Purging method, control module, purging device and storage medium

Abstract

The application discloses a purging method, a control module, a purging device and a storage medium, and the method comprises the following steps: acquiring purging instructions containing a preset purging path and a purging mode, wherein the preset purging path comprises a plurality of sequentially arranged paths, and each purging mode is associated with a preset purging direction; controlling the purging device to start from the starting point of a first path in the preset purging path, travel along the first path and perform a purging operation according to the preset purging direction; when the end point of the first path is reached, controlling the purging device to perform a transfer operation corresponding to the purging mode, so as to transfer the purging device to the starting point of a next path in the preset purging path; and controlling the purging device to start from the starting point of the next path, travel along the preset purging path and perform a purging operation according to the preset purging direction. The application improves the purging effect and improves the intelligence of the purging operation.

Description

Technical Field

[0001] This invention relates to the field of artificial intelligence, and in particular to a purging method, control module, purging device and storage medium. Background Technology

[0002] Currently, when purging is required, it is usually done using handheld purging equipment. However, handheld purging equipment often cannot automatically blow the blades in a predetermined area. While some existing purging equipment has automated functions, its shortcomings are as follows: when moving along a preset path, due to the complexity of the working environment, the blower of the purging equipment is often kept running throughout the process or manually turned on as needed. The blowing direction and timing cannot be automatically adjusted, which can easily lead to wasted energy of the purging equipment, as well as missed areas or inaccurate blowing positions, resulting in poor overall purging effect. Summary of the Invention

[0003] Therefore, it is necessary to provide a purging method, control module, purging equipment, and storage medium to address the aforementioned technical problems, such as the poor purging effect caused by the inability of existing purging equipment to automatically adjust.

[0004] This invention provides a purging method, comprising: Obtain a purging command that includes a preset purging path and a purging mode. The preset purging path includes multiple paths arranged in sequence, and each purging mode is associated with a preset purging direction. The purging device is controlled to start from the beginning of the first path in the preset purging path, travel along the first path and perform purging operations in the preset purging direction; Upon reaching the end of the first path, the purging device is controlled to perform a transfer operation corresponding to the purging mode, so as to transfer the purging device to the starting point of the next path in the preset purging path. The purging device is controlled to start from the beginning of the next path, travel along the preset purging path, and perform purging operations in the preset purging direction.

[0005] The present invention also provides a control module, including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor implements the purging method when executing the computer-readable instructions.

[0006] The present invention also provides a purging device, including the aforementioned control module.

[0007] The present invention also provides one or more readable storage media storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the purging method as described above.

[0008] In the aforementioned purging method, control module, purging device, and storage medium, the purging method includes: acquiring a purging instruction comprising a preset purging path and a purging mode, wherein the preset purging path includes multiple sequentially arranged paths, and each purging mode is associated with a preset purging direction; controlling the purging device to start from the beginning of the first path in the preset purging path, travel along the first path, and perform a purging operation according to the preset purging direction; upon reaching the end of the first path, controlling the purging device to perform a transfer operation corresponding to the purging mode, thereby transferring the purging device to the beginning of the next path in the preset purging path; and controlling the purging device to start from the beginning of the next path, travel along the preset purging path, and perform a purging operation according to the preset purging direction.

[0009] In this invention, the control module can control the purging device to perform purging operations in different preset purging directions on each path of the preset purging path according to different purging modes, thereby performing targeted purging of the objects to be purged (such as fallen leaves, snow, etc.) corresponding to each path, improving the purging effect. Furthermore, when reaching the end of the previous path and needing to switch to the next path, the purging device can be controlled to perform a transfer operation corresponding to different purging modes, thereby transferring the purging device to the next path to continue performing the purging operation on the next path. Since different transfer operations are applicable to different purging modes, the purging effect can be further improved. Moreover, this invention can achieve full automation of purging, greatly improving the intelligence of the purging operation. Its purging direction and purging position are controllable, greatly improving the purging effect in the working area. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic flowchart of a purging method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a purging method according to an embodiment of the present invention applied to a preset purging path with parallel and spaced paths. Figure 3This is a schematic diagram of a purging method according to an embodiment of the present invention applied to a preset purging path with parallel and spaced paths. Figure 4 This is a schematic diagram of the purging method of another embodiment of the present invention applied to a preset purging path in which the paths are arranged in a spiral shape. Figure 5 This is a schematic diagram of the control module in one embodiment of the present invention. Detailed Implementation

