Cleaning equipment control method and device, equipment, medium and program product

Abstract

The invention is suitable for the technical field of communication, and provides a control method, device and equipment of cleaning equipment, a medium and a program product. The method comprises the steps that under the condition that the cleaning equipment is in an automatic pile returning mode, measurement distances corresponding to multiple equipment positions of the cleaning equipment are obtained, and the measurement distances are determined according to signal strength of measurement signals corresponding to the cleaning equipment and phase difference information of multiple carrier signals; according to the measurement distances corresponding to the equipment positions and the equipment positions, a target function corresponding to the cleaning equipment is constructed, and the target function is used for indicating that the target pile is located in a circle with the equipment positions as the circle centers and the measurement distances corresponding to the equipment positions as the radiuses; analyzing a first pile position of the target pile at the first moment according to the target function; and according to the first pile position and the first equipment position, guiding the cleaning equipment to advance towards the target pile. The accuracy and success rate of automatic pile returning of the cleaning equipment can be improved.

Description

Technical Field

[0001] This application belongs to the field of communication technology, and in particular relates to control methods, devices, equipment, media and program products for cleaning equipment. Background Technology

[0002] With the increasing popularity of autonomous mobile cleaning equipment, timely return to the corresponding charging station for charging or maintenance before the cleaning equipment runs out of power or during the cleaning task has become an essential requirement for improving the automation level of cleaning equipment.

[0003] Currently, automatic repositioning of cleaning equipment often employs optical navigation solutions. These solutions require the cleaning equipment to rely on its own optical sensors (e.g., cameras or LiDAR) or detected reflected light signals to locate the post, plan a path to the post, and then proceed along that path. However, this approach typically requires a pre-existing navigation map within the cleaning equipment and a fixed post position to ensure accurate repositioning. Before the navigation map is created, or if the post has been moved, the cleaning equipment often fails to reposition successfully.

[0004] Therefore, improving the accuracy and success rate of automatic pile return of cleaning equipment has become an urgent technical problem to be solved. Summary of the Invention

[0005] This application provides control methods, devices, equipment, media, and program products for cleaning equipment, which can solve the problem of how to improve the accuracy and success rate of automatic re-piling of cleaning equipment.

[0006] In a first aspect, embodiments of this application provide a control method for a cleaning device, applied to a cleaning device, the method comprising: When the cleaning equipment is in automatic re-pile mode, the measurement distances corresponding to the cleaning equipment at multiple equipment locations are obtained. The measurement distances are used to represent the distance between the cleaning equipment and the target pile. The measurement distances are determined based on the signal strength of the measurement signal corresponding to the cleaning equipment and the phase difference information of multiple carrier signals. Based on preset constraints, multiple device locations, and the measurement distances corresponding to each device location, the first pile location of the target pile is determined. The preset constraints are used to indicate that the target pile is located on a circle with each device location as the center and the measurement distances corresponding to each device location as the radius.

[0007] Based on the location of the first pile, guide the cleaning equipment toward the target pile.

[0008] In some embodiments, the multiple device locations include the i-th device location, the (i+1)-th device location, and the (i+2)-th device location, where the i-th device location corresponds to the i-th measurement distance, the (i+1)-th device location corresponds to the (i+1)-th measurement distance, and the (i+2)-th device location corresponds to the (i+2)-th measurement distance, and i is a positive integer; Based on preset constraints, multiple device locations, and the corresponding measurement distances for each device location, the location of the first pile at the target pile is determined, including: The location of the first stake is determined based on the preset constraints, the location of the i-th device, the (i+1)-th device, the (i+2)-th device, the i-th measurement distance, the (i+1)-th measurement distance, and the (i+2)-th measurement distance.

[0009] In some embodiments, the plurality of device locations includes an i-th device location and an (i+1)-th device location, where the i-th device location corresponds to the i-th measurement distance and the (i+1)-th device location corresponds to the (i+1)-th measurement distance. Based on preset constraints, multiple device locations, and the corresponding measurement distances for each device location, the location of the first pile at the target pile is determined, including: Based on the preset constraints, the location of the i-th device, the location of the (i+1)-th device, the i-th measurement distance, and the (i+1)-th measurement distance, determine the candidate location set corresponding to the target pile; When the candidate location set includes multiple candidate locations, control the cleaning equipment to start from the (i+1)th device location and move to the next device location to obtain the (i+2)th device location; Obtain the (i+2)th measurement distance of the cleaning device at the (i+2)th device position; Based on preset constraints, the location of the (i+2)th device, and the (i+2)th measurement distance, the location of the first pile is determined from multiple candidate locations.

[0010] In some embodiments, starting from the (i+1)th device location and moving to the next device location to obtain the (i+2)th device location includes: Based on multiple candidate locations, determine the first orientation of the target pile relative to the cleaning equipment; Starting from the (i+1)th device position, control the cleaning equipment to move in the first direction to the next device position, thus obtaining the (i+2)th device position.

[0011] In some embodiments, starting from the (i+1)th device location and moving to the next device location to obtain the (i+2)th device location, the method further includes: Obtain the signal strength of the cleaning device at the i-th device position and the signal strength at the (i+1)-th device position; If the strength of the i-th signal is greater than the strength of the (i+1)-th signal, starting from the (i+1)-th device position, control the cleaning device to move in the second direction to the next device position, and obtain the (i+2)-th device position. The second direction is the direction of the i-th device position relative to the (i+1)-th device position.

[0012] In some embodiments, starting from the (i+1)th device location and moving to the next device location to obtain the (i+2)th device location, the method further includes: Starting from the (i+1)th device position, control the cleaning equipment to travel to any position on the first straight line to obtain the (i+1)th device position. The first straight line includes multiple candidate positions.

[0013] In some embodiments, the method further includes: If the candidate position set includes a single candidate position, that candidate position is determined as the first stake position.

[0014] In some embodiments, when the cleaning equipment is in automatic retraction mode, acquiring the measured distances corresponding to multiple equipment locations includes: According to preset operating conditions, the cleaning equipment travels within the area where it is located. The preset operating conditions are used to indicate the changes in the position of the cleaning equipment during its travel. During the operation of the cleaning equipment, the position of the cleaning equipment at the i-th time moment is obtained, thus obtaining the i-th equipment position; At the i-th device location, obtain the i-th signal strength and n-th phase difference information corresponding to the cleaning device; Based on the i-th signal strength and n-th phase difference information, determine the i-th measurement distance corresponding to the i-th device position; Count the number of device locations or measured distances at the current moment and before, and obtain the first count; When the first quantity is greater than or equal to the first threshold, multiple device locations are obtained, along with the corresponding measurement distances at each of the multiple device locations.

[0015] In some embodiments, the cleaning equipment includes a first communication module and a positioning module, and the target stake includes a second communication module; Obtain the i-th signal strength and n-th phase difference information corresponding to the cleaning device, including: At the i-th device location, the first communication module is controlled to send carrier signals at n frequencies. The target pile is used to send measurement signals and receive n carrier signals. The second communication module is controlled to measure the carrier phase difference corresponding to the n carrier signals respectively, and obtain n phase difference information. Receive the measurement signal and n phase difference information sent by the target pile; Determine the signal strength of the received measurement signal to obtain the i-th signal strength.

[0016] Secondly, embodiments of this application provide a control device for a cleaning equipment, applied to the cleaning equipment, the device comprising: The acquisition module is used to acquire the measurement distances corresponding to multiple device positions of the cleaning equipment when the cleaning equipment is in automatic re-piling mode. The measurement distance is used to represent the distance between the cleaning equipment and the target pile. The measurement distance is determined based on the signal strength of the measurement signal corresponding to the cleaning equipment and the phase difference information of multiple carrier signals. The processing module is used to determine the first pile position of the target pile based on preset constraints, multiple equipment positions, and the measurement distances corresponding to the multiple equipment positions. The preset constraints are used to indicate that the target pile is located on a circle with each equipment position as the center and the measurement distances corresponding to each equipment position as the radius. The guidance module is used to guide the cleaning equipment toward the target pile based on the location of the first pile.

[0017] In some embodiments, the multiple device locations include the i-th device location, the (i+1)-th device location, and the (i+2)-th device location, where the i-th device location corresponds to the i-th measurement distance, the (i+1)-th device location corresponds to the (i+1)-th measurement distance, and the (i+2)-th device location corresponds to the (i+2)-th measurement distance, and i is a positive integer; The processing module is also used to determine the position of the first stake based on preset constraints, the position of the i-th device, the (i+1)-th device, the (i+2)-th device, the i-th measurement distance, the (i+1)-th measurement distance, and the (i+2)-th measurement distance.

