Cleaning method and device, cleaning equipment and medium

Abstract

The invention relates to a cleaning method and device, cleaning equipment and a medium. The cleaning method comprises the steps of determining the type of a cleaning path; detecting a first distance between the cleaning equipment and the first reference object and a second distance between the cleaning equipment and the second reference object; and according to the type of the cleaning path, the first distance and the second distance, the cleaning equipment is controlled to conduct edge cleaning. The cleaning equipment is controlled to perform edge cleaning by combining the type of the cleaning path, the first distance and the second distance, the situation that the cleaning equipment deviates from the first reference object or collides with the first reference object under the condition that the first distance is inaccurate is avoided, and therefore the cleaning effect and reliability of the cleaning equipment are improved.

Description

Technical Field

[0001] This disclosure relates to the field of ground cleaning technology, and in particular to a cleaning method, apparatus, cleaning equipment and medium. Background Technology

[0002] With the development of cleaning equipment, these devices can automatically and comprehensively clean floors, making them popular among users. However, during edge cleaning, the equipment may deviate from the reference object being cleaned, resulting in poor cleaning performance. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, this disclosure provides a cleaning method, apparatus, cleaning equipment and medium.

[0004] According to a first aspect of the present disclosure, a cleaning method is provided, the cleaning method comprising:

[0005] Determine the type of cleaning path;

[0006] The first distance between the cleaning equipment and a first reference object along the cleaning path and the second distance between the cleaning equipment and a second reference object are detected;

[0007] The cleaning device is controlled to perform edge cleaning based on the type of the cleaning path, the first distance, and the second distance.

[0008] In some embodiments of this disclosure, controlling the cleaning device to perform edge cleaning based on the type of the cleaning path, the first distance, and the second distance includes:

[0009] The target distance is determined based on the type of the cleaning path, the first distance, and the second distance;

[0010] Based on the target distance, the cleaning equipment is controlled to perform edge cleaning.

[0011] In some embodiments of this disclosure, determining the target distance based on the type of the cleaning path, the first distance, and the second distance includes:

[0012] When the cleaning path is a straight path, the historical distance between the cleaning device and the first reference object is obtained;

[0013] Compare the first distance with the historical distance to obtain a first comparison result;

[0014] Compare the first distance and the second distance to obtain a second comparison result;

[0015] The target distance is determined based on the first comparison result and the second comparison result.

[0016] In some embodiments of this disclosure, determining the target distance based on the first comparison result and the second comparison result includes:

[0017] If the first comparison result is outside the first preset range, and / or the second comparison result is outside the second preset range, the historical distance is determined as the target distance;

[0018] If the first comparison result is within the first preset range and the second comparison result is within the second preset range, the first distance is determined to be the target distance.

[0019] In some embodiments of this disclosure, determining the target distance based on the type of the cleaning path, the first distance, and the second distance includes:

[0020] If the cleaning path is a non-linear path, the first distance and the second distance are weighted and summed to obtain the target distance.

[0021] In some embodiments of this disclosure, before determining the type of cleaning path, the cleaning method further includes:

[0022] Determine the cleaning map;

[0023] The determination of the type of cleaning path includes:

[0024] Based on the cleaning map, the type of the cleaning path is determined to be either a straight path or a non-straight path.

[0025] In some embodiments of this disclosure, determining the cleaning map includes:

[0026] Control the cleaning equipment to perform cleaning;

[0027] During the cleaning process of the cleaning equipment, first environmental information is collected;

[0028] After the cleaning equipment completes its cleaning process, the cleaning map is created based on the first environmental information; or,

[0029] Obtain secondary environmental information input by the user;

[0030] Based on the second environmental information, the cleaning map is created.

[0031] In some embodiments of this disclosure, before determining the type of cleaning path, the cleaning method further includes:

[0032] In response to a user's cleaning command, the cleaning device is controlled to move to the nearest first reference object.

[0033] According to a second aspect of the present disclosure, a cleaning apparatus is provided, the cleaning apparatus comprising:

[0034] A determination module, configured to determine the type of cleaning path;

[0035] The detection module is configured to detect a first distance between the cleaning device and a first reference object along the cleaning path and a second distance between the cleaning device and a second reference object;

[0036] A control module is configured to control the cleaning device to perform edge cleaning based on the type of the cleaning path, the first distance, and the second distance.

[0037] According to a third aspect of the present disclosure, a cleaning device is provided, the cleaning device comprising:

[0038] processor;

[0039] Memory used to store the processor's executable instructions;

[0040] The processor is configured to perform the cleaning method described above.