[0012] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0013] In one embodiment, such as Figure 1 As shown, a purging method is provided. For ease of explanation, only the parts relevant to this embodiment are shown in the figure, including the following steps S100-S400: S100: Obtain a blowing command containing a preset blowing path and blowing mode. The preset blowing path includes multiple sequentially arranged paths, and each blowing mode is associated with a preset blowing direction. The preset blowing path refers to a pre-set blowing path for the target area (i.e., the work area to be blown). The preset blowing path contains multiple sequentially arranged paths. Specifically, the blowing device will execute the blowing operation starting from the first path in the preset blowing path, then sequentially enter the next path to execute the blowing operation, and so on, until all paths in the preset blowing path have completed the blowing operation. The aforementioned blowing operation refers to the blowing component of the blowing device blowing air and using the blown air to blow the object to be blown (such as fallen leaves, snow, etc.) to a designated location, ultimately completing the cleaning of the object. In this embodiment, the blowing direction of the purging device on multiple paths within the preset purging path can be a preset blowing direction. Each purging mode is associated with a preset blowing direction; that is, for different purging modes, the preset blowing directions corresponding to the preset purging paths can be the same or different. The purging modes include, but are not limited to, continuous purging modes and discontinuous purging modes. In the continuous purging mode, the purging device continues to blow air without shutting off the blowing component throughout the entire preset purging path. In the discontinuous purging mode, the purging device can temporarily shut off the blowing component to stop blowing air throughout the entire preset purging path.

[0014] S200, the blowing device is controlled to start from the starting point of the first path in the preset blowing path, travel along the first path and perform blowing operations in the preset blowing direction; that is, the starting point of the first path refers to the starting position of the entire preset blowing path. Starting from the starting point of the first path, the blowing device begins to perform blowing operations along the first path. That is, starting from the starting point of the first path, the blowing component of the blowing device is controlled to blow air in the preset blowing direction, and the blown air is used to blow the objects to be blown on the first path (such as fallen leaves, snow, etc.) to the designated position, so as to finally complete the cleaning of the objects to be blown on the first path until the end point of the first path is reached.

[0015] S300, when the end of the first path is reached, the purging device is controlled to perform a transfer operation corresponding to the purging mode, so as to transfer the purging device to the starting point of the next path in the preset purging path; in this embodiment, for different purging modes, the transfer operation of the purging device between the first path and the next path (including between any two adjacent paths of the preset purging path) will be different, so as to achieve smooth transfer between different paths with different arrangement and ensure the purging effect.

[0016] S400: The blowing device is controlled to start from the beginning of the next path, travel along the preset blowing path, and perform blowing operations according to the preset blowing direction. That is, after the blowing device moves to the beginning of the next path, the blowing component of the blowing device continues to blow air in the preset blowing direction, using the blown air to blow the object to be blown on the path to a designated position, so as to finally complete the cleaning of the object to be blown on the path and reach the end of the path. Then, referring to step S300, the blowing device is controlled to perform a transfer operation corresponding to the blowing mode, so as to move the blowing device to the beginning of the next path in the preset blowing path, and so on, until the blowing operation of the entire preset blowing path is completed.

