Control method of cleaning equipment and cleaning equipment

Abstract

The invention provides a control method of cleaning equipment and the cleaning equipment, and relates to the technical field of cleaning. The method comprises the steps that the cleaning equipment keeps the first state to clean a first area, and after cleaning of the first area is completed, the cleaning equipment cleans at least part of a second area in the second state. According to the method, by means of the control mode of lifting first and then descending, it is ensured that the cleaning task is executed in the first area in a lifting mode, the possibility of cleaning omission of the first area is reduced, the accuracy of positioning of the cleaning equipment in the first area is improved, and therefore the cleaning coverage rate in the first area is ensured; the influence of factors such as inaccurate positioning and easy missing of the cleaning area caused by long-time work in the second area when the cleaning equipment first executes the second area task on subsequent execution of the first area cleaning task is reduced, so that the overall cleaning coverage rate of the cleaning equipment on the target area is improved.

Description

[0001] This application is a divisional application. The original application has the application number 202410479577.9 and the original application date is April 19, 2024. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning technology, and more particularly to a control method for cleaning equipment and a cleaning equipment. Background Technology

[0003] Cleaning equipment is a device that can automatically clean itself while in motion. To a certain extent, cleaning equipment can replace manual cleaning and reduce the intensity of manual labor.

[0004] In related technologies, in order to improve positioning and navigation accuracy, cleaning equipment will be equipped with a laser radar (Laser Direct Structuring) on ​​the top of the body shell to improve positioning and navigation accuracy.

[0005] Because the lidar is located at the top, the overall thickness of the cleaning equipment needs to be determined by both the thickness of the casing and the height of the lidar. This results in a higher allowable entry height for cleaning equipment equipped with lidar in secondary areas such as under beds and sofas, leading to poor cleaning coverage of the target area. Summary of the Invention

[0006] This application provides a control method and a cleaning device for a cleaning device, which solves the problem that cleaning devices equipped with lidar have high requirements for the allowable entry height of secondary areas such as under beds and sofas, resulting in poor cleaning coverage of the target area.

[0007] In a first aspect, this application provides a control method for a cleaning device, the cleaning device including a housing and a lidar that is vertically and flexibly mounted on the top of the housing; the cleaning device switches between a first state and a second state by raising and lowering the lidar, wherein in the first state the detection mechanism of the lidar is not lower than the housing, and in the second state the detection mechanism of the lidar is lower than the housing; the method includes:

[0008] The cleaning equipment maintains the first state while cleaning the first area, wherein the first area is the area in the target area that the cleaning equipment can access in the first state;

[0009] After cleaning the first area, the cleaning device cleans at least a portion of the second area in the second state, wherein the second area is an area in the target area that the cleaning device cannot enter in the first state but can enter in the second state.

[0010] By employing the above method and utilizing a lifting-then-lowering control approach, the first area is ensured to be cleaned in a lifting manner, reducing the possibility of cleaning omissions in the first area. This ensures the accuracy of the cleaning equipment's positioning within the first area, thereby guaranteeing the cleaning coverage rate within that area. It also reduces the impact of inaccurate positioning and potential omissions caused by prolonged operation in the second area when the cleaning equipment performs tasks in the first area, thus improving the overall cleaning coverage rate of the target area.

[0011] In one possible design, the second region includes a first sub-region and a second sub-region; after cleaning the first region, the cleaning device cleans at least a portion of the second region in the second state, including:

[0012] After cleaning the first area, the first sub-area in the second area is cleaned in a first state, and then the second sub-area in the second area is cleaned in a second state. The first sub-area is the area where the cleaning device can work when it is in the first state, and the second sub-area is the area where the cleaning device can only work when it is in the second state.

[0013] By employing the above methods, the positioning accuracy of cleaning equipment in the second area is improved, the inaccuracy caused by prolonged operation in the second area is reduced, the working time of cleaning equipment in the first state is increased, thereby improving the overall cleaning coverage of the target area, reducing the interference of the second area on the positioning system of the cleaning equipment, and reducing the negative impact of the second area on the cleaning planning path.

[0014] In one possible design, after cleaning the first area, cleaning the first sub-area in the second area in a first state, and then cleaning the second sub-area in the second area in a second state, includes:

[0015] After cleaning the first area, if the area of ​​the first sub-area contained in the second area exceeds a preset area threshold, the first sub-area in the second area is cleaned in a first state, and then the second sub-area in the second area is cleaned in a second state.

[0016] By using the above methods, the cleaning efficiency of the second area can be guaranteed, while the cleaning coverage of the second area can be improved by raising the lidar.

[0017] In one possible design, the lidar is further equipped with a collision plate, the first area is designated with a target position, and the cleaning device switches between the first state and the second state at the target position; after cleaning the first area, the cleaning device cleans at least a portion of the second area in the second state, including:

[0018] If the impact plate is collided before the cleaning equipment enters the second area, and the distance between the position of the cleaning equipment and the target position at the time of the collision is less than a first preset distance, the cleaning equipment is controlled to switch from the first state to the second state.

[0019] By using the above method, the timing of the lidar's descent is controlled by the impact plate, avoiding situations where the cleaning equipment is actually in the second area but is still in the first area according to the map guiding the travel path due to inaccurate positioning. This reduces the cleaning time wasted due to multiple invalid collisions or wandering in the boundary area between the second and first areas, improves cleaning efficiency, reduces the number of times the lidar is collided with, and thus extends the lifespan of the lidar.

[0020] One possible design also includes:

[0021] Before the cleaning equipment enters the second area, if there is an obstacle at the target location in the first area, the cleaning equipment is controlled to move to the first area around the target location, and the lidar is controlled to switch from the descending state to the rising state in the first area.

[0022] By using the above methods, the state switching function of the lidar can still be performed when it is unusable at the target location, thereby improving the adaptability of the cleaning equipment to different cleaning environments.

[0023] One possible design also includes:

[0024] After the cleaning device completes the cleaning task of the second area in the second state, the cleaning device is controlled to return to the target position, and at the target position, the cleaning device is controlled to switch from the second state to the first state.

[0025] By employing the above methods, positioning efficiency can be improved, and positioning deviations caused by cleaning equipment during cleaning tasks in the second area can be reduced.

[0026] In one possible design, after the cleaning device completes the cleaning task of the second area in the second state, the method further includes:

[0027] If there is an obstacle at the target location in the first area, the cleaning device is controlled to move to the first area around the target location, and the cleaning device is controlled to switch from the second state to the first state in the first area.

[0028] By using the above methods, the state switching function of the lidar can still be realized when it cannot be used at the target location, thereby improving the adaptability of the cleaning equipment to different cleaning environments.

[0029] In one possible design, the cleaning device cleans at least a portion of the second area in the second state, including:

[0030] If there are multiple second areas to be cleaned, and the distance between the previous second area and the next second area is less than a second preset distance, the cleaning device is controlled to maintain the second state and move from the previous second area to the next second area.

[0031] By using the above methods, the time consumed by the cleaning equipment when raising and lowering the lidar is saved, thereby improving the cleaning efficiency of the second area.

[0032] In one possible design, the second region further includes a third sub-region, which is the area traversed by the cleaning path of the cleaning device; then the method further includes:

[0033] When the third sub-region can be bypassed, the cleaning device cleans the first region in a first state and bypasses the third sub-region.

[0034] By using the above methods, the number of times the lidar is raised and lowered can be reduced, thereby extending the service life of the components related to the lidar's raising and lowering.

