between a travel direction of the first travel path and a travel direction of the second travel path exceeds a second preset angle threshold, it is determined that there is a path deviation between the actual travel path and the simulated travel path.

[0054] In one embodiment, the distance between the end point of the actual moving path and the end point of the simulated moving path, as well as the angle between the direction of the end point of the actual moving path and the direction of travel of the end point of the simulated moving path are calculated. If the distance exceeds a preset distance threshold and / or the angle between the travel directions exceeds a first preset angle threshold, indicating a large deviation between the two, it is determined that there is a path deviation between the actual moving path and the simulated moving path.

[0055] In another embodiment, a short path (i.e., a first travel path) is simulated on the actual moving path, and a short path (i.e., a second travel path) is simulated on the simulated moving path. The angle between the travel direction of the first travel path and the travel direction of the second travel path is calculated. If the angle exceeds a second preset angle threshold, indicating that there is a large deviation between the travel directions of the two, it is determined that there is a path deviation between the actual moving path and the simulated moving path.

[0056] In one embodiment of the present application, a deviation starting point where a path deviation occurs between the actual moving path and the simulated moving path is obtained, and the deviation starting point is used as a target similarity point.

[0057] In this embodiment, after determining that the actual movement path and the simulated movement path diverge, it is further necessary to determine the location at which the divergence occurs, that is, to determine the starting point of the deviation between the actual movement path and the simulated movement path, that is, the coordinates at which the actual movement path and the simulated movement path are finally similar. In some embodiments, the deviation starting point can be determined using a DTW (Dynamic Time Warping) algorithm, a path curvature method, or the like.

[0058] The DTW algorithm is used to compare the similarity of two time series. It can handle issues of varying lengths and local time distortion. The actual and simulated paths can be considered two time series. First, the Euclidean distance is used to calculate the distance between each two points in the two sequences, generating a Euclidean distance matrix. The first point of significant deviation (i.e., where the Euclidean distance suddenly increases) is found using this matrix. This point is considered the starting point of the deviation.

[0059] The path curvature method compares the curvature of adjacent points between the actual and simulated paths. If two points on the two paths are within a certain curvature and distance threshold, the two points are considered similar. The more consecutive similar points there are, the more likely the paths are similar. If two points on the two paths are within a certain curvature and distance threshold, the two points are considered the starting points of the deviation.

[0060] In one embodiment of the present application, after S102, it also includes: if additional cleaning is required, determining a additional cleaning point in the simulated moving path; controlling the cleaning device to move to the additional cleaning point, and starting from the additional cleaning point and moving along the edge to perform additional cleaning.

[0061] In this step, if a cleaning area is determined to require additional cleaning, a supplementary cleaning point is determined within the simulated movement path, serving as the data basis for controlling the cleaning equipment's additional cleaning. Once the supplementary cleaning point is determined, the cleaning equipment is interrupted and directed to the supplementary cleaning point. Then, the cleaning equipment is again directed to the edge state to begin additional cleaning.

[0062] Regarding the related technology, if an obstacle appears in the direction of travel while the cleaning equipment is moving along the edge, the cleaning equipment may not be able to enter a smaller area for cleaning due to inaccurate path planning along the edge or the range of avoiding obstacles is too large, resulting in missed cleaning areas.

[0063] The embodiment of the present application can detect the problem of missed cleaning that occurs when the cleaning equipment moves along the edge, and determine the supplementary cleaning point when the missed cleaning problem is detected, so as to control the cleaning equipment to perform supplementary cleaning, thereby covering the cleaning area over a larger range and improving the cleaning effect of the cleaning equipment on the ground.

[0064] In one embodiment of the present application, determining a supplementary cleaning point in a simulated movement path includes:

[0065] Obtaining target similarities between the actual moving path and the simulated moving path;

[0066] On the simulated moving path, starting from the target similarity point, traverse each path point of the simulated moving path to obtain multiple target path points that meet preset conditions. The preset conditions include that one side of the path point is a wall and there are no obstacles within the device width range of the path point;

[0067] For the multiple target path points obtained, if the distance between the first target path point and the last target path point is greater than the preset distance, the last target path point is used as a supplementary cleaning point.

[0068] In this embodiment, the deviation starting point where the path deviation occurs between the actual moving path and the simulated moving path determined above is used as the target similarity point, and the supplementary cleaning point is determined based on the target similarity point.