[0017] In the above embodiments of the present invention, the purging device can perform purging operations in different preset purging directions on each path of the preset purging path according to different purging modes, thereby performing targeted purging of the objects to be purged (such as fallen leaves, snow, etc.) corresponding to each path, improving the purging effect. Furthermore, when reaching the end of the previous path and needing to switch to the next path, the purging device performs a transfer operation corresponding to different purging modes, and then transfers to the next path to continue performing the purging operation on the next path. Since different transfer operations are applicable to different purging modes, the purging effect can be further improved. Moreover, the present invention can realize full automation of purging, greatly improving the intelligence of the purging operation. Its purging direction and purging position are controllable, greatly improving the purging effect in the working area.

[0018] In one embodiment, such as Figure 2 As shown, all paths in the preset purging path are arranged in parallel intervals; the purging mode is a first continuous purging mode; the preset purging direction is towards the next path; that is, the first continuous purging mode refers to the continuous purging mode of the purging device in all preset purging paths arranged in parallel intervals. In the first continuous purging mode, the purging device will not shut off the blowing component and will continue to blow air in all paths arranged in parallel intervals throughout the entire preset purging path, and will also maintain continuous blowing air during the transfer operation. Furthermore, the path spacing between all parallel intervals is equal, and the path spacing can be set according to requirements and is not limited here. Moreover, the paths in the preset purging path can be equal or unequal, and can be straight lines or curves.

[0019] Further, in step S300, controlling the purging device to perform a transfer operation corresponding to the purging mode, so as to transfer the purging device to the starting point of the next path in the preset purging path, includes: The blowing device is controlled to continue blowing operations. After traveling a preset distance in the opposite direction, the blowing device is controlled to rotate by a first preset angle, so that the blowing direction of the blowing device is towards the center position of the next path. Both the preset distance and the first preset angle can be set according to requirements; for example, the first preset angle can be 30°-50°. The center position here can refer to the very center of the next path, or it can refer to a position close to the center. Figure 2 As shown, the blowing device is controlled to move in a straight line from the starting point of the first path and towards the next path (here, the next path refers to the second path, and the direction towards the next path is the preset blowing direction) to perform a blowing operation, so that all the objects to be blown by the blowing device on the first path move towards the next path; when it reaches the end of the first path, the blowing device is first controlled to continue the blowing operation, while simultaneously reversing the blowing device a preset distance, and then rotating clockwise by a first preset angle, so that the front of the blowing device faces the starting point of the next path, and the blowing direction of the blowing device faces the center position of the next path, and the blowing device is controlled to move along the set curved path or straight path to reach the starting point of the next path. The above settings ensure that during this transfer operation, all the objects to be blown by the blowing device move towards the center position of the next path (e.g., Figure 2 The purging device is located at the end of the first path (as shown in the image), and will not drift outside the target area corresponding to the preset purging path (if the purging device faces the end of the first path). Figure 2If the airflow is directed to the right, the object to be purged will be blown out of the target area, and will not drift to the position between the first path and the next path (if the purging device is oriented towards the end of the first path). Figure 2 If the airflow is directed from the left, the object to be cleaned will be blown towards the area between the first path and the next path. Consequently, when the cleaning device performs a cleaning operation on the next path, it will be unable to clean that part of the object, resulting in the area between the two paths not being cleaned properly.

[0020] After the purging device moves to the starting point of the next path, it is rotated in the opposite direction by the first preset angle so that the blowing direction of the purging device returns to the preset blowing direction at the starting point of the next path. Understandably, after reaching the starting point of the next path, the purging device continues to perform the purging operation, but at this time, the current blowing direction is still towards the center of the next path. If purging continues in the current blowing direction, the object to be purged will be blown outside the target area when reaching the end point of the next path. Therefore, in this embodiment, to ensure that the blowing direction of the purging device remains towards the next path (here, "towards the next path" refers to the path following the current path, i.e., the preset purging direction), and thus prevents the object to be purged from being blown out of the target area, the purging device needs to be controlled to rotate counterclockwise by a first preset angle. This restores the purging device to its state on the first path, making it parallel to the next path, and simultaneously ensuring that the blowing direction of the purging device is directly towards the next path after that (here, "the next path after that" refers to the third path). Then, the purging device is controlled to start from the beginning of the next path, retreat along the next path, and perform a purging operation towards the next path after that (here, "the next path after that" is the preset purging direction); and so on, until finally, the object to be purged is accumulated after continuous purging operations on all paths. Figure 2 Below the last path shown.

