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

Abstract

The invention provides cleaning equipment, a control method and device thereof and a readable storage medium. The control method comprises the steps that under the condition that it is detected that a closed loop exists in an edge track of the cleaning equipment, the closed loop type of the closed loop is determined according to feature information of the closed loop; under the condition that the closed loop type indicates that the closed loop is an abnormal closed loop, the to-be-cleaned contour is determined according to the room contour and the edge track information of the cleaning equipment, and the abnormal closed loop is the closed loop generated when the cleaning equipment does not complete edge work on the room; determining a to-be-cleaned point in the to-be-cleaned contour according to the closed loop type and the distance between the cleaning equipment and the contour point in the to-be-cleaned contour; and the cleaning equipment is controlled to continue cleaning with the to-be-cleaned point as the starting point. Therefore, when the cleaning equipment has an abnormal closed loop, the to-be-cleaned contour is dynamically determined based on the room contour and the edge track information of the cleaning equipment, and then the optimal to-be-cleaned point is selected from the to-be-cleaned contour to control the cleaning equipment to continue cleaning, so that the cleaning comprehensiveness, accuracy and efficiency of the cleaning equipment are improved.

Description

TECHNICAL FIELD

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

[0002] As an intelligent cleaning equipment, cleaning equipment has been widely used in homes and commercial places to reduce the cleaning burden of people. Traditional cleaning equipment usually adopts random cleaning mode or simple path planning for cleaning, which has certain limitations in cleaning efficiency and coverage. Especially in the process of edge cleaning, the cleaning equipment may not be complete or repeat cleaning due to the complexity of the environment or the limitation of its own algorithm.

[0003] Specifically, as an important part of smart home, the edge cleaning function of cleaning equipment is an aspect that users pay great attention to. However, the existing cleaning equipment often faces the following technical problems when edge cleaning:

[0004] Inaccurate closed loop recognition: traditional cleaning equipment cannot accurately recognize the closed loop state, that is, it cannot accurately recognize whether the cleaning equipment has completely cleaned the edge area of the room.

[0005] Inaccurate cleaning contour: the existing cleaning equipment cannot accurately identify the contour of the room and obstacles, resulting in inaccurate cleaning contour generation and affecting the cleaning effect.

[0006] Insufficient abnormal closed loop processing: during cleaning, the cleaning equipment may enter an abnormal closed loop state due to various reasons (such as sensor error, algorithm defect, etc.), at which time the cleaning equipment may not be able to correctly process, resulting in interrupted or incomplete cleaning. SUMMARY

[0007] The present application aims to at least solve one of the problems in the prior art or related art.

[0008] To this end, the first aspect of the present application is to propose a control method of a cleaning equipment.

[0009] The second aspect of the present application is to propose a control device of a cleaning equipment.

[0010] The third aspect of the present application is to propose a cleaning equipment.

[0011] The fourth aspect of the present application is to propose a readable storage medium.

[0012] Therefore, according to a first aspect of the present application, a control method of a cleaning device is provided, which comprises: in a case where a closed loop exists in a wall-following trajectory of the cleaning device, determining a closed loop type of the closed loop according to feature information of the closed loop; in a case where the closed loop type indicates that the closed loop is an abnormal closed loop, determining a to-be-cleaned contour according to room contour and wall-following trajectory information of the cleaning device, the abnormal closed loop being a closed loop generated when the cleaning device does not complete wall-following work in the room; determining a to-be-cleaned point in the to-be-cleaned contour according to the closed loop type and a distance between the cleaning device and a contour point in the to-be-cleaned contour; and controlling the cleaning device to continue cleaning with the to-be-cleaned point as a starting point.

[0013] The execution subject of the technical solution of the control method of the cleaning device provided by the present application can be the cleaning device, or the control device of the cleaning device, and can be determined according to actual use requirements, which is not specifically limited herein. In order to more clearly describe the control method of the cleaning device provided by the present application, the execution subject of the control method of the cleaning device is taken as the control device of the cleaning device in the following description.

[0014] Specifically, in the control method of the cleaning device provided by the present application, the control device of the cleaning device detects in real time whether a closed loop exists in a wall-following trajectory of the cleaning device during wall-following cleaning work of the cleaning device in a room. In a case where the control device of the cleaning device detects that a closed loop exists in the wall-following trajectory of the cleaning device, the control device of the cleaning device acquires feature information of the closed loop, and determines a closed loop type of the closed loop according to the acquired feature information, so as to determine whether the current closed loop is a normal closed loop generated after the cleaning device completes wall-following cleaning work in the room, or an abnormal closed loop generated when the cleaning device does not complete wall-following cleaning work in the room. On this basis, in a case where the control device of the cleaning device determines that the closed loop existing in the wall-following trajectory of the cleaning device is an abnormal closed loop, the control device of the cleaning device acquires wall-following trajectory information of the cleaning device and room contour, and dynamically generates a to-be-cleaned contour of the room for the cleaning device according to the acquired wall-following trajectory information and room contour. Further, the control device of the cleaning device selects a to-be-cleaned point from each contour point in the generated to-be-cleaned contour according to a distance between each contour point in the generated to-be-cleaned contour and the cleaning device, and a closed loop type of the closed loop existing in the wall-following trajectory of the cleaning device, and controls the cleaning device to continue wall-following cleaning work in the room with the to-be-cleaned point as a starting point. In this way, the closed loop can be intelligently identified and the cleaning path can be dynamically optimized during wall-following cleaning of the cleaning device, which can effectively avoid repeated cleaning and missed area problems during cleaning, improve cleaning efficiency and cleaning coverage, and improve the comprehensiveness and accuracy of wall-following cleaning of the cleaning device.

[0015] The control method for the cleaning equipment according to the present invention may further include the following additional technical features:

[0016] In some technical solutions, optionally, before determining the closed-loop type based on the closed-loop characteristic information, the control method further includes: sequentially marking the edge trajectory points of the cleaning equipment with serial numbers to construct a K-dimensional data structure tree of the edge trajectory points, where K is a positive integer; and backtracking the K-dimensional data structure tree starting from each edge trajectory point to determine the closed-loop candidate point set for each edge trajectory point based on the position information and serial number of each edge trajectory point.

[0017] In this technical solution, before the control device of the cleaning equipment determines the type of closed loop based on the acquired closed loop feature information, during the cleaning equipment's edge-cleaning operation, the control device continuously assigns sequence numbers to the edge-trajectory points traversed by the cleaning equipment, constructing a K-dimensional data structure tree for these points, where K is a positive integer. Based on this, during the edge-cleaning process, when the cleaning equipment reaches each edge-trajectory point, the control device uses a fast nearest neighbor algorithm to traverse the constructed K-dimensional data structure tree backwards from the current edge-trajectory point. Based on the sequence number and position information of each edge-trajectory point in the constructed K-dimensional data structure tree, it determines the candidate set of closed loop points for the current edge-trajectory point. This utilizes the K-dimensional data structure tree and the fast nearest neighbor algorithm to record edge-trajectory information, improving the efficiency and accuracy of subsequent closed-loop identification.

[0018] In some technical solutions, the control method may optionally include: determining that the edge trajectory of the cleaning equipment has a closed loop when the set of closed-loop candidate points of N consecutive edge trajectory points is not empty and the sum of the index numbers of the edge trajectory points in the set of N closed-loop candidate points decreases according to the order of the backtracking K-dimensional data structure tree; and determining the edge trajectory point with the smallest index number in the set of N closed-loop candidate points as the closed-loop starting point.

[0019] In this technical solution, after the control device of the cleaning equipment determines the closed-loop candidate point set for each edge trajectory point, the control device further determines whether the determined closed-loop candidate point set is empty. If the closed-loop candidate point set is not empty, the control device calculates the sum of the indexes of each edge trajectory point in the closed-loop candidate point set. Based on this, during the cleaning process of the cleaning equipment cleaning the room along the edges, as the closed-loop candidate point set for each edge trajectory point is determined in real time, when the control device detects that the closed-loop candidate point set of N consecutive edge trajectory points is non-empty, and the sum of the indexes of the edge trajectory points in these N non-empty closed-loop candidate point sets shows a decreasing trend according to the reverse traversal of the K-dimensional data structure tree, the control device determines that the edge trajectory of the cleaning equipment has closed a loop. Further, the control device compares the indexes of each edge trajectory point in the N non-empty closed-loop candidate point sets and determines the edge trajectory point with the smallest index in the N non-empty closed-loop candidate point sets as the closed-loop starting point. In this way, by using a K-dimensional data structure tree and a fast nearest neighbor algorithm, the closed loop region in the edge trajectory can be quickly identified, improving the efficiency and accuracy of closed loop identification.

