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

Abstract

The invention provides a cleaning equipment control method and device, cleaning equipment and a storage medium, the method is applied to the field of cleaning equipment.The method comprises the steps that regional environment data corresponding to a first cleaning region is obtained, and an initial cleaning path is generated based on the regional environment data; acquiring a first cleaning target in the initial cleaning path and a cleaning area of an initial cleaning surface of the cleaning equipment; if the cleaning area is greater than a preset area threshold value, determining a target cleaning surface when the cleaning equipment cleans the first cleaning target based on first feature data of the first cleaning target; and performing path adjustment on the initial cleaning path based on the target cleaning surface to obtain a target cleaning path. Through the method, the accuracy and coverage rate of path planning can be improved, and then the cleaning efficiency of the cleaning equipment is improved.

Description

Technical Field

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

[0002] When existing water surface cleaning equipment performs cleaning tasks in a cleaning area, it often adopts a fixed path strategy to establish a cleaning path in the cleaning area. However, the fixed path strategy will result in a fixed cleaning angle for the cleaning equipment. When the cleaning equipment encounters a large volume of cleaning objects, the cleaning equipment will not be able to find a cleaning angle that can clean the large volume of cleaning objects, thereby failing to effectively clean the large volume of cleaning objects, thereby affecting the overall cleaning efficiency. Summary of the Invention

[0003] This application provides a cleaning equipment control method, device, cleaning equipment, and storage medium, aiming to improve the cleaning efficiency of the cleaning equipment. The technical solution is as follows: In a first aspect, an embodiment of the present application provides a cleaning equipment control method, comprising: acquiring regional environmental data corresponding to a first cleaning area, and generating an initial cleaning path based on the regional environmental data; Obtain the cleaning area of ​​the first cleaning target and the initial cleaning surface of the cleaning device in the initial cleaning path; if the cleaning area is greater than a preset area threshold, determine the target cleaning surface when the cleaning device cleans the first cleaning target based on the first characteristic data of the first cleaning target; adjust the path of the initial cleaning path based on the target cleaning surface to obtain the target cleaning path.

[0004] In the above technical solution, the regional environmental data of the first cleaning area is obtained and an initial cleaning path is generated to establish a basic cleaning solution; by evaluating the cleaning area covered by the first cleaning target and the initial cleaning surface of the cleaning equipment in the initial cleaning path, it can be intelligently identified that when the area exceeds a preset threshold, the initial cleaning direction may have inefficiencies, thereby triggering a target cleaning surface determination process based on the first cleaning target characteristic data, which ensures that the cleaning equipment can process the target area with the optimal cleaning direction; by adjusting the initial cleaning path to match the target cleaning surface, the accuracy and coverage of the path planning are improved, thereby improving the cleaning efficiency of the cleaning equipment.

[0005] In combination with the first aspect, in some possible implementations, determining the target cleaning surface when the cleaning device cleans the first cleaning target based on the first characteristic data of the first cleaning target includes: obtaining a set of contour images of the first cleaning target, obtaining the contour area of ​​each contour image in the contour image set; obtaining the maximum cleaning area of ​​the cleaning port in the cleaning device; determining a contour image with a contour area smaller than the maximum cleaning area as the target contour image; and determining the contour surface corresponding to the target contour image as the target cleaning surface.

[0006] In the above technical solution, by obtaining a set of contour images of the first cleaning target and calculating the contour area of ​​each contour image, at the same time, obtaining the maximum cleaning area of ​​the cleaning port of the cleaning equipment provides a benchmark parameter for the equipment capability; by determining the contour image with a contour area smaller than the maximum cleaning area as the target contour image, the contour surface that can be covered by the cleaning port at one time is intelligently screened out as the target cleaning surface, which eliminates ineffective cleaning attempts on contours that are too large, reduces the number of repeated cleanings and redundant movements of the equipment on a single target; thereby, the execution process of the cleaning path is optimized, the cleaning cycle is shortened, and the cleaning coverage rate per unit time is increased, ultimately improving the overall cleaning efficiency.

[0007] In combination with the first aspect, in some possible implementations, an initial cleaning path is generated based on the regional environmental data, including: if the regional environmental data does not contain a cleaning target, determining whether there is a cleaning obstacle in the regional environmental data; if there is a cleaning obstacle, obtaining the first position information of the cleaning obstacle in the first cleaning area; based on the first position information, obtaining a path avoidance point, and performing sparse path planning on the first cleaning area based on the path avoidance point to obtain a first initial cleaning path.

[0008] In the above technical solution, the missing state of the cleaning target in the regional environmental data is intelligently identified, and the cleaning obstacle detection link is automatically entered; when the existence of a cleaning obstacle is confirmed, an accurate path avoidance point can be generated based on the accurate acquisition of its first position information; the avoidance point is used to perform sparse path planning on the first cleaning area, effectively bypassing all obstacle distribution areas; this process not only avoids the risk of invalid collisions and path interruptions between the cleaning equipment and obstacles, but also significantly shortens the length and execution time of the overall cleaning path; at the same time, sparse path planning ensures that the equipment maintains efficient coverage in the obstacle-free area, maximizes the proportion of effective cleaning area, and ultimately achieves a directional improvement in cleaning efficiency.

[0009] In combination with the first aspect, in some possible implementations, an initial cleaning path is generated based on regional environmental data, including: if there is a cleaning target in the regional environmental data, obtaining the second position information of the cleaning target in the first cleaning area; obtaining the third position information of the cleaning equipment; and planning the path of the first cleaning area based on the second position information, the third position information and the path avoidance point to obtain a second initial cleaning path.

[0010] In the above technical solution, when the regional environmental data confirms the existence of a cleaning target, the second position information of the target and the third position information of the cleaning equipment are automatically obtained, and the previously generated path avoidance points are integrated to perform comprehensive path planning to generate a second initial cleaning path; this process ensures that the path design can accurately adapt to the target position and the real-time status of the equipment, while seamlessly avoiding all obstacles, thereby eliminating the risk of path deviation or repeated traversal, and significantly shortening the equipment movement distance and operation time; ultimately, it improves the coverage accuracy and execution efficiency of the cleaning target, optimizes resource utilization and accelerates the overall cleaning cycle.

[0011] In combination with the first aspect, in some possible implementations, after adjusting the initial cleaning path based on the target cleaning surface to obtain the target cleaning path, the method includes: using a cleaning device to activate a preset cleaning mode to clean each first cleaning target in the target cleaning path.