[0021] In one embodiment, such as Figure 3As shown, all paths in the preset purging path are arranged in parallel intervals; the purging mode is a discontinuous purging mode; the preset purging direction is towards the next path; that is, the discontinuous purging mode refers to a purging mode in which the blowing device can temporarily shut off the blowing assembly to stop blowing throughout the entire preset purging path arranged in parallel intervals. In the discontinuous purging mode, the blowing device will not shut off the blowing assembly and will continue to blow air on all (or some) paths arranged in parallel intervals throughout the preset purging path, but can stop blowing air during the transfer operation. Furthermore, the path spacing between all parallel intervals is equal, and the path spacing can be set according to requirements and is not limited here. The paths in the preset purging path can be equal or unequal, and can be straight lines or curves.

[0022] Further, in step S300, controlling the purging device to perform a transfer operation corresponding to the purging mode, so as to transfer the purging device to the starting point of the next path in the preset purging path, includes: The blowing device is controlled to stop blowing, then turns around and returns to the starting point of the first path. It then turns around again and moves to the starting point of the next path, and the blowing device is controlled to restart blowing. In this embodiment, as... Figure 3 As shown, the purging device moves in a straight line from the starting point of the first path towards the next path (here, the next path refers to the second path, and "towards the next path" is the preset purging direction) to perform a purging operation, so that all the objects to be purged on the first path move towards the next path. Upon reaching the end of the first path, the blowing component of the purging device is first shut off to stop blowing, and the purging device is simultaneously turned around. The turning around can be done by turning around on the spot or by traveling along a curved path and then turning around. Afterward, the purging device continues to move forward until it returns to the position corresponding to the starting point of the first path (when turning around on the spot, this position is the starting point of the first path; when turning around along a curved path, this position is...). Figure 3 As shown, the location is below the starting point of the first path (either on the first path or between two adjacent paths). If the purging device needs to move to the starting point of the next path (if the position after the purging device returns is the starting point of the next path, no movement is necessary), then the purging device turns around again in the same manner as the first turn, restarting the blowing operation. Starting from the starting point of the next path, the purging device moves along the next path and towards the next path after that (here, "towards the next path after that" is the preset blowing direction) to perform the blowing operation; this process continues until the object to be purged is finally accumulated after continuous blowing operations on all paths. Figure 3 Below the last path shown.

[0023] In this embodiment, the turning and reversing process may cause the object to be purged to be irregularly blown outside the target area or between two adjacent paths. Therefore, it is necessary to control the blowing component to shut down during the turning and reversing process to stop blowing. Blowing also continues to stop during the return process of the purging equipment to accelerate the return speed. Furthermore, since the first turning and reversing position of the purging equipment is located on the first path or between two adjacent paths, the above settings can also prevent repeated purging when the return path is the same as or too close to the previous travel path.

[0024] In one embodiment, such as Figure 4 As shown, all the paths in the preset purging path are arranged in a spiral pattern; the purging mode is a second continuous purging mode; the preset purging direction is towards the middle position of the preset purging path in the spiral; that is, the second continuous purging mode refers to the continuous purging mode of the purging device in all the preset purging paths arranged in a spiral pattern. In the second continuous purging mode, the purging device will not shut off the blowing component and will continue to blow air throughout all the spiral paths arranged in the preset purging path, and will also maintain continuous blowing air during the transfer operation. Furthermore, the path spacing between all the spirally arranged paths can be set according to requirements and is not limited here. The paths in the preset purging path can be equal or unequal, and can be straight lines or curves. Understandably, the aforementioned spiral-shaped preset purging path can be a clockwise or counterclockwise spiral, and the first path can be located at the center of the spiral or at the edge of the spiral, without limitation. That is, the purging device can start the purging operation from the outermost part of the target area to the inside of the target area, or it can start the purging operation from the middle of the target area to the surrounding areas.