[0020] In some technical solutions, optionally, a closed-loop candidate point set for each edge trajectory point is determined based on the location information and sequence number of each edge trajectory point. This includes: determining the edge trajectory points whose distance from each edge trajectory point is less than a first threshold as the initial candidate point set for each edge trajectory point based on the location information of each edge trajectory point; and filtering out edge trajectory points whose difference in sequence number from each edge trajectory point is less than a second threshold from the initial candidate point set for each edge trajectory point based on the sequence number of each edge trajectory point, thereby obtaining a closed-loop candidate point set for each edge trajectory point.

[0021] In this technical solution, when the cleaning equipment reaches each edge trajectory point, the control device of the cleaning equipment calculates the distance between the current edge trajectory point of the cleaning equipment and other edge trajectory points in the constructed K-dimensional data structure tree, based on the position information of each edge trajectory point. Furthermore, the control device also calculates the difference in sequence number between the current edge trajectory point of the cleaning equipment and other edge trajectory points in the constructed K-dimensional data structure tree, based on the sequence number of each edge trajectory point.

[0022] Furthermore, when the cleaning equipment reaches each edge trajectory point, the control device of the cleaning equipment determines at least one edge trajectory point in the constructed K-dimensional data structure tree whose distance from the edge trajectory point is less than a first threshold as the initial candidate point set for that edge trajectory point. Further, for each initial candidate point set, the control device of the cleaning equipment removes edge trajectory points whose index difference with the edge trajectory point is less than a second threshold from the initial candidate point set, thereby obtaining the closed-loop candidate point set for that edge trajectory point. In this way, since the indexes of each edge trajectory point are sequentially labeled, filtering the closed-loop candidate point set for each edge trajectory point based on the distance and index difference between every two edge trajectory points ensures that the closed-loop candidate point set for edge trajectory points that do not form a loop is empty, and that the sum of the indexes of the closed-loop candidate point sets for edge trajectory points that form a loop shows a decreasing trend. This facilitates subsequent closed-loop identification based on the closed-loop candidate point set for each edge trajectory point, improving the accuracy of closed-loop identification.

[0023] In some technical solutions, optionally, the closed-loop characteristic information includes the directed area of ​​the closed loop and the serial number of the closed-loop starting point. The closed-loop type is determined based on this characteristic information, including: if the serial number of the closed-loop starting point is less than a first value and the directed area of ​​the closed loop is greater than 0, the closed-loop type is determined to be a normal closed loop, which is a closed loop generated when the cleaning equipment completes edge work on the room; if the directed area of ​​the closed loop is less than 0 and the absolute value of the directed area is less than a second value, the closed-loop type is determined to be a first abnormal closed loop; if the directed area of ​​the closed loop is greater than 0 and the directed area is less than a second value, the closed-loop type is determined to be a second abnormal closed loop.

[0024] In this technical solution, the characteristic information of the closed loop may specifically include the sequence number of the closed loop starting point and the directed area of ​​the closed loop. Based on this, during the process of the cleaning equipment's control device determining the closed loop type according to the acquired characteristic information, if the directed area of ​​the closed loop is greater than 0 and the sequence number of the closed loop starting point is less than a set first value, the cleaning equipment's control device determines the closed loop type as a normal closed loop, i.e., this closed loop is generated when the cleaning equipment completes edge work on the room. Further, if the directed area of ​​the closed loop is less than 0 and the absolute value of the directed area of ​​the closed loop is less than a set second value, the cleaning equipment's control device determines the closed loop type as a first abnormal closed loop. Further, if the directed area of ​​the closed loop is greater than 0 and the directed area of ​​the closed loop is less than the set second value, the cleaning equipment's control device determines the closed loop type as a second abnormal closed loop. Thus, determining the closed loop type based on the sequence number of the closed loop starting point and the directed area of ​​the closed loop ensures the accuracy of the closed loop type determination.

[0025] In some technical solutions, optionally, the cleaning point is determined within the cleaning contour based on the closed-loop type and the distance between the cleaning equipment and the contour point in the cleaning contour. This includes: in the case of a first abnormal closed loop, determining the first contour point in the cleaning contour that is closest to the cleaning equipment; determining the first contour line segment in the cleaning contour that contains the first contour point; and determining the contour point in the first contour line segment that is farthest from the cleaning equipment as the cleaning point.

[0026] In this technical solution, when a closed loop appearing in the edge-track of the cleaning equipment belongs to the first abnormal closed loop type, the control device of the cleaning equipment determines the first contour point closest to the cleaning equipment in the contour to be cleaned, then determines the first contour line segment containing the first contour point in the contour to be cleaned, and determines the contour point farthest from the cleaning equipment in the first contour line segment as the point to be cleaned. Thus, based on different closed loop types, corresponding strategies are adopted to select the starting point, i.e., the point to be cleaned, for continuing edge-track cleaning. This enables the cleaning equipment to intelligently optimize its edge-track cleaning path when an abnormal closed loop occurs in a clockwise direction, ensuring that the cleaning equipment can efficiently complete the edge-track cleaning task.

[0027] In some technical solutions, optionally, the cleaning point is determined within the cleaning contour based on the closed-loop type and the distance between the cleaning device and the contour point in the cleaning contour. This includes: in the case of a second abnormal closed loop, determining multiple navigation points around the closed loop area outside the closed loop area; controlling the cleaning device to travel along the multiple navigation points to the target point, and then determining the second contour point in the cleaning contour that is closest to the cleaning device; determining the second contour line segment in the cleaning contour that contains the second contour point, and determining the contour point in the second contour line segment that is farthest from the cleaning device as the cleaning point.

[0028] In this technical solution, when the closed loop appearing in the edge-track of the cleaning equipment belongs to the second abnormal closed loop type, the control device of the cleaning equipment selects multiple navigation points around the closed loop area outside the closed loop area and controls the cleaning equipment to move along the multiple navigation points to move the cleaning equipment to the target point. Further, after the control device controls the cleaning equipment to move along the multiple navigation points to the target point, the control device determines the second contour point closest to the cleaning equipment in the current cleaning contour. Further, the control device determines the second contour line segment containing the second contour point in the cleaning contour and determines the contour point farthest from the cleaning equipment in the second contour line segment as the cleaning point. Thus, based on different closed loop types, corresponding strategies are adopted to select the starting point, i.e., the cleaning point, for continuing edge-tracking work. This enables the cleaning equipment to intelligently optimize its edge-tracking path when an abnormal closed loop occurs in a counter-clockwise direction, ensuring that the cleaning equipment can efficiently complete the edge-tracking task.

[0029] In some technical solutions, optionally, the cleaning contour is determined based on the room outline and the edge trajectory information of the cleaning equipment, including: constructing a local map based on the room outline and edge trajectory information; marking closed-loop areas, the edge trajectory to be cleaned, and room boundaries in the local map; filling the gaps between closed-loop areas, room boundaries, and non-closed-loop areas in the local map; and extracting the contour from the filled local map to obtain the cleaning contour.

[0030] In this technical solution, the control device of the cleaning equipment constructs a local map based on the acquired edge trajectory information of the cleaning equipment and the room outline. Further, the control device marks closed-loop areas, the edge trajectory to be cleaned, and the room boundary in the local map, and fills the gaps between the closed-loop areas, room boundaries, and non-closed-loop areas. Then, it extracts the contour of the filled local map to obtain the cleaning contour of the room to be cleaned by the cleaning equipment. In this way, by combining the edge trajectory information of the cleaning equipment with the room outline, the cleaning contour of the room to be cleaned by the cleaning equipment is dynamically generated, effectively avoiding the problems of repeated cleaning and missed areas during the cleaning process, improving cleaning efficiency and cleaning coverage, and achieving comprehensive, efficient, and accurate edge cleaning work by the cleaning equipment.