[0012] In the above technical solution, by accurately matching the preset cleaning mode with the target path, the stain characteristics and spatial distribution of various cleaning targets are automatically adapted to ensure that the equipment operating parameters are always in the optimal state; this mechanism eliminates the judgment delay and error in manual operation, avoids the start-stop loss caused by mode switching, and enables the equipment to maintain constant and efficient output in continuous operation; at the same time, the standardized processing flow shortens the cleaning time of each unit target; ultimately, while ensuring the consistency of cleaning quality, the smoothness and overall efficiency of the entire path operation are significantly improved.

[0013] In combination with the first aspect, in some possible implementations, a preset cleaning mode is enabled to clean the first cleaning target in the target cleaning path, including: obtaining the target size of the first cleaning target that has been cleaned by the cleaning device; based on the target size, determining the remaining storage capacity of the target storage area of ​​the cleaning device; if the remaining storage capacity is greater than or equal to the preset capacity threshold, generating a prompt message.

[0014] In the above technical solution, by obtaining the size of the cleaned target in real time and dynamically calculating the remaining capacity of the storage area, the cleaning equipment can actively generate prompt information before the capacity approaches the threshold; eliminate the problem of cleaning process stagnation caused by full load interruption of the cleaning equipment; at the same time, avoid repeated cleaning or task retry operations caused by insufficient capacity, significantly reduce time waste and energy redundancy loss; ultimately ensure that the equipment always maintains optimal storage utilization during continuous operation, thereby improving overall cleaning efficiency.

[0015] In combination with the first aspect, in some possible implementations, the cleaning device enables a preset cleaning mode to clean the first cleaning target in the target cleaning path, including: obtaining the posture information of the cleaning device and the water surface position of the first cleaning area; if it is detected that the posture information and the water surface position are not in the same plane, adjusting the posture of the cleaning device.

[0016] In the above technical solution, by comparing the planar relationship between the cleaning equipment's posture and the water surface position in real time and correcting the posture deviation immediately, it is ensured that the cleaning components always contact the water surface at the optimal angle; it eliminates the cleaning blind spots or pressure imbalance problems caused by the tilt of the cleaning equipment, avoiding splashing water and ineffective idling; at the same time, dynamic balance control greatly reduces the rollover of the cleaning equipment, and ultimately significantly extends the equipment's service life while ensuring the water surface cleaning intensity.

[0017] In a second aspect, an embodiment of the present application provides a cleaning equipment control device, which is applied to a cleaning equipment, comprising: a path generating unit, configured to obtain regional environmental data corresponding to the first cleaning area, and generate an initial cleaning path based on the regional environmental data; an area acquisition unit, configured to acquire a cleaning area of ​​a first cleaning target and an initial cleaning surface of the cleaning device in an initial cleaning path; a data processing unit, configured to determine, based on the first characteristic data of the first cleaning target, a target cleaning surface when the cleaning device cleans the first cleaning target, if the cleaning area is greater than a preset area threshold; The path adjustment unit is used to adjust the initial cleaning path based on the target cleaning surface to obtain the target cleaning path.

[0018] In a third aspect, an embodiment of the present application provides a cleaning device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, any of the above cleaning device control methods is implemented.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements any of the above cleaning equipment control methods when the computer program is executed.

[0020] In the above technical solution, the regional environmental data of the first cleaning area is obtained and an initial cleaning path is generated to establish a basic cleaning solution; by evaluating the cleaning area covered by the first cleaning target and the initial cleaning surface of the cleaning equipment in the initial cleaning path, it can be intelligently identified that when the area exceeds a preset threshold, the initial cleaning direction may have inefficiencies, thereby triggering a target cleaning surface determination process based on the first cleaning target characteristic data, which ensures that the cleaning equipment can process the target area with the optimal cleaning direction; by adjusting the initial cleaning path to match the target cleaning surface, the accuracy and coverage of the path planning are improved, thereby improving the cleaning efficiency of the cleaning equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a schematic diagram of a cleaning equipment control method provided in an embodiment of the present application; Figure 2 This is a flow chart of a cleaning equipment control method provided in an embodiment of the present application; Figure 3 This is a flow chart of a cleaning equipment control method provided in an embodiment of the present application; Figure 4 This is a flow chart of a cleaning equipment control method provided in an embodiment of the present application; Figure 5 This is a schematic diagram of a cleaning equipment control method provided in an embodiment of the present application; Figure 6 This is a flow chart of a cleaning equipment control method provided in an embodiment of the present application; Figure 7 This is a schematic diagram of a cleaning equipment control method provided in an embodiment of the present application; Figure 8 This is a schematic diagram of a cleaning equipment control method provided in an embodiment of the present application; Figure 9 This is a schematic diagram of a cleaning equipment control method provided in an embodiment of the present application; Figure 10 This is a flow chart of a cleaning equipment control method provided in an embodiment of the present application; Figure 11 This is a schematic structural diagram of a cleaning equipment control device provided in an embodiment of the present application; Figure 12 It is a structural schematic diagram of a cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] To make the features and advantages of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0024] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0025] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0026] The embodiment of the present application provides a cleaning equipment control method, the execution subject of the cleaning equipment control method is a cleaning equipment control device or a cleaning equipment with a cleaning equipment control device. The following is a detailed description. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments. Please refer to Figure 1 , Figure 1 This is a schematic diagram of a cleaning equipment control method provided by an embodiment of the present application. The specific process of the cleaning equipment control method can be as follows: See also Figure 1 , Figure 1 This is a scene diagram of a cleaning equipment control method provided by an embodiment of the present application. Figure 1 As shown, the cleaning device is equipped with at least a processor, a sensor, a positioning module and an identification module, wherein the sensor includes at least a visual sensor, an acoustic sensor, an infrared sensor and a posture sensor. The following provides a preferred embodiment combined with Figure 1 The scene diagram shown is combined to illustrate: In an embodiment of the present application, when performing a cleaning task, the cleaning device first obtains the regional environmental data corresponding to the first cleaning area in the cleaning area through the onboard visual sensor, wherein the first cleaning area is the partial area detected within the maximum field of view angle of the visual sensor when the cleaning device is at any position in the cleaning area, and the regional environmental data includes at least the regional image of the first cleaning area.