[0025] Further, in step S300, controlling the purging device to perform a transfer operation corresponding to the purging mode, so as to transfer the purging device to the starting point of the next path in the preset purging path, includes: The purging device is controlled to continue performing the purging operation, rotating by a second preset angle to reach the starting point of the next path, so that the purging device is oriented towards the middle position of the spiral-shaped preset purging path at the starting point of the next path. The second preset angle can be set according to requirements; when two adjacent paths in the preset purging path are perpendicular, the second preset angle can be 90°. In this embodiment, the middle position of the preset purging path can refer to the center point of the outermost loop of the spiral-shaped preset purging path, or it can be any other position close to that point; it is not limited here. Figure 4As shown, the first path is located at the outermost edge of the preset purging path and is a straight line. Starting from the beginning of the first path, the purging device is controlled to move in a straight line towards the middle position of the preset purging path (the middle position of the preset purging path is the preset purging direction) to perform a purging operation, so that the objects to be purged by the purging device on the first path all move towards the middle position of the preset purging path. Upon reaching the end of the first path, the purging device is first controlled to continue performing the purging operation. Simultaneously, if the end of the first path coincides with the beginning of the next path (i.e., the second path), the purging device is controlled to rotate clockwise by a second preset angle in place; if the end of the first path does not coincide with the beginning of the next path (i.e., the second path), the purging device is controlled to move towards the beginning of the next path while rotating clockwise by a second preset angle, so that the purging device is parallel to the next path after rotation. During the above rotation process, the purging device continues to blow air, but its blowing direction is always towards the middle position of the preset purging path. Figure 4 As shown, the above settings enable the purging device to ensure that the object to be purged during the transfer operation always moves toward the middle position of the preset purging path.

[0026] Understandably, after the purging equipment reaches the starting point of the next path, it continues to perform the purging operation. At this point, the equipment can be controlled to start from the beginning of the next path, continue along the path, and move towards the middle of the preset purging path (the middle of the preset purging path is the preset purging direction) to perform the purging operation; and so on, until finally, the material to be purged is accumulated after continuous purging operations on all paths. Figure 4 The middle position of the preset purging path shown.

[0027] Furthermore, during the continuous purging operation along the aforementioned preset purging path, the closer to the center of the preset purging path, the weaker the airflow from the blowing component of the purging device. That is, as the purging device gradually moves towards the center of the preset purging path, the airflow is gradually reduced until it reaches its minimum, to prevent the material to be purged from being blown away by excessive airflow in the accumulation area at the center of the preset purging path, thus affecting the purging effect.

[0028] In one embodiment, performing the purging operation includes: When a specific area is detected in the current blowing direction of the purging device, the purging device is controlled to stop purging operation or the blowing force of the purging device is controlled to decrease.

[0029] Furthermore, the specific location includes, but is not limited to, obstacle areas and accumulation areas. An obstacle area includes the region where obstacles located in the current wind direction are identified by the purging device. For example, when the purging device moves to the edge of an obstacle area, it may continue operating according to the current wind force, potentially blowing the object to be purged onto the obstacle. This could cause the object to be purged to be blown into the obstacle by a strong wind, and then scattered and blown around due to the strong wind. An accumulation area refers to the region where the object to be purged is blown into and accumulates. At least one accumulation area will be formed during the purging process of the preset purging path. For example, when the purging device moves to an accumulation area, it may continue operating according to the current wind force, and a strong wind could also cause the object to be purged in the accumulation area to be blown around. Therefore, after the control module identifies a specific area in the current wind direction through the purging device, and the distance to the specific area is less than or equal to the minimum blowing distance threshold associated with the current wind force, it can control the purging device to shut down the blowing component or reduce the wind force of the blowing component. The purging equipment is associated with multiple wind ranges, and each wind range is associated with a minimum blow-away distance threshold. The above association is determined based on actual tests. After determining the wind range of the current wind force, the minimum blow-away distance threshold associated with that wind range can be determined as the minimum blow-away distance threshold associated with the current wind force.