[0031] According to a second aspect of the present invention, a control device for a cleaning device is provided, the device comprising: a processing unit configured to determine the type of a closed loop based on characteristic information of the closed loop when a closed loop is detected in the edge trajectory of the cleaning device; the processing unit further configured to determine a contour to be cleaned based on the room contour and the edge trajectory information of the cleaning device when the closed loop type indicates that the closed loop is an abnormal closed loop, wherein the abnormal closed loop is a closed loop generated when the cleaning device fails to complete the edge work of the room; the processing unit further configured to determine a point to be cleaned within the contour to be cleaned based on the closed loop type and the distance between the cleaning device and a contour point in the contour to be cleaned; and a control unit configured to control the cleaning device to continue cleaning from the point to be cleaned as the starting point.

[0032] Specifically, the control device for the cleaning equipment provided by this invention includes a processing unit and a control unit. During the cleaning equipment's edge-cleaning operation, the processing unit continuously detects whether a closed loop exists in the edge-cleaning trajectory of the cleaning equipment. When the processing unit detects a closed loop in the edge-cleaning trajectory, it acquires the loop's characteristic information and determines the loop type based on the acquired characteristic information. This determines whether the current closed loop is a normal closed loop generated after the cleaning equipment has completed edge-cleaning of the room, or an abnormal closed loop generated before the cleaning equipment has completed edge-cleaning of the room. Furthermore, if the processing unit determines that the closed loop is an abnormal closed loop based on its type in the current edge-cleaning trajectory, it acquires the edge-cleaning trajectory information and the room outline, and dynamically generates the room's cleaning outline based on the acquired edge-cleaning trajectory information and room outline. Furthermore, the processing unit selects a cleaning point from the generated contour points based on the distance between each contour point in the generated cleaning contour and the cleaning equipment, as well as the type of closed loop appearing in the edge-cleaning trajectory of the cleaning equipment. The control unit then uses this cleaning point as the starting point to control the cleaning equipment to continue cleaning the room along the edges. This intelligently identifies closed loops and dynamically optimizes the cleaning path during edge-cleaning, effectively avoiding repeated cleaning and missed areas, improving cleaning efficiency and coverage, and enhancing the comprehensiveness and accuracy of edge-cleaning.

[0033] According to a third aspect of the present invention, a cleaning device is provided, comprising a processor and a memory, wherein the memory stores a program or instructions executable on the processor, and when the program or instructions are executed by the processor, implement the steps of the control method of the cleaning device as described in any of the above-described technical solutions. Therefore, the cleaning device proposed in the third aspect of the present invention possesses all the beneficial effects of the control method of the cleaning device in any of the technical solutions of the first aspect, which will not be elaborated further here.

[0034] According to a fourth aspect of the present invention, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the control method of the cleaning equipment as described in any of the above-described technical solutions. Therefore, the readable storage medium proposed in the fourth aspect of the present invention possesses all the beneficial effects of the control method of the cleaning equipment in any of the technical solutions of the first aspect, and will not be elaborated further here.

[0035] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0036] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0037] Figure 1 A flowchart illustrating one embodiment of the control method for a cleaning device according to the present invention is shown;

[0038] Figure 2 A second schematic flowchart of the control method for the cleaning equipment according to an embodiment of the present invention is shown;

[0039] Figure 3 The third schematic flowchart illustrates the control method of the cleaning equipment according to an embodiment of the present invention;

[0040] Figure 4 The fourth schematic flowchart illustrates the control method of the cleaning equipment according to an embodiment of the present invention;

[0041] Figure 5 The fifth schematic flowchart illustrates the control method of the cleaning equipment according to an embodiment of the present invention;

[0042] Figure 6 A flowchart illustrating the control method of the cleaning equipment according to an embodiment of the present invention is shown in Figure 6.

[0043] Figure 7 The seventh flowchart illustrates the control method of the cleaning equipment according to an embodiment of the present invention;

[0044] Figure 8 A schematic diagram illustrating the process of determining the contour to be cleaned according to an embodiment of the present invention is shown;

[0045] Figure 9 One schematic diagram of a control method for a cleaning device according to an embodiment of the present invention is shown;

[0046] Figure 10 A second schematic diagram of the control method for the cleaning equipment according to an embodiment of the present invention is shown;

[0047] Figure 11 The third schematic diagram illustrates the control method of the cleaning equipment according to an embodiment of the present invention;

[0048] Figure 12 The fourth schematic diagram illustrates the control method of the cleaning equipment according to an embodiment of the present invention;

[0049] Figure 13 The fifth schematic diagram illustrates the control method of the cleaning equipment according to an embodiment of the present invention;

[0050] Figure 14 The sixth schematic diagram illustrates the control method of the cleaning equipment according to an embodiment of the present invention;

[0051] Figure 15 The seventh schematic diagram illustrates the control method of the cleaning equipment according to an embodiment of the present invention;

[0052] Figure 16 A structural block diagram of the control device of the cleaning equipment according to an embodiment of the present invention is shown;

[0053] Figure 17 A structural block diagram of a cleaning device according to an embodiment of the present invention is shown. Detailed Implementation

[0054] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0055] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0056] The following is combined Figures 1 to 17 The present application provides a detailed description of the cleaning equipment, control method and apparatus, and readable storage medium provided in the embodiments of this application through specific implementation methods and application scenarios.

[0057] In one embodiment of the present invention, such as Figure 1 As shown, the control method for the cleaning equipment may specifically include the following steps 102 to 108:

[0058] Step 102: Determine the closed-loop type based on the closed-loop feature information;

[0059] Step 104: Determine the outline to be cleaned based on the room outline and the edge trajectory information of the cleaning equipment;

[0060] Step 106: Determine the cleaning point within the cleaning contour based on the closed-loop type and the distance between the cleaning equipment and the contour point in the cleaning contour.

[0061] Step 108: Control the cleaning equipment to continue cleaning from the point to be cleaned.

[0062] Among them, abnormal closed loops are closed loops that occur when the cleaning equipment fails to complete the edge work of the room.

[0063] The execution subject of the control method for cleaning equipment provided by this invention can be the cleaning equipment itself, or it can be the control device of the cleaning equipment, or it can be determined according to actual usage requirements, and no specific limitation is made here. In order to more clearly describe the control method for cleaning equipment provided by this invention, the following description takes the control device of the cleaning equipment as the execution subject of the control method for cleaning equipment.

[0064] The control method for cleaning equipment provided by this invention enables more efficient, accurate, and intelligent edge cleaning.

[0065] Specifically, in the control method for the cleaning equipment provided by this invention, during the process of the cleaning equipment performing edge cleaning of a room, the control device of the cleaning equipment continuously detects whether a closed loop exists in the edge trajectory of the cleaning equipment. When the control device detects a closed loop in the edge trajectory, it acquires the characteristic information of the closed loop and determines the type of the closed loop based on this information. This determines whether the currently occurring closed loop is a normal closed loop generated after the cleaning equipment has completed edge cleaning of the room, or an abnormal closed loop generated before the cleaning equipment has completed edge cleaning of the room. Furthermore, if the control device determines that the closed loop is an abnormal closed loop based on its type in the current edge trajectory, it acquires the edge trajectory information and the room outline, and dynamically generates the cleaning outline of the room to be cleaned based on the acquired edge trajectory information and room outline. Furthermore, the control device of the cleaning equipment selects a cleaning point from each contour point of the generated cleaning contour based on the distance between each contour point in the generated cleaning contour and the cleaning equipment, and the type of closed loop that appears in the edge trajectory of the cleaning equipment. Then, it uses the cleaning point as the starting point to control the cleaning equipment to continue cleaning the room along the edge.

[0066] Thus, when an abnormal closed loop occurs in the cleaning equipment, the system dynamically generates a cleaning outline of the room based on the equipment's edge trajectory information and the room's contour. Then, based on the distance between each point on this outline and the cleaning equipment, and the type of closed loop, the optimal cleaning point is selected as the starting point to control the cleaning equipment to continue edge cleaning. This intelligently identifies closed loops and dynamically optimizes the cleaning path during edge cleaning, effectively avoiding repeated cleaning and missed areas, improving cleaning efficiency and coverage, and enhancing the comprehensiveness and accuracy of edge cleaning.