[0027] The recognition module of the cleaning equipment is equipped with a pre-set visual recognition algorithm, wherein the visual recognition algorithm is used to identify the type of each object to be identified in the regional image and the location information of each object to be identified in the regional image. The visual recognition algorithm includes but is not limited to convolution-based CNN deep neural network and Transformer-based recognition algorithm.

[0028] In the embodiments of the present application, the types of objects to be identified may include at least cleaning targets and cleaning obstacles. A cleaning target is an object that the cleaning device should prioritize cleaning when performing a cleaning task, and an obstacle is an object that the cleaning device should avoid to avoid collisions when performing a cleaning task. In the embodiments of the present application, the specific types of cleaning targets and cleaning obstacles are not specifically limited.

[0029] The visual sensor inputs the detected area environment data into the recognition module. The recognition module uses a preset visual recognition algorithm to identify the presence of the first cleaning target and cleaning obstacles in the area image. Based on the recognition module's results, the processor selects a corresponding cleaning path generation method to obtain an initial cleaning path for the first cleaning area.

[0030] After the initial cleaning path is planned, the cleaning device should move along the initial cleaning path and complete cleaning of the first cleaning target in the first cleaning area during the moving process.

[0031] It should be noted that since the cleaning device generally does not change its posture during travel, that is, the cleaning port of the cleaning device is always located directly in front of the device, the cleaning angle of the cleaning device to the first cleaning target is fixed, that is, the side of the first cleaning target corresponding to the initial cleaning path is the initial cleaning surface. In actual scenarios, the cleaning port of the cleaning device can only handle a limited size of target. If the area of ​​the initial cleaning surface is larger than the maximum cleaning limit that the cleaning port of the cleaning device can handle, it may cause the cleaning target to not be cleaned.

[0032] To address the above problem, after the initial cleaning path is generated, it is necessary to analyze whether the initial cleaning surface of each first cleaning target in the initial cleaning path is larger than the area threshold preset for the cleaning port of the cleaning equipment. If it is detected that the initial cleaning surface of the first cleaning target is larger than the preset area threshold, the feature data corresponding to the first cleaning target is obtained based on the visual sensor.

[0033] The feature data is input into an image generation algorithm preset in the processor to obtain a set of contour images corresponding to the first cleaning target, wherein the contour image set includes contour images corresponding to the first cleaning target in multiple visual directions. Furthermore, area recognition is performed on each contour image to determine the contour area corresponding to each contour image. Contour images with contour areas smaller than the maximum cleaning area are determined as target contour images. The contour surface corresponding to the target contour image is then determined as the target cleaning surface.

[0034] In an embodiment of the present application, the regional environmental data of the first cleaning area is obtained and an initial cleaning path is generated to establish a basic cleaning plan; by evaluating the cleaning area covered by the first cleaning target and the initial cleaning surface of the cleaning equipment in the initial cleaning path, it can be intelligently identified that when the area exceeds a preset threshold, the initial cleaning direction may have inefficiencies, thereby triggering a target cleaning surface determination process based on the first cleaning target characteristic data, which ensures that the cleaning equipment can process the target area with the optimal cleaning direction; by adjusting the initial cleaning path to match the target cleaning surface, the accuracy and coverage of the path planning are improved, thereby improving the cleaning efficiency of the cleaning equipment.

[0035] based on Figure 1 The scene diagram shown below will be combined with Figure 2-Figure 8 , a cleaning equipment control method provided in an embodiment of the present application is introduced in detail.

[0036] See Figure 2 , Figure 2 This is a flow chart of a cleaning equipment control method provided in an embodiment of the present application. Figure 2 As shown, the method of the embodiment of the present application may include the following steps S101 to S104.

[0037] S101 , obtaining regional environmental data corresponding to a first cleaning area, and generating an initial cleaning path based on the regional environmental data.

[0038] Specifically, the cleaning device obtains regional environmental data corresponding to the first cleaning area in the cleaning area through the onboard visual sensor, wherein the first cleaning area is a partial area detected within the maximum field of view angle of the visual sensor when the cleaning device is at any position in the cleaning area, and the regional environmental data includes at least a regional image of the first cleaning area.

[0039] The visual sensor inputs the detected area environment data into the recognition module. The recognition module uses a preset visual recognition algorithm to identify the presence of the first cleaning target and cleaning obstacles in the area image. Based on the recognition module's results, the processor selects a corresponding cleaning path generation method to obtain an initial cleaning path for the first cleaning area.

[0040] S102: Acquire a cleaning area of ​​a first cleaning target and an initial cleaning surface of a cleaning device in an initial cleaning path.

[0041] In the embodiment of the present application, the initial cleaning surface is the contact surface where the first cleaning target first contacts the initial cleaning path.

[0042] Specifically, an original image of the first cleaning target is obtained from the area image of the first cleaning area, a contour image corresponding to the contact surface that first contacts the initial cleaning path is determined from the original image, image analysis is performed on the contour image to determine the image area of ​​the contour image, and the image area is determined as the cleaning area of ​​the initial cleaning surface.

[0043] S103 : If the cleaning area is greater than a preset area threshold, determining a target cleaning surface when the cleaning device cleans the first cleaning target based on the first characteristic data of the first cleaning target.

[0044] Specifically, after the initial cleaning path is generated, it is necessary to analyze whether the initial cleaning surface of each first cleaning target in the initial cleaning path is larger than the area threshold preset for the cleaning port of the cleaning equipment. If it is detected that the initial cleaning surface of the first cleaning target is larger than the preset area threshold, the feature data corresponding to the first cleaning target is obtained based on the visual sensor, wherein the feature data includes at least image data of the first cleaning target.

[0045] Specifically, image data of the first cleaning target is obtained from the area image of the first cleaning area. This image data is preprocessed using a grayscale Gaussian filter to eliminate noise. Furthermore, an edge detection operator is used to extract a set of target edge points. These edge points are connected to form a closed contour, generating a set of contour images. Each contour image in the set is traversed, and a contour analysis algorithm is used to calculate the actual physical area enclosed by the pixels of each contour image. This is recorded as the contour area of ​​each contour image.

[0046] The contour area value is compared with the maximum cleaning area of ​​the cleaning port. When a contour image with a contour area value smaller than the maximum cleaning area is detected, the contour image is used as the target contour image, and the contact surface corresponding to the target contour image is determined as the target cleaning surface.

[0047] S104 , adjusting the initial cleaning path based on the target cleaning surface to obtain a target cleaning path.