[0069] Specifically, in the simulated moving path, start from the target similarity point and search backward for the supplementary cleaning point. With each path point in the simulated moving path as the center, expand outward in the n×n (n is a positive number, for example, 3×3) grid to traverse, and determine whether the path point meets the conditions that there are no obstacles within the width of the device and one side is a wall (for example, the right side is a wall), and find multiple path points that meet the above conditions. Furthermore, determine whether the distance between the first path point and the last path point among the multiple path points is greater than the preset distance (for example, 100mm). If it is greater, the last path point is used as a supplementary cleaning point. If the distance between the first path point and the last path point is not determined, but the cleaning device directly reaches the first path point, it is still possible to touch an obstacle in this case. The present application sets a preset distance, for example, 100cm, which is approximately 1 / 3 of the device width, so that it can ensure that no obstacles will be encountered when crossing to the supplementary cleaning point.

[0070] In the embodiment of the present application, the supplementary cleaning point can be accurately determined in the above manner, and it can be ensured that the cleaning device will not encounter obstacles when moving to the supplementary cleaning point, thereby ensuring safe supplementary cleaning.

[0071] As a specific implementation of the control method of the above-mentioned cleaning equipment, the embodiment of the present application provides a control device for cleaning equipment. Figure 2 As shown, the control device 200 of the cleaning equipment includes: a path recording module 201 , a path simulation module 202 , a supplementary cleaning judgment module 203 and a supplementary cleaning control module 204 .

[0072] The path recording module 201 is used to record the actual moving path of the cleaning device during the cleaning task of the cleaning device in the cleaning area;

[0073] A path simulation module 202 is used to simulate the movement of the cleaning device in a stable edge-adjacent state to obtain a simulated movement path;

[0074] The supplementary cleaning judgment module 203 is used to judge whether the cleaning area needs supplementary cleaning based on the comparison between the actual moving path and the simulated moving path.

[0075] The embodiment of the present application can detect the problem of missed cleaning that occurs when the cleaning equipment moves along the edge, and determine the supplementary cleaning point when the missed cleaning problem is detected, so as to control the cleaning equipment to perform supplementary cleaning, thereby covering the cleaning area over a larger range and improving the cleaning effect of the cleaning equipment on the ground.

[0076] Furthermore, the device also includes: a supplementary cleaning control module, which is used to: determine a supplementary cleaning point in the simulated moving path when supplementary cleaning is required; and control the cleaning equipment to move to the supplementary cleaning point and move along the edge from the supplementary cleaning point to perform supplementary cleaning.

[0077] Furthermore, the device further includes: a map construction module, configured to:

[0078] Updating the obstacle point cloud data collected by the detection device of the cleaning equipment to a map, and determining the location of the obstacle on the map;

[0079] A map expansion process is performed with the obstacle position as the center and the radius of the cleaning device as the expansion radius to obtain the expanded map. After the expansion, the area corresponding to the obstacle position is marked as an inaccessible area.

[0080] Furthermore, in the process of simulating the simulated movement path, the simulated movement data of the cleaning device within the preset time period is less than the actual movement data of the cleaning device within the preset time period; the simulated movement data includes a simulated movement speed or a simulated movement distance, and the actual movement data includes an actual movement speed or an actual movement distance.

[0081] Furthermore, the supplementary cleaning judgment module 203 is specifically configured to: determine that the cleaning area needs supplementary cleaning if there is a path deviation between the actual moving path and the simulated moving path.

[0082] Furthermore, the cleaning judgment module 203 is supplemented and specifically configured to:

[0083] obtaining a distance and a travel direction between an end point of the actual movement path and an end point of the simulated movement path, and determining that there is a path deviation between the actual movement path and the simulated movement path if the distance exceeds a preset distance threshold and / or the angle between the travel directions exceeds a first preset angle threshold; or

[0084] A first travel path is predicted based on the actual travel path, and a second travel path is predicted based on the simulated travel path. If an angle between a travel direction of the first travel path and a travel direction of the second travel path exceeds a second preset angle threshold, it is determined that a path deviation exists between the actual travel path and the simulated travel path.

[0085] Furthermore, the cleaning judgment module 203 is supplemented and specifically configured to:

[0086] Obtaining target similarity points between the actual movement path and the simulated movement path;

[0087] On the simulated movement path, starting from the target similar point, traversing each path point of the simulated movement path, and obtaining multiple target path points that meet preset conditions, wherein the preset conditions include that one side of the path point is a wall and there are no obstacles within the device width range of the path point;

[0088] For the multiple target path points obtained, if the distance between the first target path point and the last target path point is greater than a preset distance, the last target path point is used as the supplementary cleaning point.

[0089] Furthermore, the cleaning judgment module 203 is supplemented and specifically configured to:

[0090] A deviation starting point where a path deviation occurs between the actual moving path and the simulated moving path is obtained, and the deviation starting point is used as the target similarity point.