[0035] One possible design also includes:

[0036] When the third sub-region cannot be bypassed, the cleaning device first cleans the first region in a first state, and then passes through the third sub-region in a second state;

[0037] After passing through the third sub-region, the cleaning device cleans another first region in a first state.

[0038] The above method does not affect the function of continuously cleaning multiple first areas. Since the lidar is lowered only to pass through the third sub-area, it will be raised again after passing through, thus not affecting the positioning accuracy of the next first area.

[0039] One possible design also includes:

[0040] After the cleaning equipment has cleaned the first area, the cleaning equipment cleans the second area, which includes the third sub-area, in a second state; or,

[0041] After the cleaning equipment has cleaned the first area, it returns to the base station.

[0042] The above method allows the cleaning equipment to bypass the first area and still perform cleaning in the second area or return to the base station to charge and standby, depending on the task requirements.

[0043] In one possible design, if the cleaning device cleans the second area using a bow-shaped cleaning path, then the cleaning device cleans at least a portion of the second area in the second state, including:

[0044] When the cleaning device reaches the boundary of the bow-shaped cleaning path, the cleaning device enters the first area for repositioning in the first state;

[0045] After the cleaning equipment is repositioned, it enters the second area in a second state and continues cleaning along the bow-shaped cleaning path.

[0046] By using the above method, the cleaning equipment can periodically reach the first area while cleaning the second area. Then, by taking advantage of the time when reaching the first area, the lidar can be raised for repositioning, so as to correct the positioning of the cleaning equipment in a timely manner, improve the positioning accuracy of the cleaning equipment in the second area, reduce the possibility of missed cleaning in the second area due to inaccurate positioning, and improve the cleaning coverage of the second area.

[0047] In one possible design, the lidar is further provided with a collision plate; before the cleaning device cleans at least a portion of the second area in the second state, the method further includes:

[0048] If the impact plate is hit, the lidar is controlled to descend until it reaches the first target height, and the first state at the first target height is maintained to clean at least part of the second area;

[0049] Wherein, the first target height is the height at which the impact plate will not be collided with.

[0050] By employing the above methods, the lidar does not need to be completely lowered into the housing to achieve stepless adjustment for cleaning the second area, reducing the lifting range of the lifting components and extending the equipment's lifespan. The lidar may also be able to perform positioning functions at the height of the first target, thereby performing targeted cleaning of the second area by partially lowering the lidar, thus improving the cleaning coverage of the second area.

[0051] One possible design also includes:

[0052] During the process of the cleaning equipment cleaning at least a portion of the second area in the second state, when the continuous travel path of the cleaning equipment is greater than a preset travel distance, the lidar is controlled to rise.

[0053] If the lidar is not trapped after rising to the first state, the cleaning equipment is controlled to clean at least part of the second area in the first state;

[0054] When the lidar becomes trapped after rising to the first state, the lidar is controlled to descend so that the cleaning device cleans at least a portion of the second area in the second state.

[0055] By using the above methods, we can avoid the cleaning equipment from performing inaccurate cleaning in the second state for an extended period of time in the first area due to inaccurate identification of the initial state.

[0056] In one possible design, when the lidar becomes trapped after rising to the first state, controlling the lidar to descend so that the cleaning device cleans at least a portion of the second area in the second state includes:

[0057] When the lidar is trapped after rising to the first state, the lidar is controlled to descend until it reaches the second target height, and the second state at the second target height is maintained to clean at least part of the second area.

[0058] The second target height is the height at which the lidar is not trapped.

[0059] By employing the methods described above, and using the simplest logic control approach to assist cleaning equipment in overcoming difficulties, the likelihood of success is greatly increased.

[0060] One possible design also includes:

[0061] When the cleaning equipment is trapped in the first state, the lidar is controlled to descend.

[0062] By using the above method, the interaction between the cleaning equipment and obstacles can be changed by adjusting the height of the lidar, thereby increasing the likelihood of the cleaning equipment getting out of a trapped state, saving task time, and improving cleaning efficiency.

[0063] In one possible design, after controlling the lidar to descend when the cleaning equipment is trapped in a first state, the method further includes:

[0064] If the control of the lidar descent fails, an alert message is issued, which is used to request the user or a third-party device to assist in controlling the descent of the lidar.

[0065] The above methods can help resolve situations where cleaning equipment is unable to get out of trouble, avoiding prolonged entrapment that affects cleaning efficiency and wastes electricity.

[0066] One possible design also includes:

[0067] After cleaning the target area while building the map, or after reusing the map to clean the target area, the location information of the second area and / or the first area, as well as the lifting or lowering position information of the lidar, are updated into the map.

[0068] In this way, when the control device uses the map to control the cleaning equipment, it plans the route according to the updated map and marked LiDAR status information, thereby reducing the time spent on LiDAR status adjustment and improving the overall cleaning efficiency of the target area.

[0069] Secondly, this application provides a control method for a cleaning device, the cleaning device including a housing and a lidar that can be raised and lowered at the top of the housing; the cleaning device switches between a first state and a second state by raising and lowering the lidar, wherein in the first state the detection mechanism of the lidar is not lower than the housing, and in the second state the detection mechanism of the lidar is lower than the housing; the method includes:

[0070] When a new area is discovered while cleaning at least part of the second area using a reused map, and the new area includes at least part of the first area, the cleaning device first cleans the first area of ​​the new area in a first state, and then cleans the remaining second area in a second state.

[0071] The new area refers to a clean area that is not stored in the map.

[0072] By means of the above method, when a new area is discovered, the control device still controls the cleaning equipment to clean different areas in sequence, first in the first state and then in the second state, thereby reducing the negative impact on cleaning coverage when cleaning new areas in an inaccurate state.

[0073] In one possible design, the cleaning device first cleans a first area of ​​the new area in a first state, and then cleans the remaining second area in a second state, including:

[0074] The cleaning equipment first cleans the first area of ​​the new area in a first state;

[0075] After the first area of ​​the new area is cleaned, the cleaning equipment is controlled to return to the target position and raise the lidar for repositioning; the target position is the position where the cleaning equipment transitions between the first state and the second state;

[0076] After the lidar has completed its repositioning, the cleaning equipment is controlled to clean the remaining second area in a second state.

[0077] By using the above method, after the cleaning task in the new area is completed, the cleaning equipment returns to the target location of the original second area for repositioning before continuing to clean the remaining uncleaned second area. This ensures that the cleaning equipment cleans the second area according to the same positioning relationship as the original cleaning location, reducing the impact of deviations caused by the positioning change of the cleaning equipment when cleaning the new area on the division of cleaned and uncleaned areas in the original second area, and improving the cleaning coverage of the second area.

[0078] Thirdly, this application provides a control method for a cleaning device, the cleaning device including a housing and a lidar that can be raised and lowered at the top of the housing; the cleaning device switches between a first state and a second state by raising and lowering the lidar, wherein in the first state the detection mechanism of the lidar is not lower than the housing, and in the second state the detection mechanism of the lidar is lower than the housing; the method includes:

[0079] When the cleaning device is in a state of no reuse map, or non-charging dock startup, or relocation failure, and the area of ​​the target area is smaller than the preset single cleaning area, the cleaning device cleans the target area in a first state or a second state.

[0080] Once the cleaning of the target area is complete, the cleaning task of the cleaning equipment is stopped.