[0041] In some embodiments of this disclosure, the cleaning device further includes:

[0042] ontology;

[0043] A line laser sensor is disposed on the side of the body, and the line laser sensor is used to detect the first distance;

[0044] A laser rangefinder sensor is disposed on the body and located above the line laser sensor. The laser rangefinder sensor is used to detect the second distance.

[0045] In some embodiments of this disclosure, the laser rangefinder is also used to collect first environmental information during the cleaning process of the cleaning equipment.

[0046] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, which, when instructions in the storage medium are executed by a processor of a terminal, enables the terminal to perform the cleaning method as described above.

[0047] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0048] During the cleaning process, the type of cleaning path is determined to determine the method for determining the distance used for edge cleaning. A first distance between the cleaning equipment and a first reference object along the cleaning path, and a second distance with a second reference object, are detected. The distance used for edge cleaning is adjusted based on the first distance affected by the first reference object and the second distance unaffected by it. Based on the type of cleaning path, the first distance, and the second distance, the cleaning equipment is controlled to clean the edge close to the first reference object without colliding with it. By combining the type of cleaning path, the first distance, and the second distance to control the edge cleaning, the cleaning equipment is prevented from deviating from or colliding with the first reference object if the first distance is inaccurate, thereby improving the cleaning effect and reliability of the cleaning equipment.

[0049] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0050] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0051] Figure 1 This is a schematic flowchart illustrating a cleaning method according to an exemplary embodiment;

[0052] Figure 2 This is a schematic flowchart illustrating a cleaning method according to another exemplary embodiment;

[0053] Figure 3 This is a schematic flowchart illustrating a cleaning method according to another exemplary embodiment;

[0054] Figure 4-1 This is a schematic diagram illustrating a cleaning scenario according to an exemplary embodiment;

[0055] Figure 4-2 This is a schematic diagram illustrating a cleaning scenario according to another exemplary embodiment;

[0056] Figure 5 This is a schematic flowchart illustrating a cleaning method according to another exemplary embodiment;

[0057] Figure 6 This is a schematic flowchart illustrating a cleaning method according to another exemplary embodiment;

[0058] Figure 7 This is a block diagram of a cleaning apparatus according to an exemplary embodiment;

[0059] Figure 8This is a block diagram of a cleaning device according to an exemplary embodiment.

[0060] In the picture:

[0061] 10-First reference object; 100-Determining module; 200-Detection module; 300-Control module; 400-Cleaning equipment; 402-Processing component; 404-Memory; 406-Power supply component; 408-Multimedia component; 410-Audio component; 412-Input / output interface; 414-Sensor component; 416-Communication component; 420-Processor. Detailed Implementation

[0062] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0063] With the development of cleaning equipment, these devices can automatically and comprehensively clean floors, gaining popularity among users. Common cleaning equipment includes robotic vacuum cleaners, robotic mops, and robotic floor scrubbers. During cleaning, these devices clean along the edges of reference objects such as walls and baseboards to achieve thorough cleaning. During edge cleaning, the device uses a linear laser sensor to detect the distance to the reference object, preventing it from moving too far away and failing to clean completely, or from colliding with the reference object and becoming unreliable. However, in special environments, such as when the baseboard is black, the infrared light emitted by the linear laser sensor diffuses when it hits the reference object. This causes random fluctuations in the reflected signal received by the cleaning device's camera, resulting in inconsistent distance detection. When cleaning along the edge based on these fluctuating distances, the cleaning device may shake, deviate from the reference object, or collide with it, leading to poor cleaning performance and low reliability.

[0064] In related technologies, a cleaning method is provided that involves repeatedly detecting the reference distance between the cleaning device and the reference object being cleaned. The multiple reference distances are then filtered to obtain the target distance. Based on the target distance, the cleaning device is controlled to clean along the edge of the reference object. While this method can reduce the fluctuation of the target distance to some extent, when the number of reference distances is small, the target distance can still fluctuate, causing the cleaning device to deviate from or collide with the reference object, resulting in poor cleaning performance and low reliability. When the number of reference distances is large, the time required for both reference distance acquisition and target distance determination is long, reducing the response speed of the cleaning device and again resulting in poor cleaning performance and low reliability.