[0067] The aforementioned closed loop refers to a region with a closed boundary and an area greater than 0, enclosed by the edge trajectory of the cleaning equipment. When a closed loop appears in the edge trajectory of the cleaning equipment, it indicates that the current position of the cleaning equipment is a position that the cleaning equipment has previously reached, meaning that the cleaning equipment has returned to the previously cleaned area, and that the edge trajectory of the cleaning equipment has been repeated.

[0068] In practical applications, the aforementioned cleaning equipment includes, but is not limited to, sweeping machines, floor scrubbers, vacuum cleaners, and service robots, etc., without specific restrictions.

[0069] In some embodiments of the present invention, optionally, such as Figure 2 As shown, prior to step 102 above, the control method may further include steps 110 and 112 as follows:

[0070] Step 110: Sequentially label the edge trajectory points of the cleaning equipment with serial numbers to construct a K-dimensional data structure tree of the edge trajectory points;

[0071] Step 112: Determine the closed loop candidate point set for each edge trajectory point based on the position information and sequence number of each edge trajectory point;

[0072] Where K is a positive integer.

[0073] In this embodiment, before the control device of the cleaning equipment determines the type of closed loop based on the acquired closed loop feature information, during the cleaning equipment's edge-cleaning operation, the control device continuously assigns sequence numbers to the edge-trajectory points traversed by the cleaning equipment, constructing a KD (K-Dimensional) data structure tree for these points, where K is a positive integer. Based on this, during the edge-cleaning process, when the cleaning equipment reaches each edge-trajectory point, the control device uses a fast nearest neighbor algorithm and a reverse search strategy to traverse the constructed K-dimensional data structure tree from the current edge-trajectory point. It then determines the candidate closed-loop point set for the current edge-trajectory point based on the sequence number and position information of each edge-trajectory point in the constructed K-dimensional data structure tree. This utilizes the K-dimensional data structure tree and the fast nearest neighbor algorithm to record edge-trajectory information, improving the efficiency and accuracy of subsequent closed-loop identification.

[0074] In this process, the control device of the cleaning equipment marks the sequence of the edge trajectory points traversed by the cleaning equipment in real time, recording the edge trajectory information in a trajectory collector. The underlying data structure of this trajectory collector is a KD-tree. By precisely marking the edge trajectory points of the cleaning equipment in sequence and adding them to the KD-tree, an efficient spatial index structure can be constructed to support fast nearest neighbor search, facilitating rapid retrieval and spatial partitioning. Based on this, combined with the fast nearest neighbor algorithm, it is possible to quickly locate the closed-loop candidate points adjacent to each edge trajectory point, obtaining a set of closed-loop candidate points for each edge trajectory point. Thus, the fast search capability based on the KD-tree can complete closed-loop detection in a very short time, facilitating real-time monitoring and adjustment of the cleaning equipment's cleaning strategy. Simultaneously, the reverse search strategy ensures accurate identification of closed-loop areas even in complex environments and variable cleaning paths, improving the accuracy of edge cleaning by the cleaning equipment.

[0075] In some embodiments of the present invention, optionally, such as Figure 2 As shown, prior to step 102 above, the control method may further include steps 114 and 116 as follows:

[0076] Step 114: If the set of N consecutive candidate points for closed loop along the edge trajectory is not empty, and the sum of the index numbers of the candidate points along the edge trajectory in the N candidate points for closed loop according to the order of the backtracking K-dimensional data structure tree, it is determined that there is a closed loop along the edge trajectory of the cleaning equipment.

[0077] Step 116: Determine the edge trajectory point with the smallest sequence number in the set of N closed-loop candidate points as the closed-loop starting point;

[0078] Where N is a positive integer greater than 1.

[0079] In this embodiment, after the control device of the cleaning equipment determines the closed-loop candidate point set for each edge trajectory point, the control device further determines whether the determined closed-loop candidate point set is empty. If the closed-loop candidate point set is not empty, the control device calculates the sum of the indexes of each edge trajectory point in the closed-loop candidate point set. Based on this, during the edge cleaning operation of the cleaning equipment, as the closed-loop candidate point set for each edge trajectory point is determined in real time, when the control device detects that the closed-loop candidate point set of N consecutive edge trajectory points is non-empty, and the sum of the indexes of the edge trajectory points in these N non-empty closed-loop candidate point sets shows a decreasing trend according to the reverse traversal of the K-dimensional data structure tree, the control device determines that the edge trajectory of the cleaning equipment has a closed loop. Further, the control device compares the indexes of each edge trajectory point in the N non-empty closed-loop candidate point sets and determines the edge trajectory point with the smallest index in the N non-empty closed-loop candidate point sets as the closed-loop starting point. In this way, by using KD trees and the fast nearest neighbor algorithm, the closed loop region in the edge trajectory can be quickly identified, improving the efficiency and accuracy of closed loop identification.

[0080] Among them, the index of the edge trajectory points represents the recording order of the edge trajectory points. Based on the changing trend of the sum of the index of the edge trajectory points in the closed loop candidate point set, it is determined whether the edge trajectory of the cleaning equipment has a closed loop. It can not only accurately identify the occurrence of the closed loop, but also provide characteristic information about the closed loop, such as the size, shape and position of the closed loop, which is convenient for providing a data foundation for subsequent calculations.

[0081] Furthermore, N is a positive integer greater than 1. In practical applications, N can specifically take values ​​such as 3, 4, and 5. Those skilled in the art can set the specific value of N according to the actual situation, and no specific restrictions are made here.

[0082] Furthermore, during the process of determining the closed-loop starting point in the control device of the cleaning equipment, since the serial numbers of each edge trajectory point are sequentially marked, the control device can select, according to the order determined by the N non-empty closed-loop candidate point sets, the first edge trajectory point with the smallest serial number in the first closed-loop candidate point set of the N non-empty closed-loop candidate point sets, and the first edge trajectory point with the smallest serial number in the Nth closed-loop candidate point set of the N non-empty closed-loop candidate point sets. Then, the one with the smaller serial number among the two edge trajectory points is determined as the closed-loop starting point. This reduces the computational load and further improves the efficiency of closed-loop identification.

[0083] In some embodiments of the present invention, optionally, such as Figure 3 As shown, step 112 above may specifically include steps 118 and 120 as follows:

[0084] Step 118: Based on the position information of each edge trajectory point, determine the edge trajectory points whose distance to each edge trajectory point is less than the first threshold as the initial candidate point set for each edge trajectory point;

[0085] Step 120: Based on the number of each edge trajectory point, filter out edge trajectory points whose difference from the number of each edge trajectory point is less than the second threshold from the initial candidate point set of each edge trajectory point, and obtain the closed loop candidate point set of each edge trajectory point.

[0086] In this embodiment, during the process of the cleaning equipment's control device determining the closed-loop candidate point set for the current edge trajectory point of the cleaning equipment based on the index and position information of each edge trajectory point in the constructed K-dimensional data structure tree, when the cleaning equipment reaches each edge trajectory point, the control device will, based on the fast nearest neighbor algorithm and the reverse search strategy, perform a reverse traversal of the constructed K-dimensional data structure tree, starting from the current edge trajectory point of the cleaning equipment. Based on the position information of each edge trajectory point in the constructed K-dimensional data structure tree, the control device will calculate the distance between the current edge trajectory point of the cleaning equipment and other edge trajectory points in the constructed K-dimensional data structure tree. Furthermore, the control device will also calculate the index difference between the current edge trajectory point of the cleaning equipment and other edge trajectory points in the constructed K-dimensional data structure tree based on the index of each edge trajectory point in the constructed K-dimensional data structure tree.