[0081] By using the above methods, the cleaning equipment can perform individual cleaning within a small area, avoiding poor cleaning efficiency caused by ineffective adjustment of the LiDAR when the positioning is inaccurate in a small area. It can also reduce ineffective adjustment of the LiDAR when the device is not powered on, allowing for cleaning of a small area directly from the powered-on state, saving LiDAR adjustment time and improving cleaning efficiency.

[0082] Fourthly, this application provides a cleaning device, including a housing, a control device, and a lidar that can be raised and lowered on the top of the housing; the cleaning device switches between a first state and a second state by raising and lowering the lidar, wherein in the first state the detection mechanism of the lidar is not lower than the housing, and in the second state the detection mechanism of the lidar is lower than the housing;

[0083] The control device is used to execute the control method for the cleaning equipment.

[0084] The beneficial effects of the cleaning equipment provided by the fourth aspect and its various possible implementations can be seen in the beneficial effects of the first aspect and its various possible implementations, and will not be repeated here.

[0085] Fifthly, this application provides a cleaning device, including a housing, a control device, and a lidar that can be raised and lowered on the top of the housing; the cleaning device switches between a first state and a second state by raising and lowering the lidar, wherein in the first state the detection mechanism of the lidar is not lower than the housing, and in the second state the detection mechanism of the lidar is lower than the housing;

[0086] The control device is used to execute the control method for the cleaning equipment.

[0087] The beneficial effects of the cleaning equipment provided by the fifth aspect and its various possible implementations can be seen in the beneficial effects of the second aspect and its various possible implementations, and will not be repeated here.

[0088] Sixthly, this application provides a cleaning device, including a housing, a control device, and a lidar that can be raised and lowered on the top of the housing; the cleaning device switches between a first state and a second state by raising and lowering the lidar, wherein in the first state the detection mechanism of the lidar is not lower than the housing, and in the second state the detection mechanism of the lidar is lower than the housing;

[0089] The control device is used to execute the control method for the cleaning equipment.

[0090] The beneficial effects of the cleaning equipment provided by the sixth aspect and its various possible implementations can be seen in the beneficial effects of the third aspect and its various possible implementations, and will not be repeated here.

[0091] The cleaning equipment control method and cleaning equipment provided in this application clean a first area while maintaining the first state. After cleaning the first area, the cleaning equipment cleans at least a portion of a second area in the second state. Compared with the deficiencies in the prior art, this application uses a lifting-then-lowering control method to ensure that the first area is cleaned in a lifting manner, reducing the possibility of missing areas in the first area. It first ensures the accuracy of the cleaning equipment's positioning in the first area, thereby ensuring the cleaning coverage rate in the first area. It also reduces the impact of inaccurate positioning and easy omission of cleaning areas caused by prolonged work in the second area when the cleaning equipment performs the second area task first, thereby improving the overall cleaning coverage rate of the target area. Attached Figure Description

[0092] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0093] Figure 1 This is a schematic diagram illustrating an application scenario for controlling the cleaning equipment provided in an embodiment of this application.

[0094] Figure 2 This is a schematic diagram of the first state structure of the cleaning equipment provided in the embodiments of this application;

[0095] Figure 3 This is a schematic diagram of the second state structure of the cleaning equipment provided in the embodiments of this application;

[0096] Figure 4 A flowchart illustrating the control method for the cleaning equipment provided in this application embodiment. Figure 1 ;

[0097] Figure 5 A flowchart illustrating the control method for the cleaning equipment provided in this application embodiment. Figure 2 ;

[0098] Figure 6 A flowchart illustrating the control method for the cleaning equipment provided in this application embodiment. Figure 3 . Detailed Implementation

[0099] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0100] This specification provides a cleaning device, which can be an autonomous robot capable of moving autonomously within a work area and completing cleaning tasks without external human input or control. The work area can include indoor and / or outdoor areas. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas can include lawns, gardens, roads, etc. Cleaning tasks can include sweeping (e.g., washing, mopping, sweeping), lawn mowing, snow removal, etc.

[0101] Cleaning equipment includes, but is not limited to: robotic vacuum cleaners, robotic floor scrubbers, robots that combine sweeping and mopping, cleaning robots, robotic lawnmowers, and robotic snowplows. Cleaning equipment can perform cleaning using either a front-sweeping-then-mopping method or a separate sweeping-and-mopping method. The front-sweeping-then-mopping method allows sweeping and mopping simultaneously, improving cleaning efficiency. The separate sweeping-and-mopping method allows sweeping first, followed by mopping, which improves cleaning effectiveness.

[0102] Cleaning equipment may include a housing, control unit, and at least one lidar (Laser Direct Structuring) device.

[0103] The fuselage casing can be circular, square, or other shapes. For example, one part of the fuselage casing can be circular, and another part can be square.

[0104] The control device is located inside the cleaning equipment and may include a microcontroller unit (MCU). Alternatively, the control device may include one or more circuits or chips with control functions, or other devices capable of control functions.

[0105] A control device is used to control the operation of cleaning equipment and respond to user operations through various software control programs stored in memory.

[0106] Optionally, it also includes a storage component located inside the cleaning device, which may be integrated with the control device or may be two separate components.

[0107] Storage components are used to store data; for example, various software control programs, modes and / or parameters of cleaning equipment, etc. Specifically, programs may include program code, which includes computer operation instructions.

[0108] Laser Direct Structuring (LDS) is used to acquire environmental information around cleaning equipment, including but not limited to obstacle information. This obstacle information represents one or more obstacles, allowing the system to determine the relative position of the cleaning equipment to these obstacles, thus enabling the equipment to locate and navigate. The control device can then control the cleaning equipment based on this obstacle information.

[0109] LiDAR (Light Detection and Ranging) sensors are typically mounted on the top of the cleaning equipment casing, including but not limited to the center, edge, or any location other than the center and edge of the casing. Positioning the LiDAR sensor above the top of the casing allows it to emit laser light at an angle to the cleaning equipment and receive the returned signal. This allows the cleaning equipment to confirm its surrounding environment and improve its positioning capabilities. However, because the LiDAR protrudes from the top of the casing, the overall height of the cleaning equipment must be the sum of the top height of the casing and the top height of the LiDAR sensor. This limits the cleaning equipment's height when cleaning the target area.

[0110] The target area can be determined based on user instructions or predefined. Depending on the cleaning range specified by the user or a predefined cleaning range, the target area can be a part of a cleaning map, such as one or more rooms selected in the cleaning map, or an area marked by the user in the cleaning map, or all areas that the cleaning equipment can reach, such as all areas in the entire cleaning map.

[0111] The target area can include a second area and a first area. For example, the first area can be an open area without any covering at the top, or an area where the distance between the bottom of obstacles such as under a bed, sofa, or coffee table and the ground below allows the cleaning equipment's lidar to enter in the first state. The second area can be an area where the distance between the bottom of obstacles such as tables and chairs and the ground below allows the cleaning equipment's lidar to enter when it is raised but can enter when it is lowered.

[0112] Therefore, when cleaning equipment needs to enter the second area, it is limited by the height of the lidar and cannot enter the second area, resulting in a low cleaning coverage rate of the cleaning equipment.

[0113] Based on the above-mentioned technical problems, the inventive concept of this application is to dynamically change the height of the cleaning equipment by reducing the lidar to at least part of the housing, thereby enabling it to enter the second area for cleaning, and aims to solve the above-mentioned technical problems of the prior art.