[0065] To address the aforementioned technical problems, this disclosure provides a cleaning method that determines the type of cleaning path and detects a first distance between the cleaning device and a first reference object along the cleaning path, and a second distance between the cleaning device and a second reference object. Based on the type of cleaning path, the first distance, and the second distance, the cleaning device is controlled to perform edge cleaning. By combining the type of cleaning path, the first distance, and the second distance to control the cleaning device for edge cleaning, the impact of vibrations caused by the first distance during edge cleaning is reduced, and the response speed of the cleaning device is faster, thereby improving the cleaning effect and reliability of the cleaning device.

[0066] For ease of understanding, the cleaning device of this disclosure is first described. The cleaning device includes a main body, a linear laser sensor, and a laser distance sensor (LDS). The linear laser sensor is disposed on the side of the main body and is used to detect a first distance between the cleaning device and a first reference object along which the cleaning is being performed. The laser distance sensor is disposed on the main body, above the linear laser sensor, and is used to detect a second distance between the cleaning device and a second reference object, and to collect first environmental information of the room to establish a cleaning map. Depending on the indoor environment, the first reference object and the second reference object can be different reference objects, such as a baseboard and a wall. The first reference object may or may not be disposed on the second reference object. The first reference object may be located above or below the second reference object. The first reference object and the second reference object may also be different parts of the same reference object, such as the first and second parts of a wall. The first reference object and the second reference object may be located on the same side of the cleaning device or on different sides of the cleaning device. During the detection of the first and second distances, the first distance may fluctuate due to the influence of the first reference object, while the second distance is not affected by the first reference object and does not fluctuate. The height of the first reference object is less than the height of the cleaning equipment itself.

[0067] This disclosure provides a cleaning method, such as... Figure 1As shown, the method includes:

[0068] S100, Determine the type of cleaning path.

[0069] S200, Detect the first distance between the cleaning equipment and the first reference object along the cleaning path and the second distance between the cleaning equipment and the second reference object.

[0070] S300: Based on the type of cleaning path, the first distance, and the second distance, control the cleaning equipment to perform edge cleaning.

[0071] In this embodiment, during the cleaning process, the type of cleaning path is determined to determine the method for determining the distance used for edge cleaning. A first distance between the cleaning device and a first reference object along the cleaning path, and a second distance with a second reference object, are detected. The distance used for edge cleaning is adjusted based on the first distance affected by the first reference object and the second distance unaffected by the first reference object. Based on the type of cleaning path, the first distance, and the second distance, the cleaning device is controlled to clean the edge close to the first reference object without colliding with it. By combining the type of cleaning path, the first distance, and the second distance to control the edge cleaning, the cleaning device is prevented from deviating from or colliding with the first reference object if the first distance is inaccurate, thereby improving the cleaning effect and reliability of the cleaning device.

[0072] In one embodiment, such as Figure 2 As shown, in step S300, controlling the cleaning equipment to perform edge cleaning based on the type of cleaning path, the first distance, and the second distance is determined in the following way:

[0073] S310. Determine the target distance based on the type of cleaning path, the first distance, and the second distance.

[0074] S320: Control the cleaning equipment to perform edge cleaning according to the target distance.

[0075] In this embodiment, a target distance is determined based on the type of cleaning path, a first distance, and a second distance for the edge cleaning process. Based on the target distance, the cleaning equipment is controlled to perform edge cleaning along the edge of the first reference object while maintaining a certain distance from it. By combining the type of cleaning path, the first distance, and the second distance to determine the target distance for edge cleaning, the cleaning equipment is prevented from shaking and deviating from or colliding with the reference object if edge cleaning is performed solely based on the first distance. This improves the cleaning effect and reliability of the cleaning equipment.

[0076] In one embodiment, such as Figure 3As shown, the target distance in step S310, determined based on the type of cleaning path, the first distance, and the second distance, can be determined in the following way:

[0077] S311. When the cleaning path is a straight path, obtain the historical distance between the cleaning equipment and the first reference object.

[0078] S312. Compare the first distance with the historical distance to obtain the first comparison result.

[0079] S313. Compare the first distance and the second distance to obtain the second comparison result.

[0080] S314. Determine the target distance based on the first comparison result and the second comparison result.

[0081] In this embodiment, when the cleaning path is a straight path, the cleaning device does not need to adjust its cleaning direction due to the protrusions or depressions of the first and second reference objects or obstacles. The cleaning device can be controlled to perform edge cleaning based on its distance from the first reference object. Historical distances between the cleaning device and the first reference object are acquired to determine the distance between the cleaning device and the first reference object in previous or multiple detections. A first distance and a historical distance are compared to obtain a first comparison result, which determines the degree to which the first distance deviates from the historical distance. A second comparison result is compared to obtain a second comparison result, which determines the degree to which the second distance deviates from the first distance. Based on the first and second comparison results, the degree of jitter in the first distance is obtained, and the target distance is determined. By determining the target distance based on the degree of jitter in the first distance, the influence of jitter on the target distance is reduced, thereby improving the cleaning effect and reliability of the cleaning device.