[0018] In some embodiments, the plurality of device locations includes an i-th device location and an (i+1)-th device location, where the i-th device location corresponds to the i-th measurement distance and the (i+1)-th device location corresponds to the (i+1)-th measurement distance. The processing module is also used to: determine the candidate location set corresponding to the target pile based on preset constraints, the i-th device location, the (i+1)-th device location, the i-th measurement distance, and the (i+1)-th measurement distance; if the candidate location set includes multiple candidate locations, control the cleaning equipment to travel from the (i+1)-th device location to the next device location to obtain the (i+2)-th device location; obtain the (i+2)-th measurement distance corresponding to the cleaning equipment at the (i+2)-th device location; and determine the location of the first pile from the multiple candidate locations based on preset constraints, the (i+2)-th device location, and the (i+2)-th measurement distance.

[0019] In some embodiments, the processing module is further configured to determine a first direction of the target pile relative to the cleaning equipment based on multiple candidate positions; starting from the (i+1)th equipment position, control the cleaning equipment to travel in the first direction to the next equipment position, thereby obtaining the (i+2)th equipment position.

[0020] In some embodiments, the processing module is further configured to: obtain the i-th signal strength corresponding to the i-th device position and the i+1-th signal strength corresponding to the i+1-th device position; if the i-th signal strength is greater than the i+1-th signal strength, starting from the i+1-th device position, control the cleaning device to move in a second direction to the next device position to obtain the i+2-th device position, where the second direction is the direction of the i-th device position relative to the i+1-th device position.

[0021] In some embodiments, the processing module is further configured to control the cleaning device to travel to any position on a first straight line, starting from the (i+1)th device position, to obtain the (i+1)th device position, wherein the first straight line includes multiple candidate positions.

[0022] In some embodiments, the processing module is further configured to determine the candidate location as the first stake location if the candidate location set includes a candidate location.

[0023] In some embodiments, the acquisition module is further configured to: travel within the area where the cleaning equipment is located according to preset operating conditions, the preset operating conditions being used to indicate the position changes of the cleaning equipment during travel; during the travel of the cleaning equipment, acquire the equipment position of the cleaning equipment at the i-th moment to obtain the i-th equipment position; at the i-th equipment position, acquire the i-th signal strength and n-th phase difference information corresponding to the cleaning equipment; determine the i-th measurement distance corresponding to the cleaning equipment at the i-th equipment position based on the i-th signal strength and n-th phase difference information; count the number of equipment positions or measurement distances at the current moment and before to obtain a first number; when the first number is greater than or equal to a first threshold, obtain multiple equipment positions and the measurement distances corresponding to the multiple equipment positions respectively.

[0024] In some embodiments, the cleaning equipment includes a first communication module and a positioning module, and the target stake includes a second communication module; The processing module is also used to, at the i-th device location, control the first communication module to send carrier signals at n frequencies, the target pile to send measurement signals, receive n carrier signals, control the second communication module to measure the carrier phase differences corresponding to the n carrier signals respectively, and obtain n phase difference information; receive the measurement signals and n phase difference information sent by the target pile; determine the signal strength of the received measurement signals, and obtain the i-th signal strength.

[0025] Thirdly, embodiments of this application provide a cleaning device, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it causes the cleaning device to perform the method as described in any of the embodiments of the first aspect.

[0026] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method as described in any of the embodiments of the first aspect.

[0027] Fifthly, embodiments of this application provide a computer program product, including a computer program, which, when run, causes the method as described in any embodiment of the first aspect to be performed.

[0028] The advantages of the embodiments in this application compared with related technologies are: When the cleaning equipment is in automatic repositioning mode, the measured distances between the cleaning equipment and the target pile can be obtained at multiple locations based on the signal strength and phase difference information of the measured signals at different equipment positions. Thus, by combining received signal strength ranging and carrier phase ranging, the distance between the cleaning equipment and the target pile can be accurately located at different equipment positions, achieving high-precision distance measurement for a single signal transceiver. Furthermore, based on the high-precision measured distances and the equipment positions, and by using a preset constraint that the target pile lies within a circle centered on the equipment position with the measured distance as its radius at each location, the position of the target pile can be quickly determined. In this way, the cleaning equipment can be guided towards the target pile in real time based on the location of the target pile and the equipment position at different times. Furthermore, in determining the distance between the cleaning equipment and the target pile, no beacon, equipment camera, or navigation map is required. Thus, even when the target pile is not within the cleaning equipment's field of vision, signal strength ranging and carrier phase ranging can be combined to locate the distance between the cleaning equipment and the target pile at multiple equipment locations, thereby accurately locating the target pile and guiding the cleaning equipment toward the pile. This improves the accuracy and success rate of the cleaning equipment's automatic return to the pile. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1This is a schematic diagram of a cleaning device locating a stake based on an optical navigation scheme in related technologies. Figure 2 This is a schematic diagram illustrating the principle of positioning a pile according to an embodiment of this application.

[0031] Figure 3 This is a schematic diagram of another cleaning system provided in the embodiments of this application.

[0032] Figure 4 This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application.

[0033] Figure 5 This is a flowchart illustrating another control method for cleaning equipment provided in an embodiment of this application.

[0034] Figure 6 This is a flowchart illustrating another control method for a cleaning device provided in an embodiment of this application.

[0035] Figure 7 This is a schematic diagram illustrating the process of a cleaning device moving to the next device location in an application scenario provided by an embodiment of this application.

[0036] Figure 8 This is another schematic diagram of the process of cleaning equipment moving to the next equipment position in an application scenario provided by the embodiments of this application.

[0037] Figure 9 This is another schematic diagram of the process of cleaning equipment moving to the next equipment position in an application scenario provided by an embodiment of this application.

[0038] Figure 10 This is a schematic diagram of the structure of a control device for a cleaning equipment provided in an embodiment of this application.

[0039] Figure 11 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application. Detailed Implementation

[0040] The technical solutions in the embodiments of this application will be described below with reference to the accompanying drawings.

[0041] In related technologies, the automatic relocation of cleaning equipment based on optical navigation schemes often falls into two categories. One is the active beacon method. In this method, beacons (e.g., infrared LEDs, laser emitters, or RF modules) that actively emit optical guidance signals (e.g., infrared light, lasers, or radio frequency signals) are placed in the pile. The cleaning equipment is equipped with optical measurement sensors (e.g., cameras or photosensors). The cleaning equipment can actively monitor the optical guidance signals through the optical measurement sensors to achieve positioning and relocation. Specifically, the pile controls the beacon to continuously or intermittently emit directional optical guidance signals. When the cleaning equipment is near the pile, it can receive the optical guidance signals through the optical measurement sensors and analyze the intensity, direction, frequency, and other characteristics of the signals to determine the direction and distance of the pile relative to the cleaning equipment. The cleaning equipment then plans its path based on the determined direction and distance to achieve automatic relocation.

[0042] Another approach is the passive beacon method. In this method, reflective strips or QR codes are placed inside the piles, preventing the active emission of optical guidance beacons. When the cleaning equipment is near the pile, it can actively emit a scanning beam (such as lidar or laser) to illuminate the beacon. Its own optical measurement sensors detect the signal reflected from the beacon, and by analyzing this signal, it determines the direction and distance of the pile relative to the cleaning equipment. If the beacon is a QR code, the cleaning equipment can capture images using a camera and decode the information (such as the pile's coordinates) using an image recognition algorithm to determine the direction and distance of the pile relative to the cleaning equipment. The cleaning equipment then plans its path based on the determined direction and distance to achieve automatic return to the pile.

[0043] However, both of these scenarios require the cleaning equipment to detect a reliable signal in order to accurately analyze the direction and position of the pile relative to the cleaning equipment. This means that, if... Figure 1 As shown, the stake needs to be within the effective line-of-sight (also known as the detection range, optical coverage area, or effective field of view) of the cleaning equipment's optical measurement sensors for the cleaning equipment to detect its presence and accurately identify its location. When the cleaning equipment is outside the effective line-of-sight range from the stake, it often needs to approach the stake based on its position on the pre-created navigation map to sample the optical navigation scheme and return to the stake when it is within the effective line-of-sight range. Therefore, before the navigation map is created or if the stake has been moved, the cleaning equipment often cannot return to the stake sequentially.