[0114] The specific application scenarios for this application are as follows:

[0115] Figure 1This is a schematic diagram illustrating an application scenario of the control method for the cleaning equipment provided in this application. For example... Figure 1 As shown, the cleaning device 100 includes a housing 101 and a lidar 102. The distance between the bottom of the sofa 200 and the ground is greater than the height of the housing 101, but less than the sum of the heights of the housing 101 and the lidar 102. Therefore, the ground area occupied by the sofa 200 is marked as the second area, and the ground outside the sofa 200 is marked as the first area.

[0116] The cleaning device switches between a first state and a second state by raising and lowering the lidar. In the first state, the lidar's detection mechanism is not lower than the body housing; in the second state, the lidar's detection mechanism is lower than the body housing. The lidar is raised and lowered to the top of the body housing, allowing the cleaning device to lower itself before reaching the second area. This ensures the cleaning device can access the bottom of the sofa at a height not lower than or equal to the body housing, guaranteeing entry into the second area. When outside the sofa, the cleaning device cleans at a height not lower than the body housing, ensuring accurate positioning.

[0117] Specifically, in this application, when the cleaning equipment is in the first state, the detection mechanism of the LiDAR is not lower than the housing, enabling the detection mechanism to scan external information normally. In the second state, at least a portion of the LiDAR is lowered into the housing, causing the detection mechanism to be lower than the housing and unable to scan external information normally. The detection mechanism is the component of the LiDAR used to detect external information, such as the LiDAR's transmitting and receiving devices.

[0118] Figure 2 This is a schematic diagram of the first state structure of the cleaning equipment provided in the embodiments of this application; Figure 3 This is a schematic diagram of the second state structure of the cleaning equipment provided in an embodiment of this application. Figure 2 As shown, in the first state of a cleaning device, the lidar 301 protrudes entirely from the top of the housing 302. At this point, the overall height of the cleaning device is its maximum thickness. The lidar also has a collision plate 303, which can collect height information between the lidar and obstacles based on whether a collision occurs. For example, after a collision, it can be determined that the lidar needs to descend to pass through the obstacle. Figure 3 As shown, in the second state of a cleaning device, the lidar and impact plate 303 are all retracted into the body housing 302, and the overall height of the cleaning device is the minimum thickness of the device.

[0119] Optionally, the second state can also involve the lidar section retracting into the fuselage. When the lidar section is retracted into the fuselage, the lidar's probe may still be in normal working order. This allows for a reduction in the overall thickness of the device while maintaining the lidar's positioning function.

[0120] The executing entity in this application embodiment can be a control device in the cleaning equipment, or a server corresponding to the cleaning equipment. The server is located in the cloud, connected to the cleaning equipment via a network, and issues control commands to the cleaning equipment, or forwards control commands sent by the user through a terminal device to the cleaning equipment, etc.

[0121] The following examples, using a control device in a cleaning device as the executing entity, provide a detailed description of the technical solution of this application and how it solves the aforementioned technical problems. These specific embodiments can be combined with each other, and similar concepts or processes may not be repeated in some embodiments.

[0122] In some embodiments, since the LiDAR has a height-adjustable structure, a default second state can be set to better protect it. For example, when the cleaning equipment completes cleaning or mapping tasks, the control device lowers the LiDAR; when starting the task, the control device raises the LiDAR to improve the positioning accuracy of the cleaning equipment. Another example is that the cleaning equipment is in the second state while charging or in standby mode at the base station. Upon receiving a task command, the control device first raises the LiDAR before leaving the base station to execute the task. Yet another example is that when the cleaning equipment is not in standby mode at the base station, upon receiving a task command, it needs to first confirm whether the current environment is suitable for raising the LiDAR. If it is confirmed that raising is possible, the control device raises the LiDAR and executes the task; if it is confirmed that raising is not possible, the cleaning equipment needs to be moved to a height-adjustable position to raise the LiDAR before executing the task to ensure the accuracy of the cleaning equipment's position.

[0123] In other embodiments, the lidar can be set to a default first state. For example, the cleaning equipment maintains the first state to perform tasks or standby. During task execution, if special needs arise, such as encountering a second area, the control device controls the lidar to descend, thereby reducing the thickness of the cleaning equipment and improving its cleaning coverage.

[0124] For example, in some related technologies, when a cleaning device is cleaning a target area, if it travels to a position near an obstacle, and detects that the lidar cannot enter the bottom of the obstacle in the first state but can enter in the second state, it lowers the lidar to enter the bottom of the obstacle for cleaning. However, in the above solution, because the cleaning device enters the cleaning area as soon as it detects the bottom of the obstacle, it cannot determine the actual position of other edges besides the edge that enters the bottom of the obstacle. The cleaning device can only confirm that it has left the bottom of the obstacle by repeatedly trying to raise the lidar until the lidar is raised without collision. This can easily lead to the problem that the cleaning device has left the bottom of the obstacle, but the cleaning device has not detected it and is still in the second state, resulting in inaccurate positioning or missed cleaning areas.

[0125] To address the aforementioned problems, this application proposes a control method for cleaning equipment. Figure 4 A flowchart illustrating the control method for the cleaning equipment provided in this application embodiment. Figure 1 .like Figure 4 As shown, the method includes:

[0126] S401, The cleaning equipment maintains the first state and cleans the first area.

[0127] S402. After cleaning the first area, the cleaning device cleans at least a portion of the second area in the second state.

[0128] For example, when a cleaning device performs its first cleaning of a target area, since there is no pre-generated map and it either builds a map while cleaning or builds a map before cleaning, the cleaning device needs to divide the cleanable area of ​​the home into several zones and clean each zone in a pattern of first cleaning along the edges and then cleaning in a zigzag pattern. However, if the cleaning is performed using the solution in the related technology, the LiDAR cannot work properly after entering the second zone. For the edges of obstacles such as under the bed or sofa that the robot identifies during the edge-cleaning process, the cleaning device may easily misjudge the area outside the obstacle edge as being under the obstacle. As a result, when the cleaning device enters the above-mentioned area during subsequent cleaning, it will default to the second zone that needs to maintain the second state, affecting the normal positioning of the cleaning device and possibly causing mapping abnormalities.

[0129] Therefore, in order to ensure the positioning accuracy and mapping accuracy of the cleaning equipment, during the first cleaning, the control device controls the cleaning equipment to first clean the first area in a first state, and then clean at least part of the second area in a second state. This reduces the possibility that the lidar will not be raised again for cleaning after being lowered during edge scanning and mapping. By using the method of first raising and then lowering, it is ensured that the first area is cleaned in a raised manner, reducing the possibility of cleaning omissions and improving the cleaning coverage.

[0130] When reusing maps, since the target area is already marked as either the first or second zone, the cleaning equipment can directly adjust its LiDAR status according to the marked area to meet the corresponding cleaning needs. However, when cleaning the second zone in the second state, the cleaning equipment generally relies on odometer positioning, which is often inaccurate. If the solution in the relevant technology is adopted, after the cleaning equipment has been cleaning in the second zone for a long time, its position on the map may become inaccurate. Therefore, when the cleaning equipment enters the first zone, it may clean under inaccurate positioning, potentially leading to missed areas and reducing the overall cleaning coverage of the target area. Therefore, to improve cleaning coverage and enable the LiDAR to better perform its positioning function, when performing cleaning tasks using reused maps, the control device controls the cleaning equipment to first clean the first zone in the first state, and then clean at least part of the second zone in the second state. This reduces the problem of inaccurate positioning and missed areas caused by prolonged operation in the second zone, ensuring the accuracy of the cleaning equipment's positioning in the first zone first, thus ensuring cleaning coverage in the first zone and ultimately improving the overall cleaning coverage.