[0082] For example, the historical distance can be the distance between the cleaning device and the first reference object in the previous test, or it can be the average of the distances between the cleaning device and the first reference object in the previous multiple tests, without limitation here.

[0083] For example, the comparison between the first distance and the historical distance in step S312 to obtain the first comparison result can be obtained by subtracting the first distance from the historical distance and using the first difference as the first comparison result, or by comparing the first distance with the historical distance and using the first ratio as the first comparison result. No limitation is made here.

[0084] For example, the comparison of the first distance and the second distance in step S313 to obtain the second comparison result can be obtained by subtracting the second distance from the first distance and using the second difference as the second comparison result, or by comparing the second distance with the first distance and using the second ratio as the second comparison result. No limitation is made here.

[0085] In one embodiment, the target distance in step S314, determined based on the first comparison result and the second comparison result, is determined in the following manner:

[0086] If the first comparison result is outside the first preset range, and / or the second comparison result is outside the second preset range, the historical distance is determined as the target distance.

[0087] If the first comparison result is within the first preset range and the second comparison result is within the second preset range, the first distance is determined as the target distance.

[0088] In this embodiment, when the first comparison result is outside the first preset range and / or the second comparison result is outside the second preset range, the first distance exhibits significant fluctuation. Therefore, a historical distance is determined as the target distance to avoid the influence of the first distance fluctuation. When both the first comparison result and the second comparison result are within the first preset range, the first distance exhibits less fluctuation. Therefore, the first distance is determined as the target distance for edge cleaning based on the latest first distance. By determining the corresponding target distance based on the fluctuation of the first distance, the influence of the first distance fluctuation on the target distance is reduced, thereby improving the cleaning effect and reliability of the cleaning equipment.

[0089] For example, if the first comparison result is outside the first preset range and / or the second comparison result is outside the second preset range, the first distance is deleted. If the first comparison result is within the first preset range and the second comparison result is within the second preset range, the first distance is saved.

[0090] For example, the values ​​of the first preset range and the second preset range differ depending on the method used to determine the first comparison result and the second comparison result. The first preset range and the second preset range can be set according to the method used to determine the first comparison result and the second comparison result, as well as the structure of the cleaning equipment. For example, when using a first difference as the first comparison result and a second difference as the second comparison result, if the absolute value of the first difference is greater than a first preset threshold, the first comparison result is outside the first preset range. If the absolute value of the second difference is greater than a second preset threshold, the second comparison result is outside the second preset range. If the absolute value of the first difference is less than or equal to a first preset threshold, the first comparison result is within the first preset range. If the absolute value of the second difference is less than or equal to a second preset threshold, the second comparison result is within the second preset range. Similarly, when using a first ratio as the first comparison result and a second ratio as the second comparison result, if the first ratio is greater than a third preset threshold or less than a fourth preset threshold, the first comparison result is outside the first preset range. If the second ratio is greater than a fifth preset threshold or less than a sixth preset threshold, the second comparison result is outside the second preset range. If the first ratio is less than or equal to a third preset threshold and greater than or equal to a fourth preset threshold, the first comparison result is within the first preset range. The second ratio is less than or equal to the fifth preset threshold and greater than or equal to the sixth preset threshold, and the second comparison result is within the second preset range.

[0091] In one embodiment, the determination of the target distance in step S310 based on the type of cleaning path, the first distance, and the second distance can also be determined in the following way:

[0092] When the cleaning path is a non-linear path, the first distance and the second distance are weighted and summed to obtain the target distance.

[0093] In this embodiment, when the cleaning path is a non-linear path, the cleaning device adjusts its cleaning direction due to the protrusions or depressions of the first and / or second reference objects and / or obstacles. The cleaning device can be controlled to perform edge cleaning based on a first distance between the cleaning device and the first reference object and a second distance between the cleaning device and the second reference object. A weighted sum of the first and second distances is taken as the target distance, which is then used to control the cleaning device to perform edge cleaning. By combining the first and second distances to determine the target distance and controlling the cleaning device to perform edge cleaning, the cleaning device can perform edge cleaning close to the first reference object without colliding with it, thereby improving the cleaning effect and reliability of the cleaning device.