[0087] Furthermore, when the cleaning equipment reaches each edge trajectory point, the control device of the cleaning equipment determines at least one edge trajectory point in the constructed K-dimensional data structure tree whose distance from the edge trajectory point is less than a first threshold as the initial candidate point set for that edge trajectory point. Further, for each initial candidate point set, the control device of the cleaning equipment removes edge trajectory points whose index difference with the edge trajectory point is less than a second threshold from the initial candidate point set, thereby obtaining the closed-loop candidate point set for that edge trajectory point. In this way, since the indexes of each edge trajectory point are sequentially labeled, filtering the closed-loop candidate point set for each edge trajectory point based on the distance and index difference between every two edge trajectory points ensures that the closed-loop candidate point set for edge trajectory points that do not form a loop is empty, and that the sum of the indexes of the closed-loop candidate point sets for edge trajectory points that form a loop shows a decreasing trend. This facilitates subsequent closed-loop identification based on the closed-loop candidate point set for each edge trajectory point, improving the accuracy of closed-loop identification.

[0088] The specific value of the first threshold can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0089] In practical applications, such asFigure 9 As shown, the control device of the cleaning equipment can specifically construct a search domain 502 with a first threshold as the search radius, and determine the initial candidate point set for each edge trajectory point through the search domain 502. For example, as Figure 9 As shown, the initial candidate point set of edge trajectory point 21 includes edge trajectory point 20 and edge trajectory point 19, the initial candidate point set of edge trajectory point 20 includes edge trajectory point 19 and edge trajectory point 18, the initial candidate point set of edge trajectory point 19 includes edge trajectory point 18 and edge trajectory point 17, and the initial candidate point set of edge trajectory point 18 includes edge trajectory point 17 and edge trajectory point 16.

[0090] Furthermore, the aforementioned second threshold can specifically take values ​​such as 4, 5, and 6. Those skilled in the art can set the specific value of the aforementioned second threshold according to the actual situation, and no specific restrictions are imposed here.

[0091] For example, suppose the second threshold is 5, such as Figure 10 As shown, during the edge cleaning process of the cleaning equipment, the initial candidate point set for each edge trajectory point is determined in real time through the search domain 502. For edge trajectories that do not form loops, such as... Figure 10 As shown, the initial candidate point set for edge trajectory point 17 includes edge trajectory point 16, the initial candidate point set for edge trajectory point 16 includes edge trajectory point 15, the initial candidate point set for edge trajectory point 15 includes edge trajectory point 14, the initial candidate point set for edge trajectory point 14 includes edge trajectory point 13, the initial candidate point set for edge trajectory point 13 includes edge trajectory point 12, and so on. Since the difference in the index between edge trajectory point 17 and edge trajectory point 16, the difference in the index between edge trajectory point 16 and edge trajectory point 15, the difference in the index between edge trajectory point 15 and edge trajectory point 14, the difference in the index between edge trajectory point 14 and edge trajectory point 13, and the difference in the index between edge trajectory point 13 and edge trajectory point 12 are all less than 5, the edge trajectory points in the above initial candidate point sets are all deleted, and finally the closed-loop candidate point sets from edge trajectory point 12 to edge trajectory point 17 are all empty sets.

[0092] For example, suppose the second threshold is 5, such as Figure 11 As shown, during the edge cleaning process of the cleaning equipment, the initial candidate point set for each edge trajectory point is determined in real time through the search domain 502. For edge trajectories that have already formed loops, such as... Figure 11As shown, the initial candidate point set for edge trajectory point 39 includes edge trajectory point 38 and edge trajectory point 1. Since the difference in the index of edge trajectory point 38 and edge trajectory point 39 is less than 5, it should be deleted, and the final closed-loop candidate point set for edge trajectory point 39 is [1]. Further, the initial candidate point set for edge trajectory point 40 includes edge trajectory point 39, edge trajectory point 1 and edge trajectory point 2. Since the difference in the index of edge trajectory point 39 and edge trajectory point 40 is less than 5, it should be deleted, and the final closed-loop candidate point set for edge trajectory point 40 is [1, 2]. Furthermore, the initial candidate point set for edge trajectory point 41 includes edge trajectory point 40, edge trajectory point 1, edge trajectory point 2, and edge trajectory point 3. Since the difference in index between edge trajectory point 40 and edge trajectory point 41 is less than 5, it should be deleted, resulting in the closed-loop candidate point set for edge trajectory point 41 being [1, 2, 3]. Furthermore, the initial candidate point set for edge trajectory point 42 includes edge trajectory point 41, edge trajectory point 2, edge trajectory point 3, and edge trajectory point 4. Since the difference in index between edge trajectory point 41 and edge trajectory point 42 is less than 5, it should be deleted, resulting in the closed-loop candidate point set for edge trajectory point 42 being [2, 3, 4]. Furthermore, the initial candidate point set of the edge trajectory point 43 includes edge trajectory point 42, edge trajectory point 3, edge trajectory point 4 and edge trajectory point 5. Since the difference in the index of edge trajectory point 42 and edge trajectory point 43 is less than 5, it should be deleted. Finally, the closed loop candidate point set of edge trajectory point 43 is [3, 4, 5].

[0093] Based on this, since the sum of the index numbers of the edge trajectory points in the closed loop candidate point set [3, 4, 5], closed loop candidate point set [2, 3, 4], closed loop candidate point set [1, 2, 3], closed loop candidate point set [1, 2] and closed loop candidate point set [1] shows a decreasing trend according to the reverse traversal of the edge trajectory, it indicates that the edge trajectory of the cleaning equipment has a closed loop. The starting point of the closed loop is the edge trajectory point with the smallest index number in the closed loop candidate point set [3, 4, 5] and closed loop candidate point set [1], that is, edge trajectory point 1.

[0094] For example, suppose the second threshold is 5, such as Figure 12 As shown, during the edge cleaning process of the cleaning equipment, the initial candidate point set for each edge trajectory point is determined in real time through the search domain 502. For edge trajectories that have already formed loops, such as... Figure 12As shown, the initial candidate point set of the edge trajectory point 33 includes the edge trajectory point 1. The difference between the index of the edge trajectory point 1 and the edge trajectory point 33 is greater than 5, so it is retained. The final closed loop candidate point set of the edge trajectory point 33 is

[16] . Further, the initial candidate point set of the edge trajectory point 34 includes the edge trajectory point 15, the edge trajectory point 16 and the edge trajectory point 17. Since the difference between the index of the edge trajectory point 15, the edge trajectory point 16 and the edge trajectory point 17 and the edge trajectory point 34 is greater than 5, all three are retained. The final closed loop candidate point set of the edge trajectory point 34 is [15, 16, 17]. Furthermore, the initial candidate point set for edge trajectory point 35 includes edge trajectory point 34, edge trajectory point 16, edge trajectory point 17, and edge trajectory point 18. Since the difference in index between edge trajectory point 34 and edge trajectory point 35 is less than 5, it should be deleted, resulting in the closed-loop candidate point set for edge trajectory point 35 as [16, 17, 18]. Furthermore, the initial candidate point set for edge trajectory point 36 includes edge trajectory point 35, edge trajectory point 17, edge trajectory point 18, and edge trajectory point 19. Since the difference in index between edge trajectory point 35 and edge trajectory point 36 is less than 5, it should be deleted, resulting in the closed-loop candidate point set for edge trajectory point 36 as [17, 18, 19]. Furthermore, the initial candidate point set of the edge trajectory point 37 includes edge trajectory point 36, edge trajectory point 18, edge trajectory point 19 and edge trajectory point 20. Among them, since the difference in the index of edge trajectory point 36 and edge trajectory point 37 is less than 5, it should be deleted. Finally, the closed loop candidate point set of edge trajectory point 37 is [18, 19, 20].

[0095] Based on this, since the sum of the index numbers of the edge trajectory points in the closed-loop candidate point sets [18, 19, 20], [17, 18, 19], [16, 17, 18], [15, 16, 17] and

[16] shows a decreasing trend according to the reverse traversal of the edge trajectory, it indicates that the edge trajectory of the cleaning equipment has a closed loop. The starting point of the closed loop is the edge trajectory point with the smallest index number in the closed-loop candidate point sets [18, 19, 20] and

[16] , namely edge trajectory point 16.

[0096] In some embodiments of the present invention, optionally, the characteristic information of the closed loop includes the directed area of ​​the closed loop and the index of the starting point of the closed loop. Based on this, such as Figure 4 As shown, step 102 above may specifically include steps 122 to 126 below:

[0097] Step 122: If the sequence number of the closed loop start point is less than the first value and the directed area of ​​the closed loop is greater than 0, determine that the closed loop type is a normal closed loop.