[0131] For example, when a bed is placed in a bedroom area, the area under the bed is the second area, and the bedroom floor outside the bed is the first area. The cleaning path of the cleaning equipment is set so that the cleaning equipment cleans the first area of ​​the bedroom (excluding the area under the bed) in the first state, and then cleans the second area under the bed in the second state.

[0132] In one possible implementation, when a cleaning device performs cleaning tasks in several areas, a reused map can be used to determine a second area and a first area. However, within the second area, there may be regions where the cleaning device can operate normally and without getting stuck even in its first state. For example, the second area may include a first sub-area where the cleaning device can operate normally in its first state, and a second sub-area where it cannot operate. In this case, the control device controls the cleaning device to first clean the second area in its first state, then clean the first sub-area within the second area in its first state, and finally clean the second sub-area within the second area in its second state. This improves the positioning accuracy of the cleaning device in the second area, reduces positioning inaccuracies caused by prolonged operation in the second area, increases the cleaning time of the cleaning device in its first state, thereby increasing the overall cleaning coverage of the target area, reducing interference from the second area on the cleaning device's positioning system, and minimizing the negative impact of the second area on the cleaning planning path.

[0133] For example, when a bed is placed in a bedroom area, the area under the bed is the second area, and the bedroom floor outside the bed is the first area. However, if the bed is a board bed structure, meaning the height of the second area is only met at the perimeter where there are side panels, while the height of the first area is met internally, the area under the bed can be further divided into a central first sub-area and surrounding non-liftable second sub-areas. The cleaning path of the cleaning equipment is set so that after cleaning the first area of ​​the bedroom (excluding the area under the bed) in the first state, the cleaning equipment enters the area under the bed in the second state, raises the lidar, and then cleans the liftable second area in the first state, and finally cleans the non-liftable second area in the second state.

[0134] Optionally, after cleaning the first area, since the second area is an enclosed area confirmed by the edge, it may contain multiple bottom structures of different heights. If the cleaning equipment lifts itself every time it encounters a position that can be lifted, the time required for the lidar to rise and fall will seriously affect the cleaning efficiency of the second area. Therefore, if the area of ​​the first sub-area contained in the second area exceeds a preset area threshold, for example, a first sub-area with an area greater than 2 square meters, the first sub-area in the second area is cleaned in the first state, and then the second sub-area in the second area is cleaned in the second state. This ensures the cleaning efficiency of the second area while also improving the cleaning coverage of the second area by raising the lidar.

[0135] In some embodiments, the lidar of the cleaning equipment is also equipped with a collision plate.

[0136] For example, before reusing the map to proceed to the second area for cleaning, if the collision plate is hit and the distance between the collision point and the target location is less than a first preset distance, the control device controls the lidar to switch from the first state to the second state. In this method, the collision plate can be used to control the timing of the lidar's descent, avoiding situations where the cleaning equipment, due to inaccurate positioning or other factors, has actually reached the second area but is still identified as being in the first area on the map. This reduces the wasted cleaning time caused by multiple ineffective collisions or aimless movement at the boundary between the second and first areas, improves cleaning efficiency, reduces the number of times the lidar is hit, and thus extends the lidar's lifespan.

[0137] The target location is set in a first area that does not affect the raising and lowering of the lidar, and the target location is a position marked on the map. The lidar switches between the first state and the second state at the target location. Specifically, the target location can be a position determined by the cleaning equipment based on the boundary between the second area and the first area on the map. The cleaning equipment needs to lower the lidar at this location to enter the first area, or it needs to raise the lidar at this location to enter the second area and operate within it. The switching between the first state and the second state can include the cleaning equipment switching from the first state to the second state, or vice versa.

[0138] For example, when the cleaning equipment uses the map to clean the second area under the bed, before it reaches the target position set on the outside of the foot of the bed in the map, the collision plate on the lidar is hit. At this time, since it is still in the first area, the cleaning equipment is in the first state, so the current position information of the cleaning equipment in the map can be determined.

[0139] If the distance between the current location and the target location is greater than or equal to the first preset distance, such as 30cm, the current location may be on the side of the bed rather than at the foot of the bed. The control device needs to readjust the path of the cleaning equipment to move to the foot of the bed.

[0140] If the distance between the current location and the target location is less than the first preset distance, but the cleaning equipment's impact plate collides with the second area at the foot of the bed prematurely, this may be due to the target location marked on the map being inaccurate, or it may be due to the cleaning equipment's positioning being inaccurate at this time. Since it has already reached the lifting and switching position, there is no need to waste time finely adjusting to the target position before lowering the lidar, so that the cleaning equipment can enter the second area as soon as possible to carry out operations, thereby saving cleaning time and improving cleaning efficiency.

[0141] Optionally, before the task of cleaning the second area using the reused map is executed, if an obstacle is detected at the target location in the first area, the control device controls the cleaning equipment to move to the first area around the target location, and controls the lidar to switch from the second state to the first state in the first area. Since the first area around the target location is not far from the target location, the surrounding environmental conditions during the state transition are not much different from those of the target location. Therefore, the state transition function of the lidar can still be executed when the target location cannot be used, thereby improving the adaptability of the cleaning equipment to different cleaning environments.

[0142] For example, if the target location at the foot of the bed is covered by an obstacle not marked on the map, and the bottom and top of the obstacle prevent the cleaning equipment from passing through, the cleaning equipment can no longer reach the target location. Therefore, it is necessary to find the first area around the target location as the new target location to realize the lifting and lowering conversion of the lidar.

[0143] The first region surrounding the target location can be a non-low-lying fan-shaped region with the target location as the center and a radius of a preset distance. The new target location can be any point in this region.

[0144] Optionally, after the cleaning equipment completes the cleaning task of the second area in the second state, the control device controls the cleaning equipment to return to the target location, and controls the lidar to switch from the second state to the first state at the target location, thereby quickly comparing the information collected by the lidar with the target location information in the map to obtain updated positioning information, improving positioning efficiency and reducing the positioning deviation caused by the cleaning equipment during the cleaning task in the second area.

[0145] For example, the cleaning equipment reuses the map to change from the first state to the second state at the target location. After cleaning the second area under the bed, the cleaning equipment first exits from the position where it entered the second area and heads to the target location. This reduces the possibility of the cleaning equipment colliding with obstacles due to the different entry and exit positions. At the same time, by raising the cleaning equipment in its original position, it is easier to correct inaccurate positioning in the second area. Furthermore, the first state of the lidar is changed at the target location to avoid interference from obstacles at other non-target locations, thus extending the lifespan of the lidar.

[0146] For example, if there is an obstacle at the target location in the first area, the control device controls the cleaning equipment to move to the first area around the target location, and controls the lidar to switch from the second state to the first state in the first area, so that the state switching function of the lidar can still be performed when the target location cannot be used, thereby improving the adaptability of the cleaning equipment to different cleaning environments.

[0147] For example, when the cleaning equipment normally enters the target location at the foot of the bed to clean under the bed, the target location is covered by an obstacle not marked on the map, and the bottom and top of the obstacle prevent the cleaning equipment from passing through. For example, the user has placed a box there. After the cleaning equipment completes cleaning, since the target location is no longer accessible, the cleaning equipment can move around the box along the edge to the first area where the distance from the target location meets the preset distance length interval and stop. It can then attempt to raise the lidar. If it cannot raise the lidar, it can continue to move around the box along the edge to the next location in the first area where the distance from the target location meets the preset distance length interval and stop. It can continue to attempt to raise the lidar until it is raised. At the raised location, it can be repositioned so that the cleaning equipment can enter the next area for cleaning tasks in a repositioned and calibrated state.