[0048] Specifically, the relative position and relative distance between the target cleaning surface and the initial cleaning surface are obtained, and the initial cleaning path to the first cleaning target is adjusted based on the relative position and relative distance to obtain the target cleaning path.

[0049] In an embodiment of the present application, the regional environmental data of the first cleaning area is obtained and an initial cleaning path is generated to establish a basic cleaning plan; by evaluating the cleaning area covered by the first cleaning target and the initial cleaning surface of the cleaning equipment in the initial cleaning path, it can be intelligently identified that when the area exceeds a preset threshold, the initial cleaning direction may have inefficiencies, thereby triggering a target cleaning surface determination process based on the first cleaning target characteristic data, which ensures that the cleaning equipment can process the target area with the optimal cleaning direction; by adjusting the initial cleaning path to match the target cleaning surface, the accuracy and coverage of the path planning are improved, thereby improving the cleaning efficiency of the cleaning equipment.

[0050] In actual scenarios, the size of the target that can be handled by the cleaning port of the cleaning equipment is limited. If the area of ​​the initial cleaning surface is larger than the maximum cleaning limit that the cleaning port of the cleaning equipment can handle, the cleaning target may not be cleaned. Figure 3 , Figure 3 This is a flow chart of a cleaning equipment control method provided in an embodiment of the present application. Figure 3 As shown, the method of the embodiment of the present application may include the following steps S201-S204.

[0051] S201 : Acquire a contour image set of a first cleaning target, and acquire a contour area of ​​each contour image in the contour image set.

[0052] Specifically, an original image of the first cleaning target is obtained from the area image of the first cleaning area. This original image is then grayscaled and pre-processed with a Gaussian filter to eliminate noise. An edge detection operator is used to extract a set of target edge points. These edge points are then connected to form a closed contour, generating a set of contour images. Each contour image in the set is traversed, and a contour analysis algorithm is used to calculate the actual physical area enclosed by its pixels. This is recorded as the contour area of ​​each contour image.

[0053] S202: Obtain the maximum cleaning area of ​​the cleaning port in the cleaning device.

[0054] S203 , determining the contour image with a contour area smaller than the maximum cleaning area as the target contour image.

[0055] In the embodiment of the present application, the maximum cleaning area of ​​the cleaning port is a fixed preset value and is not specifically limited here.

[0056] Specifically, in S202-S203, the contour images in the contour image set are traversed one by one, and their contour area values ​​are compared with the maximum clean area value of the cleaning port. When a contour image with a contour area value smaller than the maximum clean area value is detected, the contour image is used as the target contour image.

[0057] S204: Determine the contour surface corresponding to the target contour image as the target cleaning surface.

[0058] Specifically, the contour surface corresponding to the target contour image is determined as the target cleaning surface. The relative position and relative distance between the target cleaning surface and the initial cleaning surface are determined, and the initial cleaning path to the first cleaning target is adjusted based on the relative position and relative distance so that the cleaning device can clean the first cleaning target in an optimal cleaning direction.

[0059] In an embodiment of the present application, by obtaining a set of contour images of the first cleaning target and calculating the contour area of ​​each contour image, at the same time, obtaining the maximum cleaning area of ​​the cleaning port of the cleaning equipment provides a benchmark parameter for the equipment capability; by determining the contour image with a contour area smaller than the maximum cleaning area as the target contour image, the contour surface that can be covered by the cleaning port at one time is intelligently screened out as the target cleaning surface, which eliminates ineffective cleaning attempts on contours that are too large, reduces the number of repeated cleanings and redundant movements of the equipment on a single target; thereby, the execution process of the cleaning path is optimized, the cleaning cycle is shortened, and the cleaning coverage rate per unit time is increased, ultimately improving the overall cleaning efficiency.

[0060] When there is no cleaning target in the first cleaning area, in order to ensure that there are no missed cleaning targets in the first cleaning area, sparse path planning should be performed on the first cleaning area to ensure that the entire first cleaning area can be cleaned. Figure 4 , Figure 4 This is a flow chart of a cleaning equipment control method provided in an embodiment of the present application. Figure 4 As shown, the method of the embodiment of the present application may include the following steps S301-S304.

[0061] S301, calling a preset recognition algorithm to determine whether there is a cleaning target in the regional environment data.

[0062] S302: If the regional environment data does not contain a cleaning target, determine whether there is a cleaning obstacle in the regional environment data based on a recognition algorithm.

[0063] In the embodiment of the present application, the regional environment data includes a regional image corresponding to the first cleaning area.

[0064] Specifically, in steps S301 and S302, a preset visual recognition algorithm is invoked to analyze the area image to determine whether a cleaning target exists in the area image. The visual recognition algorithm includes, but is not limited to, a convolutional neural network (CNN)-based deep neural network and a Transformer-based recognition algorithm. If no cleaning target exists, the area image is then checked for cleaning obstacles.

[0065] S303: If there is a cleaning obstacle, obtain first position information of the cleaning obstacle in the first cleaning area.

[0066] Specifically, when the preset visual recognition algorithm is called to identify the presence of a cleaning obstacle in the regional image, the regional pixel coordinates of the cleaning obstacle in the regional image are calculated and recorded as the first position information.

[0067] S304 : Obtain a path avoidance point based on the first position information, and perform sparse path planning on the first cleaning area based on the path avoidance point to obtain a first initial cleaning path.

[0068] Specifically, the first position information is determined as a path avoidance point and marked in the area image, the path avoidance point and the third position information are transmitted to the processor, and the processor calls the path planning algorithm to plan a first initial cleaning path that can continuously cover the first cleaning area while avoiding all path avoidance points, wherein the path planning algorithm includes but is not limited to polynomial curves, Bezier curves, Dubins curves, Reeds-Shepp curves, A-star and Dijkstra algorithms, etc.

[0069] It should be noted that since the cleaning equipment will cause level fluctuations when performing cleaning tasks in the first cleaning area, which will cause other cleaning areas to flood cleaning targets into the first cleaning area, when it is detected that there is no cleaning target in the first cleaning area, it is still necessary to establish the first initial cleaning path to enable the cleaning equipment to clean the first cleaning area, so as to avoid missing cleaning targets.

[0070] Please also refer to Figure 5 , Figure 5 This is a scene diagram of a cleaning equipment control method provided by an embodiment of the present application. Figure 5 As shown, there is no cleaning target in the first cleaning area, but a cleaning obstacle is detected. At this time, the cleaning obstacle is avoided by calling the path planning algorithm, thereby obtaining the first initial cleaning path.