[0044] To address the aforementioned issues, the applicant considered that the positions of general marker posts are relatively fixed. Generally, regardless of whether the post is within the optical coverage area of ​​the cleaning equipment, the cleaning equipment can detect its distance to the post using Received Signal Strength Indicator (RSSI) ranging technology. However, relying solely on distance can only determine the proximity of the cleaning equipment to the post, not the post's direction relative to the cleaning equipment. If the distances between the cleaning equipment and the post at different locations could be obtained, the post's position could be located through geometric calculations. Combined with... Figure 2 If the cleaning equipment detects a distance of L1 between itself and the pile (point Z) at point A1, it means the pile is located on circle Y1 with center A1 and radius L1. If the cleaning equipment detects a distance of L2 between itself and the pile at point A2, it means the pile is also located on circle Y2 with center A2 and radius L2. At this point, the pile will be located at the intersection of the two circles. If there is only one intersection, the pile's position can be determined. If there are two intersections, the cleaning equipment's position can be further increased. For example, at point A3, the pile is located on circle Y3 with center A3 and radius L3. This allows for the location of the pile without relying on beacons or optical measurement sensors.

[0045] However, RSSI ranging technology generally has poor distance detection accuracy, typically only ±2dB. When the deviation reaches 6dB, the detected distance may be doubled. Therefore, relying solely on RSSI ranging technology to locate the stake will result in significant errors. If the distance between the cleaning equipment and the stake can be accurately determined, the stake can be precisely located. The applicant discovered that while RSSI ranging technology has low detection accuracy, it is unaffected by integer ambiguity, while carrier phase ranging technology has high accuracy but relies on ambiguity resolution. Combining the two technologies can accurately determine the distance between the cleaning equipment and the stake, thus achieving precise stake location. Furthermore, it allows for precise guidance of the cleaning equipment to automatically return to the stake even when the stake is not within the optical coverage area of ​​the cleaning equipment.

[0046] Therefore, this application proposes a control method, device, equipment, medium, and program product for cleaning equipment. By combining the signal strength of the measurement signal and the phase difference information of the carrier signal, the measurement distance between the cleaning equipment and the stake at different times can be accurately determined. Furthermore, based on the constraint that the stake is always within a circle centered on the equipment location and with the measurement distance as the radius, the stake's position is analyzed under different equipment locations. The entire process requires no beacon or navigation map. Thus, even when the stake is outside the effective line of sight of the cleaning equipment, before the navigation map is created, or when the stake has been moved, the accurate position of the stake can be obtained by acquiring the measurement distance and analyzing the equipment location of the cleaning equipment. This allows for accurate guidance of the cleaning equipment towards the stake, improving the accuracy and success rate of the cleaning equipment's automatic return to the stake.

[0047] The following section introduces an application scenario where control methods for cleaning equipment can be applied, such as... Figure 3 As shown, this application scenario includes a cleaning system 100, which includes a cleaning device 110 and a target post 120. A communication connection is established between the cleaning device 110 and the target post 120. The cleaning device 110 includes a first communication module 111, a first processor 112, and a positioning module 113, while the target post 120 includes a second communication module 121. The cleaning device 110 is configured as a carrier signal transmitter, and the target post 120 is configured as a carrier signal receiver.

[0048] The first communication module 111 is used to transmit carrier signals for phase difference information detection at n frequencies.

[0049] The positioning module 113 is used to locate the current position of the cleaning equipment 110 and send the equipment position to the first processor 112.

[0050] The second communication module 121 is used to send measurement signals and the transmission power of the measurement signals; receive n carrier signals, measure the carrier phase difference corresponding to the n carrier signals respectively, obtain n phase difference information, and send the n phase difference information.

[0051] The first communication module 111 is also used to receive the measurement signal, the transmission power and n phase difference information, and to determine the signal strength of the measurement signal, and to send the signal strength, the transmission power and the n phase difference information of the measurement signal to the first processor 112.

[0052] The first processor 112 is used to determine the measurement distance between the cleaning equipment and the target pile based on the transmission power, the signal strength of the measurement signal, and n phase difference information.

[0053] The first processor 112 is further configured to determine the first pile position of the target pile 120 based on preset constraints, multiple device positions, and the measurement distances corresponding to the multiple device positions. The preset constraints are used to indicate that the target pile 120 is located on a circle with each device position as the center and the measurement distances corresponding to each device position as the radius.

[0054] The cleaning equipment 110 can be a sweeper, lawnmower, floor scrubber, or automatic vacuum cleaner, etc., and the target pile 120 can be a charging pile, sewage discharge pile, or maintenance pile, etc. No specific limitations are made in this embodiment. It can be understood that the steps performed by each module in the cleaning equipment are the steps performed by the cleaning equipment itself.

[0055] The first communication module 111 and the second communication module 121 integrate wireless carrier phase measurement functionality. In one implementation, the cleaning device 110 and the target pile 120 may include multiple communication modules, including a wireless communication module for communication between the cleaning device 110 (or the target pile 120) and a remote control terminal or server, and a first communication module 111 (or the second communication module 121) specifically for ranging. In another implementation, the first communication module 111 and the second communication module 121 may be wireless communication modules that integrate and multiplex the wireless carrier phase measurement function; that is, the wireless communication modules in the cleaning device and the target pile can be multiplexed as transceivers of carrier signals for ranging. The remote control terminal may be a mobile phone, tablet, or smartwatch, etc., and this application embodiment does not impose specific limitations.

[0056] In one implementation, the target pile 120 can be configured as a carrier signal receiver, and the cleaning device 110 as a carrier signal transmitter. In this case, the second communication module 121 is used to transmit carrier signals at n frequencies, as well as to transmit measurement signals and the transmission power of the measurement signals.

[0057] The first communication module 111 is used to receive measurement signals, transmission power and n carrier signals, measure the carrier phase difference corresponding to the n carrier signals respectively, obtain n phase difference information, and send the measurement signals, transmission power and n phase difference information to the first processor so that the first processor can guide the cleaning equipment 110 to move toward the target pile 120.

[0058] It should be noted that in a communication system, multiple channels are often configured between different communication modules, and each channel corresponds to a different frequency. Therefore, the first communication module 111 or the second communication module 121 can send carrier signals at different frequencies by switching channels. In order for the cleaning equipment to receive the carrier signal sent by the target pile during its movement, a higher-performance transmitter needs to be configured for the target pile to ensure the carrier signal coverage and penetration capability. For cost considerations, this embodiment takes the cleaning equipment as the carrier signal transmitter and the target pile as the carrier signal receiver as an example.

[0059] Through the collaboration of the various modules and processors mentioned above, the cleaning equipment can combine Received Signal Strength Indicator (RSSI) ranging technology and carrier phase ranging technology during automatic relocation to determine the distance between the cleaning equipment and the target pile at multiple equipment locations, thereby achieving precise positioning of the target pile. Even when the target pile is not within the cleaning equipment's field of view, it can automatically guide the cleaning equipment to quickly reach the vicinity of the target pile, achieving automatic relocation and improving the robustness of the automatic relocation system.

[0060] The control method of the cleaning equipment in this application is described in detail below through specific embodiments.

[0061] Figure 4 This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application. The method is applied to a cleaning device, which can be... Figure 1 Cleaning equipment 110, such as Figure 4 The method shown includes the following steps: S101, when the cleaning equipment is in automatic retraction mode, acquire the measurement distances corresponding to the cleaning equipment at multiple equipment locations.

[0062] The measured distance is used to represent the actual distance between the cleaning equipment and the target pile. The measured distance is determined based on the signal strength of the measurement signal corresponding to the cleaning equipment and the phase difference information of multiple carrier signals.

[0063] When the cleaning equipment determines that it meets the re-piling conditions, it will enter automatic re-piling mode. In this mode, the cleaning equipment will determine that it is in automatic re-piling mode and move to different equipment locations to obtain the corresponding measurement distance at each location, thus obtaining multiple measurement distances. The re-piling conditions include any of the following: 1. The remaining battery power of the cleaning equipment is less than or equal to a battery threshold; 2. The cleaning equipment completes the cleaning task; 3. The current time is a preset time; 4. The cleaning equipment's sludge collection box is full; 5. A self-cleaning command or a re-piling command is received; 6. The cleaning equipment malfunctions. The battery threshold can be set based on the total battery power of the cleaning equipment, for example, 20% or 10% of the total battery power; the preset time can be set according to the user's usage time of the cleaning equipment, for example, 2 AM or 3 AM; malfunctions of the cleaning equipment include disconnection from the remote control terminal or server, abnormality of sensors in the cleaning equipment (e.g., lidar, wheel speedometer, or camera), or overheating of the cleaning equipment, etc., which are not specifically limited in this embodiment.