[0091] The control device 200 of the cleaning device in the embodiment of the present application can be a cleaning device, or a component in the cleaning device, such as an integrated circuit or a chip. The control device 200 of the cleaning device provided in the embodiment of the present application can realize Figure 1 To avoid repetition, the various processes implemented in the embodiment of the control method for the cleaning equipment will not be described here.

[0092] The present application also provides a cleaning device, such as Figure 3 As shown, the cleaning device 300 includes a processor 301 and a memory 302. The memory 302 stores programs or instructions that can be run on the processor 301. When the program or instruction is executed by the processor 301, the various steps of the control method embodiment of the above-mentioned cleaning device are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0093] The memory 302 can be used to store software programs and various data. The memory 302 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store an operating system, applications or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 302 may include volatile memory or non-volatile memory, or the memory 302 may include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 302 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0094] Processor 301 may include one or more processing units. Optionally, processor 301 integrates an application processor and a modem processor. The application processor primarily handles operations related to the operating system, user interface, and application programs, while the modem processor primarily processes wireless communication signals, such as a baseband processor. It is understood that the modem processor may not be integrated into processor 301.

[0095] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the control method embodiment of the above-mentioned cleaning equipment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0096] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0097] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A method for controlling a cleaning device, characterized in that: include: During the process of the cleaning device performing a cleaning task on the cleaning area, the actual moving path of the cleaning device is recorded, and the movement of the cleaning device in a stable edgewise state is simulated to obtain a simulated moving path; Whether the cleaning area needs additional cleaning is determined based on a comparison between the actual moving path and the simulated moving path.

2. The method according to claim 1, characterized in that The method comprises: After the determination, if supplementary cleaning is required, a supplementary cleaning point is determined in the simulated moving path; the cleaning device is controlled to move to the supplementary cleaning point, and starts to move along the edge from the supplementary cleaning point to perform supplementary cleaning.

3. The method according to claim 1 or 2, characterized in that The method comprises: Updating the obstacle point cloud data collected by the detection device of the cleaning equipment to a map, and determining the location of the obstacle on the map; With the obstacle position as the center and the radius of the cleaning device as the expansion radius, map expansion processing is performed to obtain an expanded map. After the expansion, the area corresponding to the obstacle position is marked as an inaccessible area.

4. The method according to claim 1, wherein During the simulation of the simulated movement path, the simulated movement data of the cleaning device within a preset time period is smaller than the actual movement data of the cleaning device within the preset time period; The simulated movement data includes a simulated movement speed or a simulated movement distance, and the actual movement data includes an actual movement speed or an actual movement distance.

5. The method according to claim 1, wherein The method of determining whether the cleaning area needs additional cleaning based on the comparison between the actual moving path and the simulated moving path includes: If there is a path deviation between the actual moving path and the simulated moving path, it is determined that the cleaning area needs additional cleaning.

6. The method according to claim 5, characterized in that The method of determining whether there is a path deviation between the actual movement path and the simulated movement path includes: obtaining a distance and a travel direction between an end point of the actual movement path and an end point of the simulated movement path, and determining that there is a path deviation between the actual movement path and the simulated movement path if the distance exceeds a preset distance threshold and / or the angle between the travel directions exceeds a first preset angle threshold; or A first travel path is predicted based on the actual travel path, and a second travel path is predicted based on the simulated travel path. If an angle between a travel direction of the first travel path and a travel direction of the second travel path exceeds a second preset angle threshold, it is determined that a path deviation exists between the actual travel path and the simulated travel path.

7. A control device for a cleaning device, characterized in that: include: A path recording module is used to record the actual moving path of the cleaning device during the cleaning task of the cleaning device in the cleaning area; A path simulation module, used to simulate the movement of the cleaning device in a stable edgewise state to obtain a simulated movement path; The supplementary cleaning judgment module is used to judge whether the cleaning area needs supplementary cleaning based on the comparison between the actual moving path and the simulated moving path.

8. The device according to claim 7, characterized in that Also includes: The supplementary cleaning control module is used to: determine a supplementary cleaning point in the simulated moving path when supplementary cleaning is needed; and control the cleaning device to move to the supplementary cleaning point and move along the edge from the supplementary cleaning point to perform supplementary cleaning.

9. A cleaning device, characterized in that: The device comprises a processor and a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the control method of the cleaning device according to any one of claims 1 to 6 are implemented.

10. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the method for controlling the cleaning device according to any one of claims 1 to 6 are implemented.

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