[0071] In an embodiment of the present application, by intelligently identifying the missing state of the cleaning target in the regional environmental data, the system automatically enters the cleaning obstacle detection phase; when the existence of a cleaning obstacle is confirmed, an accurate path avoidance point can be generated based on the precise acquisition of its first position information; the avoidance point is used to perform sparse path planning on the first cleaning area to effectively bypass all obstacle distribution areas; this process not only avoids the risk of invalid collisions and path interruptions between the cleaning equipment and obstacles, but also significantly shortens the length and execution time of the overall cleaning path; at the same time, sparse path planning ensures that the equipment maintains efficient coverage in the obstacle-free area, maximizes the proportion of effective cleaning area, and ultimately achieves a directional improvement in cleaning efficiency.

[0072] When there is any cleaning target in the first cleaning area, in order to improve the cleaning speed of the equipment, the shortest cleaning path planning should be performed on the cleaning equipment. Figure 6 , Figure 6 This is a flow chart of a cleaning equipment control method provided in an embodiment of the present application. Figure 6 As shown, the method of the embodiment of the present application may include the following steps S401-S403.

[0073] S401: If a cleaning target exists in the regional environment data, obtain second position information of the cleaning target in a first cleaning area.

[0074] Specifically, a preset visual recognition algorithm is called to analyze the regional environment data to determine whether there is a cleaning target in the first cleaning area. If there is a cleaning target, the position information of the cleaning target in the first cleaning area is obtained and recorded as the second position information.

[0075] S402: Acquire third position information of the cleaning device.

[0076] Specifically, the positioning module of the cleaning device is called to obtain the current position information of the cleaning device in the first cleaning area, which is recorded as the third position information.

[0077] S403 : performing path planning for the first cleaning area based on the second position information, the third position information, and the path avoidance point to obtain a second initial cleaning path.

[0078] Specifically, the second position information, the third position information and the path avoidance point are transmitted to the processor, and the processor generates a second initial cleaning path by calling the path planning algorithm, wherein the path planning algorithm includes but is not limited to polynomial curves, Bezier curves, Dubins curves, Reeds-Shepp curves, A-star and Dijkstra algorithms, etc.

[0079] Please also refer to Figure 7 , Figure 7 This is a scene diagram of a cleaning equipment control method provided by an embodiment of the present application. Figure 7 As shown, there are a first cleaning target A and a first cleaning target B in the first cleaning area. In order to clean the first cleaning target A and the first cleaning target B, a second initial cleaning path is planned. In the second initial cleaning path, the path planning for the first cleaning target A avoids two cleaning obstacles, and the path planning for the second cleaning target B avoids one cleaning obstacle.

[0080] In an embodiment of the present application, when the presence of a cleaning target is confirmed in the regional environmental data, the second position information of the target and the third position information of the cleaning equipment are automatically obtained, and the previously generated path avoidance points are integrated to perform comprehensive path planning to generate a second initial cleaning path; this process ensures that the path design can accurately adapt to the target position and the real-time status of the equipment, while seamlessly avoiding all obstacles, thereby eliminating the risk of path deviation or repeated traversal, and significantly shortening the equipment movement distance and operation time; ultimately, the coverage accuracy and execution efficiency of the cleaning target are improved, resource utilization is optimized and the overall cleaning cycle is accelerated.

[0081] In a feasible implementation, a cleaning device control method provided in an embodiment of the present application may include a step in which the cleaning device activates a preset cleaning mode to clean each first cleaning target in a target cleaning path.

[0082] In an embodiment of the present application, a preset cleaning mode is activated to enhance the cleaning suction force and pump pressure of the cleaning device and reduce the linear speed of the cleaning device to perform deep cleaning on the first cleaning target.

[0083] In the embodiment of the present application, by accurately matching the preset cleaning mode with the target path, the stain characteristics and spatial distribution of various cleaning targets are automatically adapted to ensure that the equipment operating parameters are always in the optimal state; this mechanism eliminates the judgment delay and error in manual operation, avoids the start-stop loss caused by mode switching, and enables the equipment to maintain constant and efficient output in continuous operation; at the same time, the standardized processing flow shortens the cleaning time of a unit target; ultimately, under the premise of ensuring the consistency of cleaning quality, the smoothness and overall efficiency of the entire path operation are significantly improved.

[0084] In a feasible embodiment, by identifying the relative distances between the cleaning targets in the first cleaning area, multiple cleaning targets whose relative distances are less than a preset threshold are selected as the first cleaning targets for cleaning. Furthermore, the area of ​​the first cleaning target is obtained. If the area of ​​the first cleaning target is larger than the maximum cleaning area of ​​the cleaning port of the cleaning device, the cleaning device needs to perform a secondary cleaning path planning based on the location of each cleaning target in the first cleaning target when cleaning the first cleaning target, and clean the cleaning targets based on the planned cleaning path.

[0085] See Figure 8 , Figure 8 This is a scene diagram of a cleaning equipment control method provided by an embodiment of the present application. Figure 8 As shown, the cleaning area of ​​the first cleaning target A in the first cleaning area is smaller than the maximum cleaning area of ​​the cleaning port of the cleaning equipment. At this time, a first initial cleaning path A passing through the first cleaning target A is generated with the center of the first cleaning target A as the reference.

[0086] See Figure 9 , Figure 9 This is a scene diagram of a cleaning equipment control method provided by an embodiment of the present application. Figure 9 As shown, the cleaning area of ​​the first cleaning target B in the first cleaning area is larger than the maximum cleaning area of ​​the cleaning port of the cleaning equipment. At this time, secondary path planning is performed on the first cleaning target B to generate a first initial cleaning path B covering the first cleaning target B, wherein the path shape of the first initial cleaning path B includes but is not limited to an S-shaped path and a U-shaped path, and no specific limitation is made.

[0087] Since the garbage storage space of the cleaning device is limited, if the garbage storage space is full, the cleaning device will not be able to operate normally. Therefore, it is necessary to prompt the user when the garbage storage space reaches the threshold to ensure the cleaning efficiency of the cleaning device. Figure 10 , Figure 10 This is a flow chart of a cleaning equipment control method provided in an embodiment of the present application. Figure 10 As shown, the method of the embodiment of the present application may include the following steps S501-S503.

[0088] S501 : Acquire a target size of a first cleaning target that has been cleaned by a cleaning device.