[0064] In one implementation, when the cleaning equipment determines it is in automatic pile-return mode, it can move to multiple locations simultaneously according to preset operating conditions, and for each location, it acquires the measured distance between the target piles at that location. Combined with... Figure 5 The cleaning equipment can obtain the measurement distances corresponding to multiple equipment locations through the following steps S201 to S206.

[0065] S201 travels within the area where the cleaning equipment is located, according to preset operating conditions.

[0066] Among them, the preset operating conditions are used to indicate the position changes of the cleaning equipment during operation.

[0067] The preset motion conditions are mainly used to guide the cleaning equipment to move from its current location to at least one other location when returning to the target pile. This allows the target pile to be located based on preset constraints. Therefore, the preset motion conditions can be set according to specific scenarios. For example, the preset motion conditions may include at least one of the following: 1. Starting from the current orientation of the cleaning equipment's current location, moving at a preset speed, and rotating by a first preset angle after traveling a preset distance before returning to the starting position to continue moving at the preset speed; 2. When encountering an obstacle during movement, rotating by a second preset angle before returning to the starting position to continue moving at the preset speed. The preset speed, first preset angle, and second preset angle can be set according to the actual scenario, and this application embodiment does not impose any limitations. For example, the preset speed can be any from 0.2 m / s to 0.5 m / s, the first preset angle can be any from 30° to 60°, and the second preset angle can be any from 90° to 120°.

[0068] S202, during the operation of the cleaning equipment, obtain the equipment position of the cleaning equipment at the i-th time point to obtain the i-th equipment position.

[0069] Where i is a positive integer, n is a positive integer greater than 1, and the first threshold is greater than or equal to 2. For example, the first threshold is 2 or 3, etc.

[0070] During operation, the cleaning equipment can obtain its own positioning information through its positioning module. The location indicated by this positioning information is the current location of the cleaning equipment. The location indicated by the positioning information at the i-th moment is the i-th equipment location.

[0071] S203, at the i-th device location, obtain the i-th signal strength and n-th phase difference information corresponding to the cleaning device.

[0072] The cleaning equipment can receive the measurement signal and n phase difference information sent by the target pile at the i-th equipment position, calculate the signal strength of the measurement signal, and obtain the i-th signal strength.

[0073] In one implementation, the cleaning device includes a first communication module and a positioning module, and the target stake includes a second communication module. At the i-th device position, the cleaning device controls the first communication module to send carrier signals at n frequencies. It receives measurement signals and n phase difference information sent by the target stake; determines the signal strength of the received measurement signals, and obtains the i-th signal strength. Specifically, the target stake is used to send measurement signals, receive n carrier signals, control the second communication module to measure the carrier phase differences corresponding to the n carrier signals, and obtain n phase difference information; the target stake is also used to send the n phase difference information.

[0074] The measurement signal can be a radio frequency signal such as a Bluetooth signal or a Wireless Fidelity (WiFi) signal.

[0075] The cleaning equipment can control the first communication module to switch the carrier frequency at the i-th device location and send carrier signals at n frequencies. In this way, the target pile can receive the carrier signals at n frequencies through the second communication module. The carrier phase of the carrier signals at different frequencies is measured, so the target pile obtains n phase difference information and can send these n phase difference information. The cleaning equipment can then receive these n phase difference information.

[0076] The method for analyzing the carrier phase of the target pile is not specifically limited in the embodiments. For example, the target pile can be measured using the phase-locked loop (PLL) method. Specifically, for each carrier signal, the target pile can control a local voltage-controlled oscillator (VCO) to generate a reference signal with the same frequency as the carrier signal. The phase of the VCO is adjusted by the loop filter of the PLL to synchronize it with the phase of the carrier signal. Finally, the control voltage or phase error output of the PLL is the phase difference θ between the received carrier signal and the reference signal, i.e., the carrier phase difference. Alternatively, the target pile can also be measured using demodulation and phase detection. Specifically, for each carrier signal, the target pile can multiply the carrier signal and the reference signal (mixing), extract the DC component through a low-pass filter, and this DC component is proportional to the sine value of the phase difference θ between the two signals. Combined with quadrature demodulation, the accurate value of θ can be calculated, thus obtaining the carrier phase difference.

[0077] In this implementation, by configuring a communication module with carrier phase distance measurement detection in the cleaning equipment and the target pile, or by reusing the existing communication module in both, it is possible to transmit carrier signals of different frequencies and measure the phase. This provides a solid data foundation for locating the first pile position of the target pile and also saves on the hardware costs of the cleaning equipment and the pile.

[0078] In one implementation, the cleaning device determines the signal-to-noise ratio (SNR) of carrier signals transmitted at n frequencies by the first communication module. When the SNR of a carrier signal transmitted at any frequency is determined to be greater than or equal to the noise threshold corresponding to that frequency, the device deletes the carrier phase difference corresponding to that frequency from the n phase difference information and switches to another frequency to transmit the carrier signal. This reduces the likelihood of carrier phase difference errors affecting pile positioning due to channel congestion or noise.

[0079] S204, based on the i-th signal strength and n-th phase difference information, determine the i-th measurement distance corresponding to the i-th device position of the cleaning device.

[0080] The cleaning equipment can determine the distance between itself and the target pile based on RSSI ranging technology and the i-th signal strength. Based on this distance, it can combine carrier phase ranging technology and n phase difference information to determine the i-th measurement distance between itself and the target pile.

[0081] In one implementation, when the cleaning device receives a measurement signal from the target pile at the i-th device location, it also receives the transmission power of the measurement signal transmitted by the target pile, thus obtaining the i-th transmission power of the i-th measurement signal. The cleaning device can determine the i-th evaluated distance between the cleaning device and the target pile at the i-th device location based on the difference between the i-th transmission power and the i-th signal strength. Based on the i-th evaluated distance, n phase difference information, and n carrier signals, the i-th measured distance between the cleaning device and the target pile at the i-th device location is analyzed.

[0082] For example, the target pile is configured to send a measurement signal and the transmission power of the measurement signal according to a preset period. The preset period can be any period from 10ms to 100ms, and can be determined based on the actual application scenario. This embodiment does not impose a specific limitation. Alternatively, the cleaning device can send a ranging request at the i-th device location, and the target pile sends a measurement signal and the transmission power of the measurement signal when it receives the ranging request, so that the cleaning device can receive the i-th measurement signal and the i-th transmission power.

[0083] The cleaning equipment can substitute the i-th transmit power and the i-th signal strength into Formula 1 to calculate the i-th evaluation distance. Formula 1 is Ptx – Prssi = PL(Lc), where Ptx represents the transmit power of the measured signal, Prssi represents the signal strength of the measured signal, PL(Lc) represents the path loss, and Lc represents the evaluation distance. Path loss refers to the power attenuation of the measured signal during its propagation from the target pile to the cleaning equipment due to energy diffusion, obstacle absorption, or reflection. Generally, PL(Lc) can be represented by a logarithmic distance path loss model: PL(Lc) = 10nlg(Lc / L0) + X, where n represents the path loss exponent (generally n≈2 in open environments and n≈3 indoors). 4) L0 represents the reference distance (usually 1 meter), and X is a Gaussian random variable with a mean of 0. Of course, PL(Lc) can also be represented by other models such as the free space path loss model, which can be determined according to the actual application. No specific restrictions are imposed in the embodiments of this application.

[0084] The cleaning equipment, at the i-th device location, constructs a basic equation for carrier phase measurement for each frequency carrier signal: Lx = λx × Nx + (λx / 2π) × θx. Here, Lx represents the carrier distance between the cleaning equipment and the target pile under the x-th carrier signal (an unknown to be calculated), λx = c / fx, where c is the speed of light, fx represents the frequency corresponding to the x-th carrier signal, Nx represents the integer ambiguity corresponding to the x-th carrier signal (an unknown to be calculated), and θx represents the phase difference information corresponding to the x-th carrier signal. By substituting the n phase differences into the formula, the cleaning equipment obtains n basic equations regarding carrier distance. Using these n basic equations, the cleaning equipment determines the i-th measurement distance that is closest to the evaluated distance Lc.