[0094] For example, a non-linear path can be a polyline path or a curved path, etc., without limitation here.

[0095] For example, such as Figure 4-1As shown, when there are no obstacles in the cleaning path and the first reference object 10 and the second reference object do not protrude or dent excessively, the cleaning device 400 does not need to adjust the cleaning direction during the cleaning process and performs edge cleaning along an approximately straight path. The cleaning path can be considered a straight path. Figure 4-2 As shown, when there are obstacles in the cleaning path, the first reference object 10 protrudes or is recessed too much, and / or the second reference object protrudes or is recessed too much, the cleaning device 400 needs to adjust the cleaning direction during the cleaning process and perform edge cleaning with a curved or broken path. The cleaning path can be considered as a non-linear path.

[0096] For example, the target distance obtained by weighted summation of the first distance and the second distance in the above steps can be expressed by the following formula:

[0097] d t = a1*d1+a2*d2;

[0098] Where, d t Let a1 represent the target distance, a2 represent the first coefficient, d1 represent the first distance, and d2 represent the second distance. a1 + a2 = 1 and both a1 and a2 are greater than 0.

[0099] In one embodiment, before determining the type of cleaning path in step S100, the cleaning method further includes:

[0100] Determine the cleaning map.

[0101] The type of cleaning path in step S100 is determined as follows:

[0102] Based on the cleaning map, determine whether the cleaning path is a straight path or a non-straight path.

[0103] In this embodiment, a cleaning map is determined before determining the type of cleaning path. Based on the cleaning map, the path that the cleaning equipment will perform edge cleaning is obtained, and the type of cleaning path is determined to be either a straight path or a non-straight path. By combining the cleaning map, the type of path that the cleaning equipment will clean can be accurately determined, thereby improving the reliability of the cleaning equipment.

[0104] In one embodiment, such as Figure 5 As shown, the cleaning map in the above steps can be determined in the following way:

[0105] S400, control the cleaning equipment to perform cleaning.

[0106] S410. During the cleaning process of the cleaning equipment, collect the first environmental information.

[0107] S420. After the cleaning equipment has finished cleaning, a cleaning map is created based on the first environmental information.

[0108] In this embodiment, since the cleaning equipment does not include a cleaning map after purchase, or the user adjusts the environmental layout, the cleaning equipment is controlled to perform cleaning. During the cleaning process, first environmental information is collected to determine the environment in which the cleaning equipment is located. After the cleaning is completed, the cleaning equipment has a completely determined environment. Based on the first environmental information, a cleaning map is created. By automatically creating a cleaning map after the cleaning equipment completes cleaning, the reliability of the cleaning equipment is improved without requiring the user to input environmental information.

[0109] For example, in step S410, during the cleaning process of the cleaning equipment, the first environmental information is collected. This information can be collected by the laser rangefinder of the cleaning equipment or by the camera of the cleaning equipment. No limitation is made here.

[0110] For example, in step S420, after the cleaning equipment has finished cleaning, a cleaning map is created based on the first environmental information. This can be done either after the cleaning equipment has finished cleaning for the first time and the cleaning map has been created based on the first environmental information, or after the cleaning equipment has finished cleaning for a period of time and the cleaning map has been updated based on the first environmental information. No limitation is made here.

[0111] In one embodiment, the determination of the cleaning map in the above steps can also be determined in the following way:

[0112] Obtain secondary environment information input by the user.

[0113] Based on the second environmental information, a cleanup map is created.

[0114] In this embodiment, since the cleaning equipment does not include a cleaning map after purchase, the user inputs environmental information into the cleaning equipment or a server wirelessly connected to the cleaning equipment to obtain second environmental information. A cleaning map is then created based on this second environmental information. Because the second environmental information is input by the user, the cleaning equipment can create an accurate cleaning map without performing an initial cleaning, thereby improving the cleaning effect.

[0115] In one embodiment, before determining the type of cleaning path in step S100, the cleaning method further includes:

[0116] In response to the user's cleaning command, the cleaning equipment is controlled to move to the nearest first reference object.

[0117] In this embodiment, in response to a user's cleaning command, the user requests the cleaning device to perform cleaning. Since the location of the cleaning device may differ at different times, and the cleaning device needs to perform edge cleaning, the device is controlled to move to the nearest first reference object. By controlling the cleaning device to move to the nearest first reference object when cleaning is required, the time required for the cleaning device to move is reduced, thereby improving the efficiency of the cleaning device.