[0089] In an embodiment of the present application, when the cleaning device cleans the first cleaning target, it will acquire a depth image of the first cleaning target by calling the infrared sensor it carries, and call the volume estimation algorithm to perform image analysis on the depth image to determine the target size of the first cleaning target.

[0090] Specifically, when cleaning the first cleaning target, the cleaning device starts the infrared sensor to emit infrared light to the first cleaning target and receive a reflected signal, thereby obtaining a depth image corresponding to the first cleaning target.

[0091] Retrieve a pre-stored depth map corresponding to a first cleaning area without any first cleaning target, compare the depth image corresponding to the first cleaning target with the depth map corresponding to the first cleaning area point by point, mark the area where the distance value suddenly becomes close, that is, the area where the first cleaning target is located, thereby forming an outline range of the first cleaning target; regard each pixel point within the outline range as a square, and convert the actual area of ​​each square according to the height and viewing angle parameters of the visual sensor; read the current depth value of each pixel point, that is, the surface height of the first cleaning target, and subtract the depth value corresponding to the first cleaning area to obtain the thickness of the first cleaning target; multiply the area of ​​each square by its corresponding thickness to obtain the micro volume of the square; The micro volumes of all squares within the contour range are accumulated, and the target size of the first cleaning target is finally output.

[0092] S502 : Determine the remaining storage capacity of the target storage area of ​​the cleaning device based on the target size.

[0093] In the embodiment of the present application, the target storage area is a regional space in the cleaning device for temporarily storing the first cleaning target, and the total capacity of the target storage area is fixed.

[0094] Specifically, after the target size of the first cleaning target is obtained, a subtraction operation is performed on the total capacity of the target storage area and the target size of the first cleaning target to obtain the remaining storage capacity.

[0095] In a feasible implementation, an infrared sensor can be used to transmit sound waves to the target storage area and receive reflected signals, and the stacking height of the cleaning targets in the current target storage area can be calculated by the time difference, and then the remaining storage capacity of the target storage area can be dynamically calculated in combination with the fixed geometric shape of the dust box.

[0096] S503: If the remaining storage capacity is greater than or equal to a preset capacity threshold, a prompt message is generated.

[0097] In the embodiment of the present application, the prompt information includes but is not limited to audio and visual prompt information and text prompt information, wherein the text prompt information will be sent to the user's mobile terminal device.

[0098] For example, the preset capacity threshold is 10%, and the current remaining storage capacity is 8%, which is greater than the preset capacity threshold. At this time, a preset prompt sound is emitted through the buzzer of the cleaning device, or a text prompt message of "insufficient capacity" is generated and pushed to the user's mobile phone APP.

[0099] In an embodiment of the present application, by obtaining the size of the cleaned target in real time and dynamically calculating the remaining capacity of the storage area, the cleaning equipment can proactively generate a prompt message before the capacity approaches the threshold; the problem of cleaning process stagnation caused by full load interruption of the cleaning equipment is eliminated; at the same time, repeated cleaning or task retry operations caused by insufficient capacity are avoided, significantly reducing time waste and energy redundancy loss; and ultimately ensuring that the equipment always maintains optimal storage utilization during continuous operation, thereby improving overall cleaning efficiency.

[0100] In a feasible embodiment, a cleaning equipment control method provided in an embodiment of the present application may include the steps of obtaining the posture information of the cleaning equipment and the water surface position of the first cleaning area; if it is detected that the posture information and the water surface position are not in the same plane, adjusting the posture of the cleaning equipment.

[0101] In the present embodiment, position information refers to data such as the three-dimensional position coordinates and attitude angle of the cleaning device in the first cleaning area, as detected by the cleaning device's onboard attitude sensor. The attitude sensor calculates the cleaning device's three-dimensional attitude angles (pitch / roll / yaw) through a filtering algorithm by integrating the gravity direction of the accelerometer, the angular velocity of the gyroscope, and the magnetic field data of the magnetometer in real time, thereby obtaining the cleaning device's position information.

[0102] Specifically, the cleaning device uses a built-in attitude sensor to collect its own position information in real time. It also uses a laser sensor to scan the water surface in the first cleaning area to determine its horizontal position. This position information and the water surface position are transmitted to a processor, which uses a preset position comparison algorithm to determine whether the cleaning device's position height is consistent with the water surface height and calculates the horizontal deviation between the two cleaning devices and the first cleaning area.

[0103] If the plane deviation value exceeds the preset threshold, it is determined that they are not in the same plane. At this time, the processor immediately sends instructions to the drive motor to control the cleaning equipment group to perform the preset posture adjustment action until the new posture information feedback by the posture sensor is realigned with the water surface position.

[0104] For example, the cleaning device is tilted 5 degrees to the left from the horizontal position. The processor lifts the cleaning device by adding a left drive motor to restore the overall posture of the cleaning device to a horizontal state, so that the cleaning device can avoid uneven cleaning force caused by tilting and ensure efficient removal of water surface stains.

[0105] In an embodiment of the present application, by comparing the planar relationship between the cleaning equipment posture and the water surface position in real time and correcting the posture deviation immediately, it is ensured that the cleaning components always contact the water surface at the optimal angle; the cleaning blind spots or pressure imbalance problems caused by the tilt of the cleaning equipment are eliminated, and splashing water and ineffective idling are avoided; at the same time, dynamic balance control greatly reduces the rollover of the cleaning equipment, and ultimately significantly extends the service life of the equipment while ensuring the cleaning intensity of the water surface.

[0106] based on Figure 1 The following is a schematic diagram of the scene. Figure 11 , the cleaning equipment control device provided in the embodiment of the present application is introduced in detail. It should be noted that, Figure 11 The cleaning equipment control device in this application is used to execute Figure 2-Figure 10 For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the present application. Figure 2-Figure 10 In the embodiment shown, the cleaning equipment control device 600 may include a path generation unit 601, an area acquisition unit 602, a data processing unit 603, and a path adjustment unit 604, as follows: A path generation unit 601 is configured to obtain regional environmental data corresponding to a first cleaning area and generate an initial cleaning path based on the regional environmental data; An area acquisition unit 602 is configured to acquire a cleaning area of ​​a first cleaning target and an initial cleaning surface of the cleaning device in an initial cleaning path; The data processing unit 603 is configured to determine, based on the first characteristic data of the first cleaning target, a target cleaning surface when the cleaning device cleans the first cleaning target if the cleaning area is greater than a preset area threshold; The path adjustment unit 604 is configured to adjust the initial cleaning path based on the target cleaning surface to obtain a target cleaning path.