[0085] For example, for each basic equation, the cleaning device can substitute the already determined evaluation distance Lc into it, perform integer ambiguity calculation on the integer ambiguity Nx in the basic equation, solve for the integer ambiguity Nx, and then determine the carrier distance Lx in the basic equation based on the solved integer ambiguity Nx. The cleaning device can integrate the carrier distances solved in each basic equation (for example, when the n solved carrier distances are close to each other, the average of the n carrier distances is taken) to obtain the i-th measurement distance.

[0086] For example, the cleaning equipment can also use the least squares ambiguity search method to search for the combination of integer ambiguities in the n basic equations that have similar carrier distances and the smallest deviation from the evaluation distance Lc. The integer ambiguities in the found combination are then substituted into the corresponding basic equations to obtain n carrier distances. The cleaning equipment can then determine the average value of the n carrier distances as the i-th measurement distance.

[0087] It can be understood that Nx can be the integer ambiguity among the n basic equations solved by the cleaning device based on algorithms such as Least-squares AMBDA (Laminar ambiguity-decorrelation Adjustment) or Differential Evolution (DE), where the carrier distances are close and the deviation from the evaluation distance Lc is minimal. Alternatively, it can be obtained by the cleaning device from a pre-stored integer correspondence relationship based on the carrier frequency corresponding to the x-th carrier signal. When the cleaning device is the receiving end of the carrier signal, it can receive the integer ambiguity sent by the target pile.

[0088] It should be noted that when the cleaning device retrieves the integer ambiguity Nx from the pre-stored integer correspondence, it can perform a weighted average of the determined n carrier distances and the evaluation distance Lc to obtain the i-th measurement distance. The weights corresponding to the n carrier distances and the evaluation distance Lc can be determined by the variance of their respective measurement errors, or by other data; this application embodiment does not impose specific limitations. In this way, the cleaning device can calculate the integer ambiguity with the assistance of the evaluation distance to obtain a more accurate i-th measurement distance, or participate in data fusion as a redundant measurement when the integer ambiguity is known, thereby improving the accuracy and reliability of carrier distance detection.

[0089] In the above technical solution, the evaluation distance between the cleaning equipment and the target pile is determined based on the difference between the transmitted power and signal strength of the measured signal, achieving the purpose of obtaining a coarse distance measurement using received signal strength ranging technology. Based on this coarse distance measurement, the precise distance between the cleaning equipment and the target pile is further refined by considering the phase and wavelength of multiple carrier signals. This not only integrates received signal strength ranging technology with carrier phase ranging technology but also reduces phase errors between multiple carrier signals. Furthermore, the phase difference information and signal wavelength are used to calibrate the coarse distance measurement, achieving a secondary distance measurement process of coarse measurement followed by fine measurement, which improves the accuracy of distance detection between the cleaning equipment and the pile. In addition, using the coarse distance measurement as a basis for carrier phase ranging limits the search range of carrier phase ranging for integer ambiguity, accelerating the determination of the measured distance and thus improving the efficiency of automatic pile retrieval.

[0090] S205, count the number of device positions or measured distances at the current time and before, and obtain the first count.

[0091] The cleaning equipment records the i-th device location and the i-th measured distance, and calculates the total number of device locations or the total number of measured distances recorded at the current moment to obtain the first quantity.

[0092] S206, when the first quantity is greater than or equal to the first threshold, obtain multiple device locations and the corresponding measurement distances at the multiple device locations.

[0093] The first threshold can be greater than or equal to 2. It should be noted that when the first threshold is greater than or equal to 3, the cleaning equipment has traveled to at least three equipment locations as planned, and the cleaning equipment can directly enter S102 to directly locate the target pile based on the three or more equipment locations and the measured distances. Of course, when the cleaning equipment has obtained the measured distances corresponding to two or more equipment locations, it can also determine the candidate locations of the target pile based on the measured distances corresponding to the two most recently obtained equipment locations, and then dynamically adjust its next travel direction based on the candidate locations to quickly return to the pile. Specific implementation methods will be described in subsequent embodiments.

[0094] S102, based on preset constraints, multiple device locations, and the measurement distances corresponding to the multiple device locations, determine the first pile location of the target pile.

[0095] Among them, the preset constraint conditions are used to indicate that the target pile is located on a circle with each equipment position as the center and the corresponding measurement distance of each equipment position as the radius.

[0096] In one implementation, the cleaning equipment can create an equation for a circle with that location as the center and the corresponding measured distance as the radius for each equipment location. It then solves the equations of all the circles corresponding to all equipment locations to find the intersection point. If only one intersection point exists, the cleaning equipment can determine the first pile position based on the location indicated by that intersection point. If multiple intersection points exist, the cleaning equipment can continue traveling to obtain more equipment locations and their corresponding measured distances to find the unique intersection point and obtain the first pile position.

[0097] In another implementation, the cleaning equipment can use the least squares method to construct the objective function J(xb,yb)=∑([(xb xi) 2 +(yb yi) 2 ] 1 / 2 Li) 2 Where (xb, yb) represents the coordinates of the pile's location, (xi, yi) represents the coordinates of the i-th device's location, and Li represents the i-th measurement distance. The cleaning equipment can minimize J(xb, yb) as the objective, determine the values ​​of xb and yb, and obtain the location of the first pile.

[0098] For example, in combination Figure 2The multiple device locations include the i-th device location, the (i+1)-th device location, and the (i+2)-th device location. The i-th device location corresponds to the i-th measured distance, the (i+1)-th device location corresponds to the (i+1)-th measured distance, and the (i+2)-th device location corresponds to the (i+2)-th measured distance, where i is a positive integer. S102 includes: determining the location of the first stake based on preset constraints, the i-th device location, the (i+1)-th device location, the (i+2)-th device location, the i-th measured distance, the (i+1)-th measured distance, and the (i+2)-th measured distance. When the cleaning device obtains the measured distances corresponding to at least three device locations, it can substitute each device location and its corresponding measured distance into the objective function to calculate the location of the first stake, or solve for the equation of the circle corresponding to each device location and obtain the unique intersection point to get the location of the first stake. In this way, the cleaning device can directly locate the location of the target stake based on the obtained at least three device locations and their corresponding measured distances without the need for beacons, device cameras, or navigation maps, thus accelerating the positioning efficiency.

[0099] It is understood that the cleaning equipment uses the same coordinate system when creating the equation of a circle or constructing the objective function, such as the world coordinate system or the coordinate system used by the cleaning equipment when positioning itself. This application does not impose any restrictions on this.

[0100] S103, based on the location of the first pile, guide the cleaning equipment toward the target pile.

[0101] The cleaning equipment can control itself to move toward the location of the first target pile so that it can quickly locate the target pile within its effective line of sight.

[0102] In one implementation, the method further includes: acquiring an area image of the location of the cleaning equipment while guiding the cleaning equipment toward the target pile; identifying the target pile in the area image; and, if the target pile exists in the area image or an optical guidance signal is received from the target pile, driving to the target pile according to the optical guidance signal or the beacon of the target pile.

[0103] As the cleaning equipment moves towards the target post, it captures images of the area using its camera at its current location. Additionally, the equipment attempts to receive optical guidance signals from the target post or emit and receive scanning beams. The equipment can then identify the target post within the area image using a target recognition algorithm. Once the equipment identifies the target post, receives its optical guidance signal, or receives a reflected signal from the scanning beam, it can use an optical navigation scheme to continue locating the target post based on the optical guidance signal or the post's beacon, thus achieving repositioning. In this way, by combining RSSI ranging and carrier phase ranging to quickly guide the equipment to the vicinity of the target post, it can switch to optical navigation for automatic alignment and repositioning.

[0104] In this embodiment, when the cleaning equipment is in automatic repositioning mode, the measured distances between the cleaning equipment and the target pile at multiple locations can be obtained based on the signal strength and phase difference information of the measured signals at different equipment positions. Thus, by combining received signal strength ranging and carrier phase ranging, the distance between the cleaning equipment and the target pile can be accurately located at different equipment positions, achieving high-precision distance measurement for a single signal transceiver. Furthermore, based on the high-precision measured distance and the location of the cleaning equipment, and by using a preset constraint that the target pile at each equipment position lies within a circle centered on that equipment position and with the measured distance as its radius, the location of the target pile can be quickly determined. Therefore, the cleaning equipment can be guided towards the target pile in real time at different times based on the location of the target pile and the equipment position of the cleaning equipment. Furthermore, in determining the distance between the cleaning equipment and the target pile, no beacon, equipment camera, or navigation map is required. Thus, even when the target pile is not within the cleaning equipment's field of vision, signal strength ranging and carrier phase ranging can be combined to locate the distance between the cleaning equipment and the target pile at multiple equipment locations, thereby accurately locating the target pile and guiding the cleaning equipment toward the pile. This improves the accuracy and success rate of the cleaning equipment's automatic return to the pile.