[0098] Step 124: If the directed area of ​​the closed loop is less than 0 and the absolute value of the directed area is less than the second value, determine the closed loop type as the first abnormal closed loop.

[0099] Step 126: If the directed area of ​​the closed loop is greater than 0 and the directed area is less than the second value, determine the closed loop type as the second abnormal closed loop.

[0100] Among them, the normal closed loop is the closed loop generated when the cleaning equipment completes the edge work of the room.

[0101] In this embodiment, the characteristic information of the closed loop may specifically include the sequence number of the loop's starting point and the directed area of ​​the closed loop. The directed area of ​​the closed loop can be positive or negative depending on the direction of its formation trajectory (e.g., clockwise or counterclockwise). That is, the directed area of ​​the closed loop can simultaneously reflect both the area occupied by the closed loop and the direction of its formation trajectory. Specifically, the absolute value of the directed area of ​​the closed loop is the area occupied by the closed loop, and the sign of the directed area reflects the direction of its formation trajectory. A negative directed area indicates a clockwise formation trajectory, while a positive directed area indicates a counterclockwise formation trajectory.

[0102] Based on this, during the process of determining the closed-loop type using the acquired closed-loop characteristic information, if the directed area of ​​the closed loop is greater than 0 and the sequence number of the closed-loop starting point is less than a set first value, the control device determines the closed-loop type as a normal closed loop, meaning this closed loop is generated when the cleaning equipment completes edge work on the room. Further, if the directed area of ​​the closed loop is less than 0 and the absolute value of the directed area is less than a set second value, the control device determines the closed-loop type as a first abnormal closed loop. Further, if the directed area of ​​the closed loop is greater than 0 and the directed area is less than a set second value, the control device determines the closed-loop type as a second abnormal closed loop. Thus, determining the closed-loop type based on the sequence number of the closed-loop starting point and the directed area ensures the accuracy of the closed-loop type determination.

[0103] The first abnormal closed loop is an abnormal closed loop formed by the cleaning equipment in a clockwise direction when it fails to complete the edge cleaning work of the room. The second abnormal closed loop is an abnormal closed loop formed by the cleaning equipment in a counterclockwise direction when it fails to complete the edge cleaning work of the room.

[0104] Furthermore, the aforementioned first value can specifically be 10, 12, 15, or 18, etc. Those skilled in the art can set the specific value of the aforementioned first value according to the actual situation, and no specific restrictions are imposed here.

[0105] Furthermore, the specific value of the second value mentioned above is related to the chassis area of ​​the cleaning equipment. For example, the second value could be half the chassis area of ​​the cleaning equipment. Those skilled in the art can set the specific value of the second value according to actual circumstances, and no specific restrictions are imposed here.

[0106] In some embodiments of the present invention, optionally, such as Figure 5 As shown, step 106 above may specifically include steps 128 and 130 as follows:

[0107] Step 128: In the case of a closed loop of type 1 abnormal closed loop, determine the first contour point in the contour to be cleaned that is closest to the cleaning equipment.

[0108] Step 130: Determine the first contour line segment containing the first contour point in the contour to be cleaned, and determine the contour point in the first contour line segment that is farthest from the cleaning equipment as the point to be cleaned.

[0109] In this embodiment, during the process of the cleaning equipment's control device selecting cleaning points from the various contour points of the generated cleaning contour based on the distance between each contour point in the generated cleaning contour and the cleaning equipment, and the type of closed loop appearing in the cleaning equipment's edge trajectory, if the type of closed loop appearing in the cleaning equipment's edge trajectory is a first abnormal closed loop, that is, if the cleaning equipment has not completed the edge cleaning work of the room, and if an abnormal closed loop in the clockwise direction is generated in the cleaning equipment's edge trajectory, such as... Figure 14 As shown, the control device of the cleaning equipment determines the first contour point 506 closest to the cleaning equipment 200 in the contour 504 to be cleaned, and then determines the first contour line segment 508 containing the first contour point 506 in the contour 504 to be cleaned, and determines the contour point farthest from the cleaning equipment 200 in the first contour line segment 508 as the cleaning point 510 (due to error factors, the cleaning point 510 will deviate from the first contour line segment 508 by a certain distance). In this way, based on different closed loop types, the corresponding strategy is adopted to select the starting point, i.e., the cleaning point, for continuing the edge cleaning work. This enables the cleaning equipment to intelligently optimize the edge cleaning path when an abnormal closed loop occurs in the clockwise direction, ensuring that the cleaning equipment can efficiently complete the edge cleaning task.

[0110] In some embodiments of the present invention, optionally, such as Figure 6 As shown, step 106 above may specifically include steps 132 to 136 below:

[0111] Step 132: In the case of a second abnormal closed loop, determine multiple navigation points around the closed loop area outside the closed loop area.

[0112] Step 134: After controlling the cleaning equipment to travel along multiple navigation points to the target point, determine the second contour point in the contour to be cleaned that is closest to the cleaning equipment;

[0113] Step 136: Determine the second contour line segment containing the second contour point in the contour to be cleaned, and determine the contour point in the second contour line segment that is farthest from the cleaning equipment as the point to be cleaned.

[0114] In this embodiment, during the process of the cleaning equipment's control device selecting cleaning points from the various contour points of the generated cleaning contour based on the distance between each contour point in the generated cleaning contour and the cleaning equipment, and the type of closed loop appearing in the cleaning equipment's edge trajectory, if the closed loop appearing in the cleaning equipment's edge trajectory belongs to the second abnormal closed loop type, that is, if the cleaning equipment has not completed the edge cleaning work of the room, and if an abnormal closed loop in the counterclockwise direction is generated in the cleaning equipment's edge trajectory, such as... Figure 15 As shown, the control device of the cleaning equipment selects multiple navigation points 514 around the closed-loop area 512 outside the closed-loop area 512, and controls the cleaning equipment 200 to move along the multiple navigation points 514 to move the cleaning equipment to the target point 516. Further, after the control device of the cleaning equipment controls the cleaning equipment 200 to move along the multiple navigation points 514 to the target point 516, the control device of the cleaning equipment then determines the second contour point 518 in the current cleaning contour 504 that is closest to the cleaning equipment 200. Further, the control device of the cleaning equipment then determines the second contour line segment 520 in the cleaning contour 504 that contains the second contour point 518, and determines the contour point in the second contour line segment 520 that is farthest from the cleaning equipment 200 as the cleaning point 510 (due to error factors, the cleaning point 510 will deviate from the second contour line segment 520 by a certain distance). In this way, based on the different types of closed loops, the corresponding strategies are adopted to select the starting point, i.e. the cleaning point, for continuing the edge cleaning work. This enables the cleaning equipment to intelligently optimize the edge cleaning path when an abnormal closed loop occurs in the counterclockwise direction, ensuring that the cleaning equipment can efficiently complete the edge cleaning task.

[0115] In some embodiments of the present invention, optionally, such as Figure 7 As shown, step 104 above may specifically include steps 138 to 144 as follows:

[0116] Step 138: Construct a local map based on the room outline and edge trajectory information;

[0117] Step 140: Mark the closed loop area, the trajectory to be followed, and the room boundaries on the local map;

[0118] Step 142: Fill in the gaps between closed loop areas, room boundaries, and non-closed loop areas in the local map;

[0119] Step 144: Extract the contour of the filled local map to obtain the contour to be cleaned.

[0120] In this embodiment, during the process of the cleaning equipment's control device dynamically generating the cleaning equipment's outline to be cleaned in the room based on the acquired edge trajectory information of the cleaning equipment and the room outline, such as... Figure 13 As shown, the control device of the cleaning equipment constructs a local map 522 based on the acquired edge trajectory information of the cleaning equipment and the room outline. Further, the control device marks the closed-loop region 512, the edge trajectory to be cleaned, and the room boundary 524 in the local map 522, and fills the gaps 528 between the closed-loop region 512, the room boundary 524, and the non-closed-loop region 526 in the local map 522. Then, it extracts the outline of the filled local map 522 to obtain the cleaning outline of the room to be cleaned by the cleaning equipment. In this way, by combining the edge trajectory information of the cleaning equipment with the room outline, the cleaning outline of the room to be cleaned by the cleaning equipment is dynamically generated, which can effectively avoid the problems of repeated cleaning and missed areas during the cleaning process, improve cleaning efficiency and cleaning coverage, and achieve comprehensive, efficient, and accurate edge cleaning work by the cleaning equipment.