[0107] In some embodiments, the data processing unit 603 further includes an image set acquisition unit, an area acquisition unit, an image determination unit, and a target cleaning surface determination unit.

[0108] An image set acquisition unit, configured to acquire a contour image set of the first cleaning target and acquire a contour area of ​​each contour image in the contour image set; An area acquisition unit, used to acquire the maximum cleaning area of ​​a cleaning port in a cleaning device; an image determining unit, configured to determine a contour image having a contour area smaller than a maximum cleaning area as a target contour image; The target cleaning surface determination unit is configured to determine the contour surface corresponding to the target contour image as the target cleaning surface.

[0109] In some embodiments, the path generating unit 601 further includes a cleaning obstacle determining unit, a first position information acquiring unit, and a first path planning unit.

[0110] A cleaning obstacle determination unit is configured to call a preset recognition algorithm to determine whether a cleaning target exists in the regional environment data; if the regional environment data does not contain a cleaning target, then determine whether a cleaning obstacle exists in the regional environment data; a first position information acquiring unit, configured to acquire first position information of the cleaning obstacle in the first cleaning area based on a recognition algorithm if a cleaning obstacle exists; The first path planning unit is configured to obtain a path avoidance point based on the first position information, and perform sparse path planning on the first cleaning area based on the path avoidance point to obtain a first initial cleaning path.

[0111] In some embodiments, the path generation unit 601 further includes a second position information acquisition unit, a third position information acquisition unit, and a second path planning unit.

[0112] a second position information acquiring unit, configured to acquire second position information of the cleaning target in the first cleaning area if the cleaning target exists in the regional environment data; a third position information acquiring unit, configured to acquire third position information of the cleaning device; The second path planning unit is configured to perform path planning on the first cleaning area based on the second position information, the third position information, and the path avoidance point to obtain a second initial cleaning path.

[0113] In some embodiments, the path adjustment unit 604 further includes a cleaning unit.

[0114] The cleaning execution unit is configured to enable the cleaning device to clean each first cleaning target in the target cleaning path in a preset cleaning mode.

[0115] In some embodiments, the path adjustment unit 604 further includes a first data acquisition unit, a capacity acquisition unit, and an information generation unit.

[0116] a first data acquisition unit, configured to acquire a target size of a first cleaning target that has been cleaned by the cleaning device; a capacity acquisition unit, configured to determine a remaining storage capacity of a target storage area of ​​the cleaning device based on the target size; The information generating unit is configured to generate a prompt message if the remaining storage capacity is greater than or equal to a preset capacity threshold.

[0117] In some embodiments, the path adjustment unit 604 further includes a second data acquisition unit and a posture adjustment unit.

[0118] a second data acquisition unit, configured to acquire position information of the cleaning device and a water surface position of the first cleaning area; The posture adjustment unit is used to adjust the posture of the cleaning device if it is detected that the posture information and the water surface position are not in the same plane.

[0119] In an embodiment of the present application, the regional environmental data of the first cleaning area is obtained and an initial cleaning path is generated to establish a basic cleaning plan; by evaluating the cleaning area covered by the first cleaning target and the initial cleaning surface of the cleaning equipment in the initial cleaning path, it can be intelligently identified that when the area exceeds a preset threshold, the initial cleaning direction may have inefficiencies, thereby triggering a target cleaning surface determination process based on the first cleaning target characteristic data, which ensures that the cleaning equipment can process the target area with the optimal cleaning direction; by adjusting the initial cleaning path to match the target cleaning surface, the accuracy and coverage of the path planning are improved, thereby improving the cleaning efficiency of the cleaning equipment.

[0120] In addition, the cleaning equipment control device provided in the above embodiment and a cleaning equipment control method embodiment belong to the same concept, and the implementation process thereof is detailed in the method embodiment and will not be repeated here.

[0121] The serial numbers of the embodiments of the present application are for descriptive purposes only and do not represent the merits of the embodiments. In some cases, the actions or steps described in the claims may be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0122] See Figure 12 , provides a schematic structural diagram of a cleaning device according to an embodiment of the present application. Figure 12 As shown, the cleaning device 700 includes a processor 701 and a memory 702. The processor 701 is electrically connected to the memory 702.

[0123] Processor 701 is the control center of cleaning device 700 and may include one or more processing cores. Using various interfaces and circuits, processor 701 connects the various components of the cleaning device. By running or invoking computer programs stored in memory 702, as well as accessing data stored in memory 702, it executes various cleaning device functions and processes data, thereby providing overall control over the cleaning device. Optionally, processor 701 can be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field programmable gate array (FPGA), or a programmable logic array (PLA). Processor 701 may integrate one or a combination of a CPU, a graphics processing unit (GPU), and a modem. The CPU primarily handles the operating system, user interfaces, and applications; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may also be implemented independently of the processor 701 via a separate communications chip.

[0124] The memory 702 can be used to store software programs and modules. The processor 701 executes various functional applications and data processing by running the computer programs and modules stored in the memory 702. The memory 702 can mainly include a program storage area and a data storage area. The program storage area can store an operating system, a computer program required for at least one function, etc.; the data storage area can store data generated based on the use of the cleaning device, etc.

[0125] In addition, the memory 702 may include a high-speed random access memory and a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory 702 may also include a memory controller to provide the processor 701 with access to the memory 702.

[0126] In the embodiment of the present application, the processor 701 in the cleaning device 700 loads instructions corresponding to one or more computer program processes into the memory 702 according to the following steps, and the processor 701 runs the computer program stored in the memory 702 to implement various functions as follows: Optionally, when the processor 701 determines the target cleaning surface when the cleaning device cleans the first cleaning target based on the first characteristic data of the first cleaning target, the processor 701 specifically performs the following steps: obtaining a contour image set of the first cleaning target, obtaining the contour area of ​​each contour image in the contour image set; obtaining the maximum cleaning area of ​​the cleaning port in the cleaning device; determining a contour image having a contour area smaller than the maximum cleaning area as a target contour image; and determining the contour surface corresponding to the target contour image as the target cleaning surface.

[0127] Optionally, the processor 701 generates an initial cleaning path based on the regional environmental data, specifically performing the following: if the regional environmental data does not contain a cleaning target, determining whether there is a cleaning obstacle in the regional environmental data; if there is a cleaning obstacle, obtaining the first position information of the cleaning obstacle in the first cleaning area; based on the first position information, obtaining a path avoidance point, and performing sparse path planning on the first cleaning area based on the path avoidance point to obtain a first initial cleaning path.