[0105] In some embodiments, the cleaning equipment can determine multiple candidate locations for multiple target piles based on the acquired equipment location and its corresponding measurement distance. To quickly locate the accurate location of the target pile, the cleaning equipment can also dynamically determine the next equipment location from multiple candidate locations, thereby accurately locating the target pile by increasing the number of equipment locations. Figure 6 As shown, S102 also includes the following S301 to S304.

[0106] S301, based on the preset constraints, the location of the i-th device, the location of the (i+1)-th device, the i-th measurement distance, and the (i+1)-th measurement distance, determine the candidate location set corresponding to the target pile.

[0107] Among the multiple device locations, there are the i-th device location and the (i+1)-th device location. The i-th device location corresponds to the i-th measurement distance, and the (i+1)-th device location corresponds to the (i+1)-th measurement distance.

[0108] Based on the description in S102, the cleaning equipment creates an equation for a circle with the i-th device position as the center and the i-th measured distance as the radius, and an equation for a circle with the (i+1)-th device position as the center and the (i+1)-th measured distance as the radius. By simultaneously solving the equations of the two circles, the intersection point of the two circles can be calculated. Each intersection point indicates a candidate position, resulting in a set of candidate positions. Alternatively, multiple possible coordinates can be obtained through the objective function, with each coordinate serving as a candidate position. For convenience, the following example will use the simultaneous equations of the circles to obtain the set of candidate positions.

[0109] S302, when the candidate position set includes multiple candidate positions, control the cleaning equipment to start from the (i+1)th device position and move to the next device position to obtain the (i+2)th device position.

[0110] The (i+1)th device location is the current location of the cleaning device.

[0111] In one implementation, the cleaning device can determine the first direction of the target pile relative to the cleaning device based on multiple candidate positions; starting from the (i+1)th device position, the cleaning device is controlled to move in the first direction to the next device position, thus obtaining the (i+2)th device position.

[0112] The cleaning device can determine the direction of each candidate position relative to itself at the (i+1)th device position, based on the coordinate system used when creating the equation of the circle, thus obtaining a first direction. The cleaning device can then turn towards the first direction from its current orientation at the (i+1)th device position and travel. The cleaning device can determine its position after traveling a first distance or a first time period in the first direction as the (i+2)th device position. For example, the first distance can be 20 cm, 30 cm, or 50 cm, etc., and the first time period can be 30 seconds, 40 seconds, or 25 seconds, etc., and this application embodiment does not impose limitations. In this way, when the cleaning device determines multiple candidate positions of the target pile, it initially determines the direction of the target pile relative to itself and travels towards that direction, quickly approaching the target pile, and combining this with the determination of the next device position for precise positioning.

[0113] In one example, such as Figure 7As shown, the current position of the robot vacuum cleaner (an example of a cleaning device) is point D2 (an example of the (i+1)th device position). At point D1 (an example of the ith device position), the robot vacuum cleaner determines its distance to the charging station (point R, an example of the target station) as L4 (an example of the ith measured distance). At point D2, it determines its distance to the charging station as L5 (an example of the (i+1)th measured distance). The robot vacuum cleaner creates the equations of two circles in the world coordinate system: circle Y4 with center D1 and radius L4, and circle Y5 with center D2 and radius L5. The robot vacuum cleaner determines that the two circles intersect at two points: point R and point J1 (an example of a candidate position). The robot vacuum cleaner determines that points R and J1 are located to its northwest in the world coordinate system. After traveling 35cm or 20s to the northwest, it locates itself at point D3 (an example of the (i+2)th device location). The distance between this location and the charging station is L6 (an example of the (i+2)th distance measurement). The robot vacuum cleaner can then create a circle Y6 with point D3 as the center and L6 as the radius. The robot vacuum cleaner determines that the three circles intersect at point R, and identifies point R as the location of the charging station. It then continues to travel towards point R to automatically return to the charging station.

[0114] In one implementation, the cleaning device can also obtain the i-th signal strength corresponding to the i-th device position and the i+1-th signal strength corresponding to the i+1-th device position; if the i-th signal strength is greater than the i+1-th signal strength, starting from the i+1-th device position, the cleaning device is controlled to move in the second direction to the next device position to obtain the i+2-th device position, where the second direction is the direction of the i-th device position relative to the i+1-th device position.

[0115] A stronger signal strength at a given location indicates a closer distance between the cleaning device and the target post. Therefore, when the cleaning device obtains multiple candidate locations for the target post, it can read the signal strength corresponding to each location from its own recorded signal strength logs. Based on the strength of the signal at each location, it determines the direction to move towards the location with the strongest signal. If the i-th signal strength is greater than the (i+1)-th signal strength, it reverses towards the i-th location; if the i-th signal strength is less than or equal to the (i+1)-th signal strength, it moves in a third direction to the next location, obtaining the (i+2)-th location, which is the direction away from the i-th location. This allows the cleaning device to quickly approach the target post. Furthermore, in dynamic environments (such as temporary obstructions or interference from other devices), signal strength may fluctuate. This scheme ensures that the cleaning device subsequently moves towards the direction with the strongest signal, guiding it closer to the target post in a timely manner in dynamic environments, thereby obtaining more accurate distance measurements and achieving precise positioning of the target post.

[0116] In yet another example, such as Figure 8 As shown, the robot vacuum is currently at point D2, previously at point D1. At point D2, the robot vacuum receives a Wi-Fi signal RSSI (an example of the (i+1)th signal strength) from the charging station, which is less than the RSSI (an example of the ith signal strength) received at point D1. The robot vacuum determines that point D1 is northeast of point D2. After traveling 40cm northeast or 30 seconds, the robot vacuum locates itself at point D4 (another example of the (i+2)th device location). The distance between this location and the charging station is L7 (another example of the (i+2)th measured distance). The robot vacuum can then create a circle Y7 with point D4 as the center and L7 as the radius. The robot vacuum determines that the three circles intersect at point R, and points R are the location of the charging station. It continues to travel towards point R to automatically return to the charging station.

[0117] In one implementation, the cleaning device can also start from the (i+1)th device position and control the cleaning device to travel to any position in the first straight line to obtain the (i+1)th device position. The first straight line includes multiple candidate positions. After determining the multiple candidate positions, the cleaning device can determine the straight line formed by the multiple candidate positions, which is the first straight line, and travel to the first straight line.

[0118] In another example, such as Figure 9As shown, the sweeper determines that points D2 and D3 are on the straight line Ly. The sweeper can travel to point D5 (another example of the (i+2)th device position) on the straight line Ly, which is close to point R (or close to point J1). The distance between this position and the charging pile is L8 (another example of the (i+2)th distance measurement). The sweeper can then create a circle Y8 with point D5 as the center and L8 as the radius. The sweeper determines that the three circles intersect at point R, and determines that the location of point R is the location of the charging pile. It then continues to travel towards point R to complete the automatic return to the charging pile.

[0119] It's understandable that the cleaning equipment typically determines two candidate locations based on the positions of two devices and their corresponding measured distances. To reduce the likelihood of multiple candidate locations still being determined after reaching the (i+2)th device position, the cleaning equipment will avoid traveling to the center position between two candidate locations when it reaches the first straight line. Of course, in the above implementations, if the cleaning equipment still determines multiple candidate locations at the (i+2)th device position, it can also discard the determined (i+2)th device position, turn from its current direction, continue traveling for a certain distance or time, and then determine its current position as the (i+2)th device position.

[0120] S303, obtain the (i+2)th measurement distance corresponding to the (i+2)th device position of the cleaning device.

[0121] S303 is similar to S101, so it will not be described in detail here.

[0122] S304. Based on preset constraints, the location of the (i+2)th device, and the (i+2)th measurement distance, determine the location of the first pile from multiple candidate locations.

[0123] The cleaning equipment can determine the position of the first stake based on preset constraints, the position of the i-th equipment, the (i+1)-th equipment, the (i+2)-th equipment, the i-th measurement distance, the (i+1)-th measurement distance, and the (i+2)-th measurement distance.