[0121] In practical applications, such as Figure 8 As shown, the process for determining the outline to be cleaned may specifically include the following steps 302 to 320:

[0122] Step 302: Obtain the edge trajectory information of the cleaning equipment and the room outline;

[0123] Step 304: Construct a local map based on the edge trajectory information and the room outline;

[0124] Step 306: Mark the closed loop area on the local map and expand it by half the fuselage;

[0125] Step 308: Mark the room boundaries and the trajectory to be followed along the edges in the local map;

[0126] Step 310: Fill in the closed loop area in the local map;

[0127] Step 312: Fill in the gaps between the non-closed loop areas and the room boundaries in the local map;

[0128] Step 314: Remove holes in the local map using morphological operations;

[0129] Step 316: Extract the outline of the filled local map;

[0130] Step 318: Obtain the dynamic outline to be cleaned;

[0131] Step 320: Convert the contour to be cleaned into a pose graph.

[0132] In one embodiment of the present invention, a control device for a cleaning device is also provided. For example... Figure 16 As shown, Figure 16 A structural block diagram of a control device 400 for a cleaning device according to an embodiment of the present invention is shown. Specifically, the control device 400 may include a processing unit 402 and a control unit 404.

[0133] The processing unit 402 is used to determine the type of the closed loop based on the characteristic information of the closed loop when a closed loop is detected in the edge trajectory of the cleaning equipment.

[0134] The processing unit 402 is also used to determine the contour to be cleaned based on the room contour and the edge trajectory information of the cleaning equipment when the closed loop type indicates that the closed loop is an abnormal closed loop. An abnormal closed loop is a closed loop generated when the cleaning equipment fails to complete the edge work of the room.

[0135] The processing unit 402 is also used to determine the cleaning point within the cleaning contour based on the closed-loop type and the distance between the cleaning equipment and the contour point in the cleaning contour.

[0136] Control unit 404 is used to control the cleaning equipment to continue cleaning from the point to be cleaned.

[0137] The control device 400 for cleaning equipment provided in this embodiment of the invention can achieve more efficient, accurate and intelligent edge cleaning.

[0138] Specifically, the control device 400 for the cleaning equipment provided by this invention includes a processing unit 402 and a control unit 404. During the cleaning process of the cleaning equipment cleaning the edges of a room, the processing unit 402 detects in real time whether there is a closed loop in the edge trajectory of the cleaning equipment. When the processing unit 402 detects a closed loop in the edge trajectory of the cleaning equipment, the processing unit 402 acquires the feature information of the closed loop and determines the type of the closed loop based on the acquired feature information, in order to determine whether the currently occurring closed loop is a normal closed loop generated after the cleaning equipment has completed the edge cleaning work of the room, or an abnormal closed loop generated when the cleaning equipment has not completed the edge cleaning work of the room. Based on this, if the processing unit 402 determines that the closed loop is an abnormal closed loop based on the type of the closed loop appearing in the current edge trajectory of the cleaning equipment, the processing unit 402 acquires the edge trajectory information of the cleaning equipment and the room outline, and dynamically generates the cleaning outline of the room to be cleaned by the cleaning equipment based on the acquired edge trajectory information and the room outline. Furthermore, the processing unit 402 selects a cleaning point from each contour point of the generated cleaning contour based on the distance between each contour point in the generated cleaning contour and the cleaning equipment, and the type of closed loop appearing in the edge trajectory of the cleaning equipment. The control unit 404 then uses the cleaning point as the starting point to control the cleaning equipment to continue cleaning the room along the edge.

[0139] Thus, when an abnormal closed loop occurs in the cleaning equipment, the system dynamically generates a cleaning outline of the room based on the equipment's edge trajectory information and the room's contour. Then, based on the distance between each point on this outline and the cleaning equipment, and the type of closed loop, the optimal cleaning point is selected as the starting point to control the cleaning equipment to continue edge cleaning. This intelligently identifies closed loops and dynamically optimizes the cleaning path during edge cleaning, effectively avoiding repeated cleaning and missed areas, improving cleaning efficiency and coverage, and enhancing the comprehensiveness and accuracy of edge cleaning.

[0140] The aforementioned closed loop refers to a region with a closed boundary and an area greater than 0, enclosed by the edge trajectory of the cleaning equipment. When a closed loop appears in the edge trajectory of the cleaning equipment, it indicates that the current position of the cleaning equipment is a position that the cleaning equipment has previously reached, meaning that the cleaning equipment has returned to the previously cleaned area, and that the edge trajectory of the cleaning equipment has been repeated.

[0141] In some embodiments of the present invention, optionally, before determining the closed-loop type based on the closed-loop feature information, the processing unit 402 is further configured to: sequentially mark the serial numbers of the edge trajectory points of the cleaning equipment to construct a K-dimensional data structure tree of the edge trajectory points, where K is a positive integer; and backtrack the K-dimensional data structure tree starting from each edge trajectory point to determine the closed-loop candidate point set for each edge trajectory point based on the position information and serial number of each edge trajectory point.

[0142] In some embodiments of the present invention, optionally, the processing unit 402 is further configured to: determine that there is a closed loop in the edge trajectory of the cleaning equipment when the closed loop candidate point set of N consecutive edge trajectory points is not empty, and the sum of the index numbers of the edge trajectory points in the N closed loop candidate point set decreases according to the order of the backtracking K-dimensional data structure tree; and determine the edge trajectory point with the smallest index number in the N closed loop candidate point set as the closed loop starting point.

[0143] In some embodiments of the present invention, optionally, the processing unit 402 is specifically configured to: determine the edge trajectory points whose distance from each edge trajectory point is less than a first threshold as an initial candidate point set for each edge trajectory point based on the position information of each edge trajectory point; and filter out the edge trajectory points whose difference from the index of each edge trajectory point is less than a second threshold from the initial candidate point set for each edge trajectory point, thereby obtaining a closed-loop candidate point set for each edge trajectory point.

[0144] In some embodiments of the present invention, optionally, the characteristic information of the closed loop includes the directed area of ​​the closed loop and the serial number of the starting point of the closed loop. The processing unit 402 is specifically used to: determine the closed loop type as a normal closed loop when the serial number of the starting point of the closed loop is less than a first value and the directed area of ​​the closed loop is greater than 0; a normal closed loop is a closed loop generated when the cleaning equipment completes edge work on the room; determine the closed loop type as a first abnormal closed loop when the directed area of ​​the closed loop is less than 0 and the absolute value of the directed area is less than a second value; and determine the closed loop type as a second abnormal closed loop when the directed area of ​​the closed loop is greater than 0 and the directed area is less than a second value.

[0145] In some embodiments of the present invention, optionally, the processing unit 402 is specifically used to: determine the first contour point in the contour to be cleaned that is closest to the cleaning device when the closed loop type is a first abnormal closed loop; determine the first contour line segment in the contour to be cleaned that contains the first contour point, and determine the contour point in the first contour line segment that is farthest from the cleaning device as the point to be cleaned.

[0146] In some embodiments of the present invention, optionally, the processing unit 402 is specifically used to: determine multiple navigation points around the closed loop area outside the closed loop area when the closed loop type is a second abnormal closed loop; control the cleaning device to travel along the multiple navigation points to the target point, and then determine the second contour point in the contour to be cleaned that is closest to the cleaning device; determine the second contour line segment in the contour to be cleaned that contains the second contour point, and determine the contour point in the second contour line segment that is farthest from the cleaning device as the point to be cleaned.

[0147] In some embodiments of the present invention, optionally, the processing unit 402 is specifically used to: construct a local map based on the room outline and edge trajectory information; mark closed loop areas, edge trajectories to be followed and room boundaries in the local map; fill the gaps between closed loop areas, room boundaries and non-closed loop areas in the local map; and extract the outline of the filled local map to obtain the outline to be cleaned.