[0148] In some embodiments, if there are multiple second areas to be cleaned, and the distance between the previous second area and the next second area is less than a second preset distance, the control device controls the cleaning equipment to maintain the second state and move from the previous second area to the next second area, thereby saving the time consumed by the cleaning equipment when raising and lowering the lidar and improving the cleaning efficiency of the second area.

[0149] For example, the bottom of the sofa and the bottom of the coffee table form two second areas. However, when the minimum distance between these two second areas is less than the second preset distance of 50cm, it would take a long time to raise the lidar within the distance due to the close proximity. Therefore, it is not necessary to raise it, and the lidar can be moved directly from the previous second area to the next second area in the second state to perform the cleaning task.

[0150] In some embodiments, the second region further includes a third sub-region, which is the area through which the cleaning path of the cleaning device passes; when the third sub-region can be bypassed, the control device controls the cleaning device to clean the first region in a first state and bypass the third sub-region.

[0151] Optionally, when the third sub-region cannot be bypassed, the cleaning device first cleans the first region in a first state, and then passes through the third sub-region in a second state;

[0152] After passing through the third sub-region, the cleaning device cleans another first region in a first state.

[0153] After the cleaning equipment finishes cleaning the first area, the cleaning equipment cleans the second area, which includes the third sub-area, in a second state. By bypassing the second area to clean the next first area, the number of times the lidar is raised and lowered can be reduced, thereby extending the service life of the components related to the lidar's raising and lowering.

[0154] The third sub-region is the area through which cleaning equipment can pass via a descending lidar.

[0155] For example, there is a shortest path between the first area of ​​the living room and the first area of ​​the dining room. The control device usually controls the cleaning equipment to move along the shortest path. However, when furniture forming a third sub-area is placed on the shortest path after the path planning, although the cleaning equipment can reach the other area by lowering the lidar and passing through the third sub-area, since the third sub-area can be bypassed, the control device controls the cleaning equipment to move around the edge of the furniture in order to reach the first area of ​​the dining room from the first area of ​​the living room.

[0156] In some embodiments, when the preset cleaning path of the cleaning device passes through a third sub-region and the third sub-region cannot be bypassed, the control device controls the cleaning device to first clean the first region in a first state and then pass through the third sub-region in a second state.

[0157] After passing through the third sub-region, the control device controls the cleaning equipment to clean another first region in a first state.

[0158] Optionally, after the cleaning device cleans the first area, it cleans the second area, which includes the third sub-area, in a second state; or, after the cleaning device cleans the first area, it returns to the base station. The lidar is raised and lowered to pass through the second area, thus not affecting the function of continuously cleaning multiple first areas. Since the lidar only descends to pass through the second area and then rises again, it does not affect the positioning accuracy of the next first area. Furthermore, after cleaning, it can return to the base station to charge and standby according to a set task, such as cleaning the first area.

[0159] For example, consider two adjacent rooms connected by a door. A bed that forms a second area is placed at the doorway. After cleaning the first area of ​​one room, if the cleaning equipment wants to clean the first area of ​​the other room, it must pass through the second area under the bed. Therefore, the control device needs to control the cleaning equipment to first lower the lidar to pass through the second area, and then raise the lidar to clean the other room. After the cleaning equipment cleans the first area of ​​the room in the first state, the control device controls the cleaning equipment to move to the second state to clean the second area containing the third sub-area.

[0160] For example, if the cleaning device cleans the second area using a bow-shaped cleaning path, then the cleaning device cleans at least a portion of the second area in the second state, including:

[0161] When the cleaning device reaches the boundary of the bow-shaped cleaning path, the cleaning device enters the first area and repositions itself in the first state; the boundary of the bow-shaped cleaning path is located on one or both sides of the bow-shaped cleaning path boundary.

[0162] After the cleaning equipment is repositioned, it enters the second area in a second state and continues cleaning along the bow-shaped cleaning path.

[0163] By utilizing the characteristic that the turning point in the bow-shaped cleaning path is the closest point to the first area, the device extends from this closest point to enter the first area. Then, upon reaching the first area, the lidar is raised for repositioning, which promptly corrects the positioning of the cleaning equipment. This improves the accuracy of the cleaning equipment's positioning in the second area, reduces the possibility of missed cleaning in the second area due to inaccurate positioning, and increases the cleaning coverage of the second area.

[0164] For example, when the cleaning equipment cleans the second area under the bed in a bow-shaped cleaning path, the control device controls the cleaning equipment to enter the cleaning from the first side of the bed in the second state, and then turn around when it reaches the second side of the bed, and then clean towards the first side of the bed in the second state, until it reaches the first side of the bed, and continues to move out of the bed, and raises the lidar to perform repositioning, and then turns around again to enter the first side of the bed in the second state to perform the next cycle of single-sided repositioning bow-shaped cleaning.

[0165] For example, when the cleaning equipment cleans the second area under the bed in a bow-shaped cleaning path, the control device controls the cleaning equipment to enter the cleaning from the first side of the bed in a second state. Then, when it reaches the second side of the bed, it continues to move outside the bed and raises the lidar to perform repositioning. Then it turns around and enters the second side of the bed in a second state, and cleans towards the first side of the bed in a second state until it reaches the first side of the bed. Then it continues to move outside the bed and raises the lidar to perform repositioning. Then it turns around and enters the first side of the bed in a second state to perform the next cycle of bow-shaped cleaning with double-sided repositioning.

[0166] Optionally, when the cleaning device cleans the second area with a bow-shaped cleaning path, if the area of ​​the second area is greater than a preset area threshold, the bow-shaped cleaning path is partially located in the second area and partially located in the first area in the direction of travel of the cleaning device; if the area of ​​the second area is not greater than the preset area threshold, the bow-shaped cleaning path is entirely located in the second area in the direction of travel of the cleaning device.

[0167] In some embodiments, if the impact plate is hit, the control device controls the lidar to descend until it reaches the first target height, and maintains the second state at the first target height to clean at least part of the second area. This allows the lidar to achieve stepless adjustment of cleaning the second area without having to descend completely into the housing, reducing the lifting amplitude of the lifting components and extending the service life of the equipment. The lidar may also be able to perform positioning function at the first target height, thereby performing positioning cleaning of the second area by partially descending the lidar, improving the cleaning coverage of the second area.

[0168] Wherein, the first target height is the height at which the impact plate is not collided, including but not limited to the top of the lidar being higher than, equal to, or lower than the top of the fuselage.

[0169] For example, in a task involving cleaning under a bed, a lidar sensor detects a point on the edge of the bed that is higher than the machine's casing. The control unit then guides the cleaning equipment to slowly move towards this edge until it enters the bed. If the cleaning equipment is fully inside, it indicates that the lidar does not need to be lowered, and the cleaning task can be performed while maintaining the initial position under the bed. If the cleaning equipment is partially inside and a collision occurs, the control unit lowers the lidar to a first target height, and then maintains this first target height to continue cleaning under the bed.

[0170] For example, the control device can control the lidar to descend to the first target height in the following ways:

[0171] Method 1: After the control device controls the lidar to descend to a preset unit height, it continues to control the cleaning equipment to slowly move towards the edge, and after triggering the impact plate again, it continues to descend to a second preset unit height until no more impact plates occur, thus obtaining the first target height.