[0030] In one embodiment, after performing the purging operation, the following is included: The system receives a recharge command containing a preset recharge route and obtains the location information corresponding to the accumulation areas formed during all the blowing operations. The preset recharge route may include one or more routes from the location of the blowing device to the charging point. The recharge command can be generated by the user triggering a preset button or through voice commands, or it can be automatically generated after determining that the blowing device's battery level is below a preset battery threshold. At least one accumulation area will be formed during the blowing process of each preset blowing path, and each accumulation area corresponds to a location information.

[0031] A clearance zone is formed based on the location information, and a target return route is generated based on the clearance zone and the recharge route. The purging device is then controlled to perform a recharge operation according to the target return route. That is, the accumulation area corresponding to the location information is identified as a clearance zone, and a detour is set in the pre-set recharge route around this clearance zone. The target return route is then re-planned and generated. Finally, the purging device is controlled to return to the charging point for charging (i.e., perform a recharge operation) according to the target return route. This avoids the purging device from crushing or disturbing the accumulated material in the clearance zone. Understandably, the aforementioned accumulation zone can be set as a temporary obstacle, temporarily designated as a clearance zone during this purging process to prevent the machine from entering the accumulation zone during this recharge operation. However, when the purging device performs the next purging operation, the material in the accumulation zone may have been cleared. Therefore, it is necessary to clear the temporary obstacle (i.e., cancel the clearance zone) and re-identify it to achieve better purging results and higher efficiency.

[0032] In one embodiment, the method further includes: After confirming that the preset purging path has been completed, the preset purging path is shifted a target distance along the preset purging direction to obtain a secondary purging path; wherein, the target distance is a preset ratio of the path spacing of the preset purging path; wherein, the preset ratio can be set according to requirements, for example, set to half of the path spacing of the preset purging path.

[0033] The purging device is controlled to perform a secondary purging operation according to the secondary purging path. That is, in this embodiment, after the purging device completes the first purging plan, it can be controlled to translate the target distance and generate a secondary purging path, and then perform a secondary purging operation according to the secondary purging path. Understandably, the purging process of the secondary purging operation can refer to the steps S100-400, but the purging path corresponding to the secondary purging operation is modified from a non-connected path in the preset purging path to a different path in the secondary purging path.

[0034] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0035] In one embodiment, a control module is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5As shown, the control module includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes a readable storage medium and internal memory. The readable storage medium stores an operating system, computer-readable instructions, and a database. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the readable storage medium. The database stores data related to the purging method. The network interface communicates with external terminals via a network connection. When the computer-readable instructions are executed by the processor, a purging method is implemented. The readable storage medium provided in this embodiment includes both non-volatile and volatile readable storage media.

[0036] In one embodiment, a control module is provided, including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor. When the processor executes the computer-readable instructions, it implements the purging method described above. Each module in the control module can be implemented entirely or partially through software, hardware, or a combination thereof. Each module can be embedded in hardware within or independently of the processor in the control module, or it can be stored in software within the memory of the control module, so that the processor can invoke and execute the operations corresponding to each module.

[0037] In the above embodiments of the present invention, the control module can control the purging device to perform purging operations in different preset purging directions on each path of the preset purging path according to different purging modes, thereby performing targeted purging of the objects to be purged (such as fallen leaves, snow, etc.) corresponding to each path, improving the purging effect. Furthermore, when reaching the end of the previous path and needing to switch to the next path, the control module can control the purging device to perform a transfer operation corresponding to different purging modes, thereby transferring the purging device to the next path to continue performing the purging operation on the next path. Since different transfer operations are applicable to different purging modes, the purging effect can be further improved. Moreover, the present invention can achieve full automation of purging, greatly improving the intelligence of the purging operation. Its purging direction and purging position are controllable, greatly improving the purging effect in the working area.