[0118] For example, controlling the cleaning equipment to move to the nearest first reference object in the above steps can be done by combining the cleaning map and the location of the cleaning equipment.

[0119] This disclosure provides a cleaning method, such as... Figure 6 As shown, the method includes:

[0120] S500, control the cleaning equipment to perform cleaning.

[0121] S510. During the cleaning process of the cleaning equipment, collect the first environmental information.

[0122] S520. After the cleaning equipment has finished cleaning, a cleaning map is created based on the first environmental information.

[0123] S530, in response to the user's cleaning command, controls the cleaning equipment to move to the nearest first reference object.

[0124] S540. Based on the cleaning map, determine whether the cleaning path is a straight path or a non-straight path.

[0125] S550, Detect the first distance between the cleaning equipment and the first reference object along the cleaning path and the second distance between the cleaning equipment and the second reference object.

[0126] S560. When the cleaning path is a straight path, obtain the historical distance between the cleaning equipment and the first reference object.

[0127] S570. Determine the difference between the first distance and the historical distance as the first difference value.

[0128] S580. Determine the difference between the second distance and the first distance as the second difference value.

[0129] S590. If the absolute value of the first difference is greater than the first preset threshold, and / or the absolute value of the second difference is greater than the second preset threshold, the historical distance is determined as the target distance.

[0130] S600, if the absolute value of the first difference is less than or equal to the first preset threshold and the absolute value of the second difference is less than or equal to the second preset threshold, the first distance is determined as the target distance.

[0131] S610. When the cleaning path is a non-linear path, the first distance and the second distance are weighted and summed to obtain the target distance.

[0132] S620: Control the cleaning equipment to perform edge cleaning according to the target distance.

[0133] In this embodiment, after purchasing the cleaning equipment, the user controls the cleaning equipment to perform cleaning. During the cleaning process, first environmental information is collected, and a cleaning map is built based on the first environmental information after cleaning is completed. In response to the user's cleaning command, if the user needs to clean again, the user controls the cleaning equipment to move to the nearest first reference object. Based on the cleaning map, the path to be cleaned by the cleaning equipment is obtained, and the type of cleaning path is determined to be a straight path or a non-straight path. The first distance between the cleaning equipment and the first reference object along the cleaning path and the second distance between the cleaning equipment and the second reference object are detected, and the target distance is determined by combining the cleaning path, the first distance, and the second distance. When the cleaning path is a straight path, the cleaning equipment does not need to adjust the cleaning direction, and the historical distance between the cleaning equipment and the first reference object is obtained. The difference between the first distance and the historical distance is determined as the first difference value to determine the degree of jitter of the first distance compared to the historical distance. The difference between the second distance and the first distance is determined as the second difference value to determine the degree of jitter of the first distance compared to the second distance. If the absolute value of the first difference value is greater than a first preset threshold, and / or the absolute value of the second difference value is greater than a second preset threshold, the degree of jitter of the first distance is large, and the historical distance is determined as the target distance. When the absolute value of the first difference is less than or equal to a first preset threshold and the absolute value of the second difference is less than or equal to a second preset threshold, the fluctuation of the first distance is small, and the first distance is determined as the target distance. When the cleaning path is a non-linear path, the cleaning equipment needs to adjust its cleaning direction and perform a weighted sum of the first and second distances to obtain the target distance. Based on the target distance, the cleaning equipment is controlled to perform edge cleaning. By combining the type of cleaning path, the first distance, and the second distance to control the cleaning equipment to perform edge cleaning, the equipment is prevented from deviating from or colliding with the first reference object when the first distance is inaccurate, thereby improving the cleaning effect and reliability of the cleaning equipment.

[0134] In one exemplary embodiment, a cleaning apparatus is provided for implementing the method described above. (Reference) Figure 7 As shown, the cleaning device may include a determining module 100, a detection module 200, and a control module 300, wherein, during the implementation of the above method,

[0135] Module 100 is configured to determine the type of cleaning path.

[0136] The detection module 200 is configured to detect a first distance between the cleaning device and a first reference object along which the cleaning is carried out, and a second distance between the cleaning device and a second reference object.

[0137] The control module 300 is configured to control the cleaning equipment to perform edge cleaning based on the type of cleaning path, a first distance, and a second distance.

[0138] In one exemplary embodiment, a cleaning apparatus is provided, wherein a control module 300 is configured to:

[0139] The target distance is determined based on the type of cleaning path, the first distance, and the second distance.