[0124] In this embodiment, the candidate positions of the target pile can be quickly determined based on preset constraints, the positions of two devices, and their corresponding measurement distances. This allows for rapid narrowing down the target pile's location to at least a few positions. By navigating to the next device position based on the multiple candidate positions of the target pile, the device can not only limit the next device position but also further locate the target pile by adding more devices, quickly obtaining an accurate pile position and guiding the cleaning equipment to automatically return to the pile quickly and accurately.

[0125] The control device for the cleaning equipment provided in the embodiments of this application will be described below. See also Figure 10 Applied to cleaning equipment, the device includes: The acquisition module 710 is used to acquire the measurement distances corresponding to multiple device positions of the cleaning equipment when the cleaning equipment is in automatic re-piling mode. The measurement distance is used to represent the distance between the cleaning equipment and the target pile. The measurement distance is determined based on the signal strength of the measurement signal corresponding to the cleaning equipment and the phase difference information of multiple carrier signals. The processing module 720 is used to determine the first pile position of the target pile based on preset constraints, multiple equipment positions, and the measurement distances corresponding to the multiple equipment positions. The preset constraints are used to indicate that the target pile is located on a circle with each equipment position as the center and the measurement distances corresponding to each equipment position as the radius. The guidance module 730 is used to guide the cleaning equipment toward the target pile based on the position of the first pile.

[0126] In some embodiments, the multiple device locations include the i-th device location, the (i+1)-th device location, and the (i+2)-th device location, where the i-th device location corresponds to the i-th measurement distance, the (i+1)-th device location corresponds to the (i+1)-th measurement distance, and the (i+2)-th device location corresponds to the (i+2)-th measurement distance, and i is a positive integer; The processing module is also used to determine the position of the first stake based on preset constraints, the position of the i-th device, the (i+1)-th device, the (i+2)-th device, the i-th measurement distance, the (i+1)-th measurement distance, and the (i+2)-th measurement distance.

[0127] In some embodiments, the plurality of device locations includes an i-th device location and an (i+1)-th device location, where the i-th device location corresponds to the i-th measurement distance and the (i+1)-th device location corresponds to the (i+1)-th measurement distance. The processing module is also used to: determine the candidate location set corresponding to the target pile based on preset constraints, the i-th device location, the (i+1)-th device location, the i-th measurement distance, and the (i+1)-th measurement distance; if the candidate location set includes multiple candidate locations, control the cleaning equipment to travel from the (i+1)-th device location to the next device location to obtain the (i+2)-th device location; obtain the (i+2)-th measurement distance corresponding to the cleaning equipment at the (i+2)-th device location; and determine the location of the first pile from the multiple candidate locations based on preset constraints, the (i+2)-th device location, and the (i+2)-th measurement distance.

[0128] The processing module is also used to determine the first direction of the target pile relative to the cleaning equipment based on multiple candidate positions; starting from the (i+1)th equipment position, control the cleaning equipment to travel in the first direction to the next equipment position, and obtain the (i+2)th equipment position.

[0129] In some embodiments, the processing module is further configured to: obtain the i-th signal strength corresponding to the i-th device position and the i+1-th signal strength corresponding to the i+1-th device position; if the i-th signal strength is greater than the i+1-th signal strength, starting from the i+1-th device position, control the cleaning device to move in a second direction to the next device position to obtain the i+2-th device position, where the second direction is the direction of the i-th device position relative to the i+1-th device position.

[0130] In some embodiments, the processing module is further configured to control the cleaning device to travel to any position on a first straight line, starting from the (i+1)th device position, to obtain the (i+1)th device position, wherein the first straight line includes multiple candidate positions.

[0131] In some embodiments, the processing module is further configured to determine the candidate location as the first stake location if the candidate location set includes a candidate location.

[0132] In some embodiments, the acquisition module is further configured to: travel within the area where the cleaning equipment is located according to preset operating conditions, the preset operating conditions being used to indicate the position changes of the cleaning equipment during travel; during the travel of the cleaning equipment, acquire the equipment position of the cleaning equipment at the i-th moment to obtain the i-th equipment position; at the i-th equipment position, acquire the i-th signal strength and n-th phase difference information corresponding to the cleaning equipment; determine the i-th measurement distance corresponding to the cleaning equipment at the i-th equipment position based on the i-th signal strength and n-th phase difference information; count the number of equipment positions or measurement distances at the current moment and before to obtain a first number; when the first number is greater than or equal to a first threshold, obtain multiple equipment positions and the measurement distances corresponding to the multiple equipment positions respectively.

[0133] In some embodiments, the cleaning equipment includes a first communication module and a positioning module, and the target stake includes a second communication module; The processing module is also used to, at the i-th device location, control the first communication module to send carrier signals at n frequencies, the target pile to send measurement signals, receive n carrier signals, control the second communication module to measure the carrier phase differences corresponding to the n carrier signals respectively, and obtain n phase difference information; receive the measurement signals and n phase difference information sent by the target pile; determine the signal strength of the received measurement signals, and obtain the i-th signal strength.

[0134] Figure 11 This is a schematic diagram of the structure of a cleaning device provided in one embodiment of this application. Figure 11 As shown, the cleaning device 110 of this embodiment includes: at least one processor 60 ( Figure 11(Only one is shown in the diagram), memory 61, and computer program 62 stored in memory 61 and executable on at least one processor 60, which, when executed by processor 60, performs the steps of any of the above method embodiments.

[0135] The cleaning device 110 can be the cleaning device or control terminal that receives the first voice content as described above. This cleaning device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that... Figure 11 This is merely an example of cleaning device 110 and does not constitute a limitation on cleaning device 110. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0136] The processor 60 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0137] In some embodiments, memory 61 may be an internal storage unit of the cleaning device 110, such as a hard disk or memory of the cleaning device 110. In other embodiments, memory 61 may be an external storage device of the cleaning device 110, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., provided on the cleaning device 110. Furthermore, memory 61 may include both internal and external storage units of the cleaning device 110. Memory 61 is used to store operating systems, applications, bootloaders, data, and other programs, such as program code for computer programs. Memory 61 may also be used to temporarily store data that has been output or will be output.

[0138] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps described in the various method embodiments above.

[0139] This application provides a computer program product that, when run, causes the steps in the above-described method embodiments to be executed.

[0140] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a photographic device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0141] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0142] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0143] Furthermore, in the description of this application and the appended claims, the terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0144] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0145] In the embodiments provided in this application, it should be understood that the disclosed apparatus, computer equipment, and methods can be implemented in other ways. For example, the apparatus and computer equipment embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0146] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method for cleaning equipment, characterized in that, Applied to cleaning equipment, the method includes: When the cleaning equipment is in automatic retraction mode, the measurement distances corresponding to the cleaning equipment at multiple equipment locations are obtained. The measurement distances are used to represent the distance between the cleaning equipment and the target pile. The measurement distances are determined based on the signal strength of the measurement signal corresponding to the cleaning equipment and the phase difference information of multiple carrier signals. Based on preset constraints, the multiple device locations, and the measurement distances corresponding to the multiple device locations, the first pile location of the target pile is determined. The preset constraints are used to indicate that the target pile is located on a circle with each device location as the center and the measurement distances corresponding to each device location as the radius. Based on the location of the first pile, the cleaning equipment is guided toward the target pile.

2. The method as described in claim 1, characterized in that, The plurality of device locations include the i-th device location, the (i+1)-th device location, and the (i+2)-th device location. The i-th device location corresponds to the i-th measurement distance, the (i+1)-th device location corresponds to the (i+1)-th measurement distance, and the (i+2)-th device location corresponds to the (i+2)-th measurement distance, where i is a positive integer. The step of determining the first pile position of the target pile based on preset constraints, multiple device positions, and the measurement distances corresponding to each of the multiple device positions includes: The position of the first stake is determined based on the preset constraints, the position of the i-th device, the (i+1)-th device, the (i+2)-th device, the i-th measurement distance, the (i+1)-th measurement distance, and the (i+2)-th measurement distance.

3. The method as described in claim 1, characterized in that, The plurality of device locations include the i-th device location and the (i+1)-th device location, the i-th device location corresponds to the i-th measurement distance, and the (i+1)-th device location corresponds to the (i+1)-th measurement distance; The step of determining the first pile position of the target pile based on preset constraints, multiple device positions, and the measurement distances corresponding to each of the multiple device positions includes: Based on the preset constraints, the location of the i-th device, the location of the (i+1)-th device, the i-th measurement distance, and the (i+1)-th measurement distance, determine the candidate location set corresponding to the target pile; When the candidate location set includes multiple candidate locations, the cleaning equipment is controlled to move from the (i+1)th device location to the next device location to obtain the (i+2)th device location; Obtain the (i+2)th measurement distance of the cleaning device at the (i+2)th device location; The location of the first pile is determined from the plurality of candidate locations based on the preset constraints, the location of the (i+2)th device, and the (i+2)th measurement distance.