[0038] This invention also provides a blowing device, including the aforementioned control module. Specific limitations of the blowing device can be found in the above description of the blowing method and control module, and will not be repeated here. The blowing device also includes a blowing assembly for blowing air. The blowing assembly can be installed at any position on the blowing device, such as the bottom, left side, or right side, and is not limited thereto. The blowing device can be a yard robot, snow removal device, sweeping robot, etc.

[0039] In one embodiment, one or more computer-readable storage media storing computer-readable instructions are provided. The computer-readable storage media provided in this embodiment include non-volatile readable storage media and volatile readable storage media. The computer-readable instructions stored on the readable storage media are executed by one or more processors using the purge method described above.

[0040] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware with computer-readable instructions. These computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When executed, these computer-readable instructions can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0041] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0042] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A purging method, characterized in that, include: Obtain a purging command that includes a preset purging path and a purging mode. The preset purging path includes multiple paths arranged in sequence, and each purging mode is associated with a preset purging direction. The purging device is controlled to start from the beginning of the first path in the preset purging path, travel along the first path and perform purging operations in the preset purging direction; different transfer operations are applicable to different purging modes; Upon reaching the end of the first path, the purging device is controlled to perform a transfer operation corresponding to the purging mode, thereby transferring the purging device to the starting point of the next path in the preset purging path: All paths in the preset purging path are arranged in parallel intervals. The purging mode is a first continuous purging mode. When the preset purging direction is towards the next path, the purging device is controlled to continue performing the purging operation. After the purging device travels a preset distance in the opposite direction, it is controlled to rotate a first preset angle so that the airflow direction of the purging device is towards the center position of the next path. After the purging device travels to the starting point of the next path, it is controlled to rotate the purging device in the opposite direction by the first preset angle so that the airflow direction of the purging device returns to the preset purging direction at the starting point of the next path; or... All paths in the preset purging path are arranged in parallel intervals. The purging mode is a non-continuous purging mode. When the preset purging direction is towards the next path, the purging device is controlled to stop blowing, and the purging device is made to turn around and return to the starting point of the first path. Then, it turns around again and moves to the starting point of the next path, and the purging device is controlled to start blowing again. or, All the paths in the preset purging path are arranged in a spiral shape in sequence. The purging mode is the second continuous purging mode. When the preset purging direction is towards the middle position of the preset purging path in the spiral, the purging device is controlled to continue performing the purging operation, so that the purging device rotates by a second preset angle and reaches the starting point of the next path, so that the purging device is towards the middle position of the preset purging path in the spiral shape at the starting point of the next path. The purging device is controlled to start from the beginning of the next path, travel along the preset purging path, and perform purging operations in the preset purging direction.

2. The purging method as described in claim 1, characterized in that, The purge operation includes: When a specific area is detected in the current blowing direction of the purging device, the purging device is controlled to stop the purging operation or the blowing force of the purging device is controlled to decrease.

3. The purging method as described in claim 1, characterized in that, After performing the purging operation, the following is included: Receive a recharge command containing a preset recharge route, and obtain the location information corresponding to the accumulation area formed in all the purging operations; An avoidance zone is formed based on the location information, and a target return route is generated based on the avoidance zone and the recharge route. The purging device is then controlled to perform a recharge operation based on the target return route.

4. The purging method as described in claim 1, characterized in that, The method further includes: After confirming that the preset purging path has been completed, the preset purging path is translated by a target distance along the preset purging direction to obtain a secondary purging path; wherein, the target distance is a preset proportion of the path spacing of the preset purging path; The purging device is controlled to perform a secondary purging operation according to the secondary purging path.

5. A control module, comprising a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, characterized in that, When the processor executes the computer-readable instructions, it implements the purging method as described in any one of claims 1 to 4.

6. A purging device, comprising the control module as described in claim 5.

7. One or more readable storage media storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the purging method as described in any one of claims 1 to 4.

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