[0140] Based on the target distance, control the cleaning equipment to perform edge cleaning.

[0141] In one exemplary embodiment, a cleaning apparatus is provided, wherein a control module 300 is configured to:

[0142] When the cleaning path is a straight path, obtain the historical distance between the cleaning equipment and the first reference object.

[0143] Compare the first distance with the historical distance to obtain the first comparison result.

[0144] Compare the first distance and the second distance to obtain the second comparison result.

[0145] The target distance is determined based on the first comparison result and the second comparison result.

[0146] In one exemplary embodiment, a cleaning apparatus is provided, wherein a control module 300 is configured to:

[0147] If the first comparison result is outside the first preset range, and / or the second comparison result is outside the second preset range, the historical distance is determined as the target distance.

[0148] If the first comparison result is within the first preset range and the second comparison result is within the second preset range, the first distance is determined as the target distance.

[0149] In one exemplary embodiment, a cleaning apparatus is provided, wherein a control module 300 is configured to:

[0150] When the cleaning path is a non-linear path, the first distance and the second distance are weighted and summed to obtain the target distance.

[0151] In one exemplary embodiment, a cleaning apparatus is provided, wherein a determining module 100 is configured to:

[0152] Determine the cleaning map.

[0153] In one exemplary embodiment, a cleaning apparatus is provided, wherein a determining module 100 is configured to:

[0154] Based on the cleaning map, determine whether the cleaning path is a straight path or a non-straight path.

[0155] In one exemplary embodiment, a cleaning apparatus is provided, wherein a determining module 100 is configured to:

[0156] Control the cleaning equipment to perform cleaning.

[0157] During the cleaning process of the cleaning equipment, the first environmental information is collected.

[0158] After the cleaning equipment has finished cleaning, a cleaning map is created based on the initial environmental information.

[0159] In one exemplary embodiment, a cleaning apparatus is provided, wherein a determining module 100 is configured to:

[0160] Obtain secondary environment information input by the user.

[0161] Based on the second environmental information, a cleanup map is created.

[0162] In one exemplary embodiment, a cleaning apparatus is provided, wherein a control module 300 is configured to:

[0163] In response to the user's cleaning command, the cleaning equipment is controlled to move to the nearest first reference object.

[0164] In one exemplary embodiment, a cleaning device is provided, such as a robot vacuum cleaner, a robot mop, a robot floor scrubber, etc.

[0165] refer to Figure 8 As shown, the cleaning device 400 may include one or more of the following components: a processing component 402, a memory 404, a power supply component 406, a multimedia component 408, an audio component 410, an input / output (I / O) interface 412, a sensor component 414, and a communication component 416.

[0166] Processing component 402 typically controls the overall operation of cleaning equipment 400, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 402 may include one or more processors 420 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 402 may include one or more modules to facilitate interaction between processing component 402 and other components. For example, processing component 402 may include a multimedia module to facilitate interaction between multimedia component 408 and processing component 402.

[0167] Memory 404 is configured to store various types of data to support the operation of cleaning device 400. Examples of this data include instructions for any application or method operating on cleaning device 400, contact data, phonebook data, messages, pictures, videos, etc. Memory 404 can be implemented by any type of volatile or non-volatile storage terminal or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0168] Power supply component 406 provides power to the various components of cleaning equipment 400. Power supply component 406 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to cleaning equipment 400.

[0169] Multimedia component 408 includes a screen that provides an output interface between cleaning device 400 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 408 includes a front-facing camera module and / or a rear-facing camera module. When the cleaning device 400 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera module and / or the rear-facing camera module may receive external multimedia data. Each front-facing camera module and rear-facing camera module may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0170] Audio component 410 is configured to output and / or input audio signals. For example, audio component 410 includes a microphone (MIC) configured to receive external audio signals when the cleaning device 400 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 404 or transmitted via communication component 416. In some embodiments, audio component 410 also includes a speaker for outputting audio signals.

[0171] I / O interface 412 provides an interface between processing component 402 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0172] Sensor assembly 414 includes one or more sensors for providing status assessments of various aspects of the cleaning device 400. For example, sensor assembly 414 may detect the on / off state of the cleaning device 400, the relative positioning of components such as the display and keypad of the cleaning device 400, changes in the position of the cleaning device 400 or a component of the cleaning device 400, the presence or absence of user contact with the cleaning device 400, the orientation or acceleration / deceleration of the cleaning device 400, and temperature changes of the cleaning device 400. Sensor assembly 414 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 414 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 414 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0173] Communication component 416 is configured to facilitate wired or wireless communication between cleaning device 400 and other terminals. Cleaning device 400 can access wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G, 5G, or combinations thereof. In one exemplary embodiment, communication component 416 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 416 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0174] In an exemplary embodiment, the cleaning device 400 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing terminals (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods shown in the above embodiments or combinations thereof.