[0172] Method 2: The control device controls the lidar to descend to a preset target height position, such as half the height of the lidar.

[0173] Optionally, during the process of the cleaning equipment cleaning at least a portion of the second area in the second state, when the continuous travel path of the cleaning equipment is greater than a preset travel distance, the control device controls the lidar to rise.

[0174] If the lidar is not trapped after rising to the first state, the control device controls the cleaning equipment to clean at least part of the second area in the first state;

[0175] When the lidar is trapped after rising to the first state, the control device controls the lidar to descend so that the cleaning equipment cleans at least part of the second area in the second state. Since the area with a long continuous travel path is likely to be an open area, and the open area is usually the first area, when the continuous travel path exceeds the preset travel distance, the lidar can be raised tentatively to avoid the cleaning equipment from performing inaccurate positioning and cleaning in the second state for a long time in the first area due to inaccurate identification in the initial state.

[0176] For example, a cleaning device leaves a base station to perform a cleaning task. At the base station, there is a stool that forms a second area. The cleaning device must pass through the stool to reach other target areas. Since the bottom of the stool forms a second area, the control device controls the lidar to descend in order to pass through it. However, since the height of the area after passing through is not less than the initial height when passing through the stool, it will also be cleaned in the second state by default. This will seriously affect the positioning accuracy of the cleaning device. When the continuous travel path is greater than the preset travel distance, the lidar can be raised at an attempt. If it can be raised normally, it will clean in the first state. If it cannot be raised normally, for example, if it gets stuck after being raised, it will continue to maintain the second state of cleaning until it travels to the preset travel distance again and then tries to raise the lidar again.

[0177] For example, when the lidar is trapped after rising to the first state, the control device controls the lidar to descend until it reaches the second target height, and maintains the second state at the second target height to keep at least part of the second area clean. Since the reason for being trapped is the lifting of the lidar, the simplest processing logic when getting out of the trap is to lower the lidar. The degree to which the lidar is lowered can be infinitely adjusted according to the actual situation so that the lidar may still be able to perform the positioning function after partially descending.

[0178] The second target height is the height at which the lidar is not trapped, including but not limited to the lidar being at a height where the top of the lidar is higher than, equal to, or lower than the top of the fuselage.

[0179] Optionally, when the cleaning equipment is trapped in the first state, the control device controls the lidar to descend, and uses the height adjustment of the lidar to change the interaction state between the cleaning equipment and the obstacle, thereby increasing the possibility of the cleaning equipment getting out of the trapped state, saving task time and improving cleaning efficiency.

[0180] For example, when the distance between the bed and the ground is large enough to meet the first zone requirement, the cleaning equipment performs the cleaning task under the bed in the first state. If the bed beam happens to block the lidar or the bed beam causes the cleaning equipment to tip over, the cleaning equipment can be freed by lowering the lidar.

[0181] For example, when the control device fails to control the lidar to descend, a reminder message is issued. The reminder message is used to request the user or a third-party device to assist in controlling the lidar to descend. The reminder method resolves the situation where the cleaning equipment cannot get out of trouble, avoiding prolonged entrapment that affects cleaning efficiency and consumes power.

[0182] For example, when the cleaning equipment gets stuck under the bed, although the control device controls the lidar to descend, the lidar may fail to descend due to force majeure or other reasons. Since the control device can no longer control the descent, it can issue a reminder message so that the user who receives the reminder message can assist the lidar in descending by other means.

[0183] The reminder information can be an audible and / or visual alarm, allowing the user to manually operate a remote control or other third-party device to lower the LiDAR after receiving the alarm; the reminder information can also be an information reminder, allowing the user to manually operate a remote control or other third-party device to lower the LiDAR after receiving the information reminder through the terminal; the reminder information can also be a remote assistance reminder, allowing a smart terminal or other third-party device to remotely control the lowering of the LiDAR after receiving the remote assistance reminder.

[0184] In some embodiments, after cleaning while mapping or reusing the map to clean the target area, the control device updates the map with the location information collected by the lidar in the second area and / or the first area, as well as the lifting or lowering status and location information of the lidar. This allows the control device to plan a route according to the updated map and marked lidar status information when controlling the cleaning equipment to clean using the reused map, thereby reducing the time spent on lidar status adjustments and improving the overall cleaning efficiency of the target area.

[0185] For example, based on the previous cleaning record, the area under the sofa is marked as the second area where the lidar descends, the area under the bed is marked as the first area where the lidar rises, and the area under the coffee table is marked as the second area where the lidar descends to the first target height. This allows the control device to plan a path in the order of the first state to the state where the lidar descends to the first target height and then to the second state. When the cleaning equipment reaches the target position of the corresponding area according to the planned path, it adjusts the height of the lidar according to the corresponding marked turntable and then enters the corresponding area to perform the cleaning task.

[0186] Figure 5 A flowchart illustrating the control method for the cleaning equipment provided in this application embodiment. Figure 2 .like Figure 5 As shown, the method includes:

[0187] S501. When a new area is discovered while cleaning at least part of the second area using a reused map, and the new area includes at least part of the first area, the control device controls the cleaning equipment to first clean the first area in a first state.

[0188] The cleaning equipment is used to clean a target area, which includes a first area and a second area; the new area is a cleaning area not stored in the map.

[0189] S502. After cleaning the liftable area is completed, the control device controls the cleaning equipment to return to the first area and lift the lidar for repositioning.

[0190] S503. After the lidar has completed its repositioning, the control device controls the cleaning equipment to clean the remaining second area in the second state.

[0191] For example, when cleaning the second area in the second state, if a new area where the lidar can be raised is discovered, in order to improve the positioning accuracy of the cleaning equipment during the cleaning process, the control device will set the lidar to the first state as much as possible. Therefore, when the new area meets the raising conditions, the control device will control the lidar to be raised. Since the new area is discovered when cleaning the second area in the second state, the task of the second area is not yet completed. And because the priority of the task of the first area is higher than that of the task of the second area in order to improve positioning accuracy, it is necessary to control the cleaning equipment to clean the new area first, and then clean the incomplete second area. By performing a repositioning operation before cleaning the incomplete second area, the inconsistency between the positioning of the new area and the original second area can be avoided, which would cause the identified incomplete second area to deviate from the original, thereby improving the cleaning coverage of the cleaning equipment after the combination of cleaning the second area twice.

[0192] When the cleaning equipment is cleaning the second area in the second state, for example, it can attempt to raise the lidar after the cleaning time reaches the preset time and scan the surrounding environmental information of the currently cleaned area, so as to discover whether there is a new area and the environmental characteristics of the new area based on the surrounding environmental information.

[0193] This embodiment reduces the negative impact on cleaning coverage when cleaning new areas in an inaccurately positioned state by controlling the cleaning equipment to clean different areas sequentially in the order of first state and then second state when a new area is discovered. After the cleaning task in the new area is completed, the equipment returns to the target position of the original second area for repositioning before continuing to clean the remaining uncleaned second area. This ensures that the cleaning equipment cleans the second area according to the same positioning relationship as the original cleaning position, reducing the deviation in the division of cleaned and uncleaned areas in the original second area due to the change in the positioning of the cleaning equipment, and improving the cleaning coverage of the second area.