4. The method as described in claim 3, characterized in that, The process of controlling the cleaning equipment to move from the (i+1)th equipment position to the next equipment position, to obtain the (i+2)th equipment position, includes: Based on the multiple candidate locations, a first direction of the target pile relative to the cleaning equipment is determined; Starting from the (i+1)th device position, control the cleaning device to travel in the first direction to the next device position, thus obtaining the (i+2)th device position.

5. The method as described in claim 3 or 4, characterized in that, The step of moving from the (i+1)th device position to the next device position to obtain the (i+2)th device position also includes: Obtain the i-th signal strength of the cleaning device at the i-th device position and the i+1-th signal strength at the (i+1)-th device position; If the strength of the i-th signal is greater than the strength of the (i+1)-th signal, starting from the (i+1)-th device position, control the cleaning device to move in the second direction to the next device position, thereby obtaining the (i+2)-th device position. The second direction is the direction of the i-th device position relative to the (i+1)-th device position.

6. The method according to any one of claims 3 to 5, characterized in that, The step of moving from the (i+1)th device position to the next device position to obtain the (i+2)th device position also includes: Starting from the (i+1)th device position, the cleaning device is controlled to travel to any position on the first straight line to obtain the (i+2)th device position, where the first straight line includes the plurality of candidate positions.

7. The method according to any one of claims 3 to 6, characterized in that, The method further includes: If the candidate location set includes a single candidate location, that candidate location is determined as the first stake location.

8. The method as described in claim 1, characterized in that, When the cleaning equipment is in automatic retraction mode, acquiring the measurement distances corresponding to multiple equipment locations includes: According to preset operating conditions, the cleaning equipment travels in the area where it is located, and the preset operating conditions are used to indicate the positional changes of the cleaning equipment during its travel. During the operation of the cleaning equipment, the position of the cleaning equipment at the i-th time moment is obtained to obtain the i-th equipment position; At the i-th device location, obtain the i-th signal strength and n-th phase difference information corresponding to the cleaning device; Based on the i-th signal strength and the n phase difference information, the i-th measurement distance corresponding to the i-th device position is determined; Count the number of device locations or measured distances at the current moment and before, and obtain the first count; When the first quantity is greater than or equal to the first threshold, the locations of the plurality of devices are obtained, and the measurement distances corresponding to the locations of the plurality of devices are obtained respectively.

9. The method as described in claim 8, characterized in that, The cleaning equipment includes a first communication module and a positioning module, and the target pile includes a second communication module; The step of obtaining the i-th signal strength and n-th phase difference information corresponding to the cleaning device includes: At the i-th device location, the first communication module is controlled to send carrier signals at n frequencies. The target pile is used to send measurement signals and receive n carrier signals. The second communication module is controlled to measure the carrier phase difference corresponding to the n carrier signals respectively to obtain n phase difference information. Receive the measurement signal sent by the target pile and the n phase difference information; Determine the signal strength of the received measurement signal to obtain the i-th signal strength.

10. A control device for a cleaning equipment, characterized in that, Applied to cleaning equipment, the device includes: The acquisition module is used to acquire the measurement distances corresponding to multiple device positions of the cleaning device when the cleaning device is in automatic retraction mode. The measurement distance is used to represent the distance between the cleaning device and the target pile. The measurement distance is determined based on the signal strength of the measurement signal corresponding to the cleaning device and the phase difference information of multiple carrier signals. The processing module is used to determine the first pile position of the target pile based on preset constraints, the multiple device positions, and the measurement distances corresponding to the multiple device positions. The preset constraints are used to indicate that the target pile is located in a circle with each device position as the center and the measurement distances corresponding to each device position as the radius. The guidance module is used to guide the cleaning equipment toward the target pile based on the position of the first pile.

11. The apparatus as claimed in claim 10, characterized in that, The plurality of device locations include the i-th device location, the (i+1)-th device location, and the (i+2)-th device location. The i-th device location corresponds to the i-th measurement distance, the (i+1)-th device location corresponds to the (i+1)-th measurement distance, and the (i+2)-th device location corresponds to the (i+2)-th measurement distance, where i is a positive integer. The processing module is further configured to determine the position of the first stake based on the preset constraints, the position of the i-th device, the position of the (i+1)-th device, the position of the (i+2)-th device, the i-th measurement distance, the (i+1)-th measurement distance, and the (i+2)-th measurement distance.

12. The apparatus as claimed in claim 10, characterized in that, The plurality of device locations include the i-th device location and the (i+1)-th device location, the i-th device location corresponds to the i-th measurement distance, and the (i+1)-th device location corresponds to the (i+1)-th measurement distance; The processing module is further configured to determine a set of candidate locations corresponding to the target pile based on the preset constraints, the i-th device location, the (i+1)-th device location, the i-th measurement distance, and the (i+1)-th measurement distance; and, if the set of candidate locations includes multiple candidate locations, control the cleaning equipment to travel from the (i+1)-th device location to the next device location to obtain the (i+2)-th device location. Obtain the (i+2)th measurement distance corresponding to the cleaning equipment at the (i+2)th equipment location; determine the first pile location from the plurality of candidate locations based on the preset constraints, the (i+2)th equipment location, and the (i+2)th measurement distance.

13. The apparatus as claimed in claim 12, characterized in that, The processing module is further configured to: determine a first direction of the target pile relative to the cleaning equipment based on the plurality of candidate positions; and control the cleaning equipment to travel in the first direction to the next equipment position, starting from the (i+1)th equipment position, to obtain the (i+2)th equipment position.

14. The apparatus as claimed in claim 12 or 13, characterized in that, The processing module is further configured to: obtain the i-th signal strength of the cleaning device at the i-th device position and the i+1-th signal strength at the (i+1)-th device position; and, if the i-th signal strength is greater than the (i+1)-th signal strength, control the cleaning device to travel in a second direction to the next device position starting from the (i+1)-th device position to obtain the (i+2)-th device position, wherein the second direction is the direction of the i-th device position relative to the (i+1)-th device position.

15. The apparatus according to any one of claims 12 to 14, characterized in that, The processing module is further configured to, starting from the (i+1)th device position, control the cleaning device to travel to any position on a first straight line to obtain the (i+1)th device position, wherein the first straight line includes the plurality of candidate positions.

16. The apparatus according to any one of claims 12 to 15, characterized in that, The processing module is further configured to, when the candidate location set includes a candidate location, determine the candidate location as the first stake location.

17. The apparatus according to any one of claims 11 to 16, characterized in that, The acquisition module is also used to travel in the area where the cleaning equipment is located according to the preset operating conditions, wherein the preset operating conditions are used to indicate the position change of the cleaning equipment during travel; During the operation of the cleaning equipment, the position of the cleaning equipment at the i-th moment is obtained to obtain the i-th equipment position; at the i-th equipment position, the i-th signal strength and n-th phase difference information corresponding to the cleaning equipment are obtained; Based on the i-th signal strength and the n phase difference information, the i-th measurement distance corresponding to the i-th device position is determined; the number of device positions or measurement distances at the current time and before is counted to obtain a first number; when the first number is greater than or equal to a first threshold, the plurality of device positions and the measurement distances corresponding to the plurality of device positions are obtained.

18. The apparatus as claimed in claim 17, characterized in that, The cleaning equipment includes a first communication module and a positioning module, and the target pile includes a second communication module; The processing module is further configured to, at the i-th device location, control the first communication module to send carrier signals at n frequencies, the target pile to send measurement signals, receive n carrier signals, and control the second communication module to measure the carrier phase difference corresponding to the n carrier signals respectively, thereby obtaining n phase difference information; Receive the measurement signal sent by the target pile and the n phase difference information; Determine the signal strength of the received measurement signal to obtain the i-th signal strength.

19. A cleaning device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it causes the cleaning device to implement the control method of the cleaning device as described in any one of claims 1 to 9.

20. A computer-readable storage medium storing a computer program, characterized in that, When a computer program is executed by a processor, it implements a control method for a cleaning device as described in any one of claims 1 to 9.

21. A computer program product, characterized in that, Includes a computer program, which, when run, causes the control method of the cleaning equipment as claimed in any one of claims 1 to 9 to be performed.

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