[0175] In one exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as memory 404 including instructions, which can be executed by processor 420 of cleaning device 400 to perform the methods shown in the above embodiments or combinations thereof. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage terminal, etc. When the instructions in the storage medium are executed by the processor of the terminal, the terminal is able to perform the methods shown in the above embodiments or combinations thereof.

[0176] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0177] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0178] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0179] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0180] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A cleaning method, characterized in that, The cleaning method includes: Determine the type of cleaning path; The first distance between the cleaning equipment and a first reference object along the cleaning path and the second distance between the cleaning equipment and a second reference object are detected; The cleaning device is controlled to perform edge cleaning based on the type of the cleaning path, the first distance, and the second distance.

2. The cleaning method according to claim 1, characterized in that, The step of controlling the cleaning device to perform edge cleaning based on the type of the cleaning path, the first distance, and the second distance includes: The target distance is determined based on the type of the cleaning path, the first distance, and the second distance; Based on the target distance, the cleaning equipment is controlled to perform edge cleaning.

3. The cleaning method according to claim 2, characterized in that, Determining the target distance based on the type of the cleaning path, the first distance, and the second distance includes: When the cleaning path is a straight path, the historical distance between the cleaning device and the first reference object is obtained; Compare the first distance with the historical distance to obtain a first comparison result; Compare the first distance and the second distance to obtain a second comparison result; The target distance is determined based on the first comparison result and the second comparison result.

4. The cleaning method according to claim 3, characterized in that, Determining the target distance based on the first comparison result and the second comparison result includes: If the first comparison result is outside the first preset range, and / or the second comparison result is outside the second preset range, the historical distance is determined as the target distance; If the first comparison result is within the first preset range and the second comparison result is within the second preset range, the first distance is determined to be the target distance.

5. The cleaning method according to claim 2, characterized in that, Determining the target distance based on the type of the cleaning path, the first distance, and the second distance includes: If the cleaning path is a non-linear path, the first distance and the second distance are weighted and summed to obtain the target distance.

6. The cleaning method according to any one of claims 1 to 5, characterized in that, Before determining the type of cleaning path, the cleaning method further includes: Determine the cleaning map; The determination of the type of cleaning path includes: Based on the cleaning map, the type of the cleaning path is determined to be either a straight path or a non-straight path.

7. The cleaning method according to claim 6, characterized in that, The determination of the cleaning map includes: Control the cleaning equipment to perform cleaning; During the cleaning process of the cleaning equipment, first environmental information is collected; After the cleaning equipment completes its cleaning process, the cleaning map is created based on the first environmental information; or, Obtain secondary environmental information input by the user; Based on the second environmental information, the cleaning map is created.

8. The cleaning method according to any one of claims 1 to 5, characterized in that, Before determining the type of cleaning path, the cleaning method further includes: In response to a user's cleaning command, the cleaning device is controlled to move to the nearest first reference object.

9. A cleaning device, characterized in that, The cleaning device includes: A determination module, configured to determine the type of cleaning path; The detection module is configured to detect a first distance between the cleaning device and a first reference object along the cleaning path and a second distance between the cleaning device and a second reference object; A control module is configured to control the cleaning device to perform edge cleaning based on the type of the cleaning path, the first distance, and the second distance.

10. A cleaning device, characterized in that, The cleaning equipment includes: processor; Memory used to store the processor's executable instructions; The processor is configured to perform the cleaning method as described in any one of claims 1 to 8.

11. The cleaning equipment according to claim 10, characterized in that, The cleaning equipment also includes: ontology; A line laser sensor is disposed on the side of the body, and the line laser sensor is used to detect the first distance; A laser rangefinder sensor is disposed on the body and located above the line laser sensor. The laser rangefinder sensor is used to detect the second distance.

12. The cleaning equipment according to claim 11, characterized in that, The laser rangefinder is also used to collect first environmental information during the cleaning process of the cleaning equipment.

13. A non-transitory computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the terminal, the terminal is able to perform the cleaning method as described in any one of claims 1 to 8.

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