[0194] Figure 6 A flowchart illustrating the control method for the cleaning equipment provided in this application embodiment. Figure 3 .like Figure 6 As shown, the method includes:

[0195] S601. When the cleaning device is in a state of no reuse map, or non-charging dock startup, or repositioning failure, and the area of ​​the target area is smaller than the preset single cleaning area, such as 5 square meters, the control device controls the cleaning device to clean the target area in a first state or a second state.

[0196] S602. After the cleaning of the target area is completed, the control device stops the cleaning task of the cleaning equipment.

[0197] For example, when the cleaning equipment is in a state of no map reuse or relocation failure, if the target area is small, the control device cannot obtain the current accurate status information of the cleaning equipment. Therefore, the control device will not automatically control the cleaning equipment to perform whole-house cleaning tasks. However, it can obtain the current target area range based on the area information collected before the positioning failure or in real time, such as the range of a bedroom or the range under a bed. Therefore, it is not necessary to adjust the LiDAR status to avoid affecting the cleaning efficiency of the area.

[0198] For example, when the device is not powered on and the target area is small, it will clean the area by default in the state when the cleaning device is powered on, such as cleaning the area under the sofa in the second state or cleaning the area under the table in the first state. Since the area is small, the mileage information of the cleaning device can be used to completely cover it. The control device does not need to adjust the height of the LiDAR and can directly complete the cleaning of the area.

[0199] This embodiment enables the cleaning device to perform individual cleaning within a small area, avoiding poor cleaning efficiency caused by ineffective adjustment of the LiDAR when the positioning is inaccurate in a small area. It also reduces ineffective adjustment of the LiDAR when the device is not powered on, allowing for cleaning of a small area directly from the powered-on state, saving LiDAR adjustment time and improving cleaning efficiency.

[0200] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0201] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning device includes a housing and a lidar that can be raised and lowered on the top of the housing. The cleaning device switches between a first state and a second state by raising and lowering the lidar. When the cleaning device is in the first state, the detection mechanism of the lidar is not lower than the housing. When the cleaning device is in the second state, the detection mechanism of the lidar is lower than the housing. The method includes: The cleaning equipment maintains the first state while cleaning the first area, wherein the first area is the area in the target area that the cleaning equipment can access in the first state; After cleaning the first area, the cleaning device cleans at least a portion of the second area in the second state, including: The device extends from the location closest to the first area to enter the first area, and raises the lidar upon reaching the first area to reposition the cleaning equipment. After the cleaning equipment is repositioned, the cleaning equipment enters the second area in a second state and cleans at least a portion of the second area.

2. The method according to claim 1, characterized in that, If the cleaning device cleans the second area using a bow-shaped cleaning path, the step of extending the device at the closest point to the first area to enter the first area, and raising the lidar upon reaching the first area to reposition the cleaning device, includes: When the cleaning device reaches the boundary of the bow-shaped cleaning path, the cleaning device enters the first area for repositioning in the first state; After the cleaning equipment is repositioned, the cleaning equipment enters the second area in a second state to clean at least a portion of the second area, including: After the cleaning equipment is repositioned, the cleaning equipment enters the second area in a second state and continues cleaning along the bow-shaped cleaning path; The second area is the area in the target area where the cleaning equipment is inaccessible in the first state but accessible in the second state.

3. The method according to claim 2, characterized in that, When the cleaning device cleans the second area with a bow-shaped cleaning path, if the area of ​​the second area is greater than a preset area threshold, the bow-shaped cleaning path is partially located in the second area and partially located in the first area in the direction of travel of the cleaning device. If the area of ​​the second region is not greater than the preset area threshold, the bow-shaped cleaning path is entirely located in the second region in the direction of travel of the cleaning equipment.

4. The method according to claim 2 or 3, characterized in that, The repositioning of the cleaning equipment includes: Perform unilateral repositioning of the cleaning equipment; or perform bilateral repositioning of the cleaning equipment.

5. The method according to claim 4, characterized in that, The second area includes the bed floor; After the cleaning equipment is repositioned, the cleaning equipment enters the second area in a second state and continues cleaning along the bow-shaped cleaning path, including: When the cleaning device cleans the underside of the bed in a bow-shaped cleaning path, it is controlled to enter the cleaning from the first side of the underside of the bed in a second state. When it reaches the second side of the underside of the bed, it turns around and then moves towards the first side of the underside of the bed in the second state to clean until it reaches the first side of the underside of the bed. Then it continues to move outside the bed and raises the laser radar to perform repositioning. Then it turns around and enters the first side of the underside of the bed in the second state to perform the next cycle of single-side repositioning bow-shaped cleaning.

6. The method according to claim 4, characterized in that, The second area includes the bed floor; After the cleaning equipment is repositioned, the cleaning equipment enters the second area in a second state and continues cleaning along the bow-shaped cleaning path, including: When the cleaning device cleans the underside of the bed in a bow-shaped cleaning path, it is controlled to enter the cleaning from the first side of the underside of the bed in a second state. Upon reaching the second side of the underside of the bed, it continues to move outside the bed and raises the laser radar to perform repositioning. Then, it turns around and enters the second side of the underside of the bed in the second state, and cleans towards the first side of the underside of the bed in the second state until it reaches the first side of the underside of the bed. Then, it continues to move outside the bed and raises the laser radar to perform repositioning. Then, it turns around and enters the first side of the underside of the bed in the second state, and performs the next cycle of double-sided repositioning bow-shaped cleaning.

7. The method according to claim 1, characterized in that, The lidar is also equipped with a collision plate; before the cleaning equipment cleans at least a portion of the second area in the second state, the method further includes: If the impact plate is hit, the lidar is controlled to descend until it reaches the first target height, and the first target height is maintained to keep at least part of the second area clean; Wherein, the first target height is the height at which the impact plate will not be collided with.

8. The method according to claim 7, characterized in that, The control of the lidar to descend until it reaches the first target altitude includes: After controlling the lidar to descend a preset unit height, the cleaning equipment continues to move slowly towards the edge, and after triggering the impact plate again, it continues to descend a second preset unit height until the impact plate no longer occurs, thereby obtaining the first target height; or The lidar is controlled to descend to a preset target height position, thereby obtaining the first target height.

9. The method according to claim 1, characterized in that, Also includes: During the process of the cleaning equipment cleaning at least a portion of the second area in the second state, when the continuous travel path of the cleaning equipment is greater than a preset travel distance, the lidar is controlled to rise. If the lidar is not trapped after rising to the first state, the cleaning equipment is controlled to clean at least part of the second area in the first state; When the lidar becomes trapped after rising to the first state, the lidar is controlled to descend so that the cleaning device cleans at least a portion of the second area in the second state.

10. The method according to claim 9, characterized in that, When the lidar becomes trapped after rising to the first state, controlling the lidar to descend so that the cleaning device cleans at least a portion of the second area in the second state includes: When the lidar is trapped after rising to the first state, the lidar is controlled to descend until it reaches the second target height, and the first state at the second target height is maintained to clean at least part of the second area. Wherein, the second target height is the height at which the lidar is not trapped; the second target height includes, but is not limited to, the top of the lidar being higher than, equal to, or lower than the top of the fuselage housing.

11. A cleaning device, characterized in that, The device includes a housing, a control unit, and a lidar that can be raised and lowered on the top of the housing. The cleaning device switches between a first state and a second state by raising and lowering the lidar. When the cleaning device is in the first state, the detection mechanism of the lidar is not lower than the housing. When the cleaning device is in the second state, the detection mechanism of the lidar is lower than the housing. The control device is used to perform the control method as described in any one of claims 1-10.

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