[0128] Optionally, the processor 701 generates an initial cleaning path based on the regional environmental data, specifically performing the following: if there is a cleaning target in the regional environmental data, obtaining the second position information of the cleaning target in the first cleaning area; obtaining the third position information of the cleaning equipment; and planning the path of the first cleaning area based on the second position information, the third position information and the path avoidance point to obtain a second initial cleaning path.

[0129] Optionally, after performing path adjustment on the initial cleaning path based on the target cleaning surface to obtain the target cleaning path, the processor 701 specifically executes: enabling a preset cleaning mode by the cleaning device to clean each first cleaning target in the target cleaning path.

[0130] Optionally, the processor 701 cleans the first cleaning target in the target cleaning path when executing the preset cleaning mode, specifically performing the following steps: obtaining the target size of the first cleaning target that has been cleaned by the cleaning device; determining the remaining storage capacity of the target storage area of ​​the cleaning device based on the target size; and generating a prompt message if the remaining storage capacity is greater than or equal to the preset capacity threshold.

[0131] Optionally, the processor 701 activates a preset cleaning mode when executing the cleaning device to clean the first cleaning target in the target cleaning path, and specifically performs: obtaining the posture information of the cleaning device and the water surface position of the first cleaning area; if it is detected that the posture information and the water surface position are not in the same plane, adjusting the posture of the cleaning device.

[0132] In an embodiment of the present application, the regional environmental data of the first cleaning area is obtained and an initial cleaning path is generated to establish a basic cleaning plan; by evaluating the cleaning area covered by the first cleaning target and the initial cleaning surface of the cleaning equipment in the initial cleaning path, it can be intelligently identified that when the area exceeds a preset threshold, the initial cleaning direction may have an inefficiency problem, thereby triggering a target cleaning surface determination process based on the first cleaning target characteristic data, which ensures that the cleaning equipment can process the target area with the optimal cleaning direction; by adjusting the initial cleaning path to match the target cleaning surface, the accuracy and coverage of the path planning are improved, thereby improving the cleaning efficiency of the cleaning equipment.

[0133] In addition, the device provided in the embodiment of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a cleaning equipment control method provided in the above embodiment.

[0134] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a computer, the computer executes the above-mentioned related method steps to implement a cleaning equipment control method provided by the above embodiment.

[0135] An embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a cleaning equipment control method provided in the above embodiment.

[0136] Among them, the device, computer-readable storage medium, computer program product or chip provided in the embodiments of the present application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0137] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0138] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the coupling or direct coupling or communication connection between the related ones shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0139] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A cleaning equipment control method, characterized in that: The method comprises: Acquiring regional environmental data corresponding to a first cleaning area, and generating an initial cleaning path based on the regional environmental data; Obtaining a cleaning area of ​​a first cleaning target and an initial cleaning surface of a cleaning device in the initial cleaning path; If the cleaning area is greater than a preset area threshold, determining a target cleaning surface when the cleaning device cleans the first cleaning target based on the first characteristic data of the first cleaning target; The initial cleaning path is adjusted based on the target cleaning surface to obtain a target cleaning path.

2. The method according to claim 1, characterized in that The determining, based on the first characteristic data of the first cleaning target, a target cleaning surface when the cleaning device cleans the first cleaning target includes: Acquire a contour image set of the first cleaning target, and acquire a contour area of ​​each contour image in the contour image set; Obtaining the maximum cleaning area of ​​the cleaning port in the cleaning device; determining the contour image having a contour area smaller than the maximum cleaning area as the target contour image; The contour surface corresponding to the target contour image is determined as the target cleaning surface.

3. The method according to claim 1, characterized in that Generating an initial cleaning path based on the regional environment data includes: Calling a preset recognition algorithm to determine whether a cleaning target exists in the regional environmental data; If the cleaning target does not exist in the regional environmental data, determining whether there is a cleaning obstacle in the regional environmental data based on the recognition algorithm; If the cleaning obstacle exists, obtaining first position information of the cleaning obstacle in the first cleaning area; Based on the first position information, a path avoidance point is obtained, and based on the path avoidance point, sparse path planning is performed on the first cleaning area to obtain a first initial cleaning path.

4. The method according to claim 3, characterized in that Generating an initial cleaning path based on the regional environment data includes: If the cleaning target exists in the regional environment data, obtaining second position information of the cleaning target in the first cleaning area; Acquiring third position information of the cleaning device; Path planning is performed on the first cleaning area based on the second position information, the third position information, and the path avoidance point to obtain a second initial cleaning path.

5. The method according to claim 1, wherein After adjusting the initial cleaning path based on the target cleaning surface to obtain the target cleaning path, the method further includes: The cleaning device activates a preset cleaning mode to clean each of the first cleaning targets in the target cleaning path.

6. The method according to claim 5, characterized in that The enabling of a preset cleaning mode to clean the first cleaning target in the target cleaning path includes: Acquire a target size of the first cleaning target that has been cleaned by the cleaning device; determining a remaining storage capacity of a target storage area of ​​the cleaning device based on the target size; If the remaining storage capacity is greater than or equal to a preset capacity threshold, a prompt message is generated.

7. The method according to claim 5, characterized in that The cleaning device activates a preset cleaning mode to clean the first cleaning target in the target cleaning path, including: Acquiring position information of the cleaning device and the water surface position of the first cleaning area; If it is detected that the posture information and the water surface position are not in the same plane, the posture of the cleaning device is adjusted.

8. A cleaning equipment control device, characterized in that: The device comprises: a path generating unit, configured to obtain regional environmental data corresponding to the first cleaning area, and generate an initial cleaning path based on the regional environmental data; an area acquisition unit, configured to acquire a cleaning area of ​​the first cleaning target and the initial cleaning surface of the cleaning device in the initial cleaning path; a data processing unit, configured to determine, if the cleaning area is greater than a preset area threshold, a target cleaning surface when the cleaning device cleans the first cleaning target based on the first characteristic data of the first cleaning target; The path adjustment unit is configured to adjust the initial cleaning path based on the target cleaning surface to obtain a target cleaning path.

9. A cleaning device, characterized in that: The electronic device comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the cleaning device executes the cleaning device control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the cleaning device control method according to any one of claims 1 to 7 is implemented.

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