[0148] In one embodiment of the invention, a cleaning device is also provided. For example... Figure 17 As shown, Figure 17 A structural block diagram of a cleaning device 200 provided in an embodiment of the present invention is shown. The cleaning device 200 includes:

[0149] Memory 202, which stores programs or instructions;

[0150] The processor 204 executes the above-described program or instructions to implement the steps of the control method for the cleaning equipment as described in any of the above embodiments.

[0151] The cleaning device 200 provided in this embodiment includes a memory 202 and a processor 204. When the program or instructions in the memory 202 are executed by the processor 204, they implement the steps of the control method of the cleaning device as described in any of the above embodiments. Therefore, the cleaning device 200 has all the beneficial effects of the control method of the cleaning device in any of the above embodiments, which will not be repeated here.

[0152] Specifically, the memory 202 and the processor 204 can be connected via a bus or other means. The processor 204 may include one or more processing units, and the processor 204 may be a chip such as a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or a field-programmable gate array (FPGA).

[0153] In practical applications, the aforementioned cleaning equipment 200 includes, but is not limited to, sweeping machines, floor scrubbers, vacuum cleaners, and service robots, etc., without specific restrictions.

[0154] In one embodiment of the invention, a readable storage medium is also provided. A program or instructions are stored thereon, which, when executed by a processor, implement the steps of the control method for the cleaning equipment as described in any of the above embodiments.

[0155] The readable storage medium provided in this embodiment of the invention stores programs or instructions that, when executed by a processor, can implement the steps of the control method for the cleaning equipment as described in any of the above embodiments. Therefore, this readable storage medium possesses all the beneficial effects of the control method for the cleaning equipment in any of the above embodiments, which will not be elaborated further here.

[0156] Specifically, the aforementioned readable storage medium can include any medium capable of storing or transmitting information. Examples of readable storage media include electronic circuits, semiconductor memory devices, read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), flash memory, erasable ROM (EROM), magnetic tape, floppy disk, optical disk, hard disk, fiber optic media, radio frequency (RF) links, optical data storage devices, etc. Code segments can be downloaded via computer networks such as the Internet and intranets.

[0157] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance, unless otherwise expressly specified and limited. The terms "connection," "installation," and "fixing," etc., should be interpreted broadly. For example, "connection" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0158] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. 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.

[0159] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0160] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method of a cleaning apparatus, characterized by, The control method comprises the following steps: In the case that a closed loop exists in the edge-following track of the cleaning device, a closed loop type of the closed loop is determined according to characteristic information of the closed loop; In the case that the closed loop type indicates that the closed loop is an abnormal closed loop, the abnormal closed loop is a closed loop generated when the cleaning device does not complete edge-following work in a room, a to-be-cleaned contour is determined according to a room contour and edge-following track information of the cleaning device; A to-be-cleaned point is determined in the to-be-cleaned contour according to the closed loop type, a distance between the cleaning device and a contour point in the to-be-cleaned contour, and the to-be-cleaned point; The cleaning device is controlled to continue cleaning with the to-be-cleaned point as a starting point.

2. The control method of the cleaning apparatus according to claim 1, characterized by, Before the step of determining the closed loop type of the closed loop according to the characteristic information of the closed loop, the control method further comprises the following steps: Sequence numbers are marked on edge-following track points of the cleaning device in sequence to construct a K-dimensional data structure tree of the edge-following track points, K being a positive integer; A set of closed loop candidate points of each edge-following track point is determined according to position information and sequence numbers of the edge-following track point by backtracking the K-dimensional data structure tree from each edge-following track point as a starting point.

3. The control method of the cleaning apparatus according to claim 2, characterized by, The control method further comprises the following steps: In the case that a set of closed loop candidate points of N continuous edge-following track points is not empty, and a sum of sequence numbers of the edge-following track points in the N sets of closed loop candidate points presents a decreasing trend in the order of backtracking the K-dimensional data structure tree, it is determined that a closed loop exists in the edge-following track of the cleaning device; The edge-following track point with the smallest sequence number in the N sets of closed loop candidate points is determined as a closed loop starting point.

4. The control method of the cleaning apparatus according to claim 2, wherein The step of determining the set of closed loop candidate points of each edge-following track point according to the position information and the sequence numbers of the edge-following track point comprises the following steps: According to the position information of each edge-following track point, the edge-following track points with a distance less than a first threshold value from each edge-following track point are determined as an initial candidate point set of each edge-following track point; According to the sequence numbers of the edge-following track points, the edge-following track points with a sequence number difference less than a second threshold value from each edge-following track point are filtered out from the initial candidate point set of each edge-following track point to obtain the set of closed loop candidate points of each edge-following track point.

5. The control method of the cleaning apparatus according to any one of claims 1 to 4, characterized by, The characteristic information of the closed loop comprises a directed area of the closed loop and a sequence number of a closed loop starting point, and the step of determining the closed loop type of the closed loop according to the characteristic information of the closed loop comprises the following steps: In the case that the sequence number of the closed loop starting point is less than a first numerical value and the directed area of the closed loop is greater than 0, it is determined that the closed loop type of the closed loop is a normal closed loop, and the normal closed loop is a closed loop generated when the cleaning device completes edge-following work in a room; In the case that the directed area of the closed loop is less than 0 and an absolute value of the directed area is less than a second numerical value, it is determined that the closed loop type of the closed loop is a first abnormal closed loop; In the case that the directed area of the closed loop is greater than 0 and the directed area is less than the second numerical value, it is determined that the closed loop type of the closed loop is a second abnormal closed loop.

6. The control method of the cleaning apparatus according to claim 5, wherein The step of determining the to-be-cleaned point in the to-be-cleaned contour according to the closed loop type, a distance between the cleaning device and a contour point in the to-be-cleaned contour, and the to-be-cleaned point comprises the following steps: In a case where the closed loop type is the first abnormal closed loop, a first contour point closest to the cleaning device in the to-be-cleaned contour is determined; A first contour line segment containing the first contour point in the to-be-cleaned contour is determined, and a contour point farthest to the cleaning device in the first contour line segment is determined as the to-be-cleaned point.

7. The control method of a cleaning apparatus according to claim 5, wherein The step of determining the to-be-cleaned point in the to-be-cleaned contour according to the closed loop type and the distance between the cleaning device and the contour point in the to-be-cleaned contour comprises: In a case where the closed loop type is the second abnormal closed loop, a plurality of navigation points are determined around the closed loop region outside the closed loop region; After the cleaning device is controlled to travel to a target point along the plurality of navigation points, a second contour point closest to the cleaning device in the to-be-cleaned contour is determined; A second contour line segment containing the second contour point in the to-be-cleaned contour is determined, and a contour point farthest to the cleaning device in the second contour line segment is determined as the to-be-cleaned point.

8. The control method of the cleaning apparatus according to any one of claims 1 to 4, characterized by, The step of determining the to-be-cleaned contour according to the room contour and the along-edge trajectory information of the cleaning device comprises: constructing a local map according to the room contour and the along-edge trajectory information; marking a closed loop region, a to-be-followed along-edge trajectory and a room boundary in the local map; filling a gap between the closed loop region, the room boundary and a non-closed loop region in the local map; performing contour extraction on the filled local map to obtain the to-be-cleaned contour.

9. A control device for a cleaning apparatus, characterized in that comprise: a processing unit configured to, in a case where it is detected that the along-edge trajectory of the cleaning device has a closed loop, determine a closed loop type of the closed loop according to feature information of the closed loop; the processing unit is further configured to, in a case where the closed loop type indicates that the closed loop is an abnormal closed loop, determine a to-be-cleaned contour according to a room contour and along-edge trajectory information of the cleaning device, the abnormal closed loop being a closed loop generated when the cleaning device does not complete along-edge work in the room; the processing unit is further configured to determine a to-be-cleaned point in the to-be-cleaned contour according to the closed loop type and the distance between the cleaning device and a contour point in the to-be-cleaned contour; a control unit configured to control the cleaning device to continue cleaning with the to-be-cleaned point as a starting point.

10. A cleaning apparatus, characterized by comprise a processor and a memory, the memory storing programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the control method of the cleaning device according to any one of claims 1 to 8.

11. A readable storage medium, characterized by, The readable storage medium stores programs or instructions, and the programs or instructions are executed by the processor to implement the steps of the control method of the cleaning device according to any one of claims 1 to 8.

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