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

Abstract

The invention provides cleaning equipment and a control method and device thereof, electronic equipment and a readable storage medium, and the control method of the cleaning equipment comprises the steps: obtaining the obstacle characteristics of an obstacle in a cleaning area; and according to the obstacle characteristics, a cleaning path of the cleaning equipment and stretching of the cleaning part during obstacle cleaning are determined. According to the control method of the cleaning equipment, the obstacle characteristics of the obstacle in the cleaning area are obtained, then the cleaning path of the cleaning equipment is determined according to the obstacle characteristics of the obstacle, and the telescopic condition of the cleaning part when the cleaning equipment encounters the obstacle is determined. Namely, the cleaning equipment can adjust the cleaning path and the telescopic condition of the cleaning part according to the obstacle characteristics of the obstacle, so that the possibility that the cleaning part of the cleaning equipment collides with the obstacle is reduced.

Description

Technical Field

[0001] This application relates to the field of mobile device technology, and more specifically, to a cleaning device and its control method, apparatus, electronic device and readable storage medium. Background Technology

[0002] In related technologies, robotic vacuum cleaners are usually equipped with roller brushes. The roller brushes clean the floor by rolling. The roller brushes are usually designed to be retractable to increase the cleaning coverage area of ​​the robotic vacuum cleaner. However, in actual operation, when the robotic vacuum cleaner passes through obstacles, it often lacks precise control of the roller brushes, which causes the roller brushes to collide with obstacles such as corners of walls and table legs, or to get tangled with obstacles such as wires, making it impossible for the robotic vacuum cleaner to clean properly. Summary of the Invention

[0003] This application aims to at least solve the technical problem in the prior art that the rollers of sweeping robots are prone to colliding with obstacles.

[0004] Therefore, the first aspect of this application provides a method for controlling a cleaning device.

[0005] A second aspect of this application provides a control device for a cleaning equipment.

[0006] A third aspect of this application provides a cleaning device.

[0007] The fourth aspect of this application provides an electronic device.

[0008] The fifth aspect of this application provides a readable storage medium.

[0009] The first aspect of this application provides a control method for a cleaning device, wherein the cleaning device includes a body and at least one cleaning part connected to the body, the cleaning part being able to extend or retract from the body, and the control method includes: acquiring obstacle characteristics of obstacles in the cleaning area; determining the cleaning path of the cleaning device and the extension and retraction of the cleaning part when cleaning obstacles based on the obstacle characteristics.

[0010] The control method for cleaning equipment provided in this application acquires the obstacle characteristics of obstacles within the cleaning area, then determines the cleaning path of the cleaning equipment based on the obstacle characteristics, and determines the extension and retraction of the cleaning part when the cleaning equipment encounters an obstacle. In other words, the cleaning equipment adjusts the cleaning path and the extension and retraction of the cleaning part according to the obstacle characteristics, thereby reducing the possibility of collision between the cleaning part of the cleaning equipment and the obstacle.

[0011] In some technical solutions, optionally, the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning obstacles are determined according to the obstacle characteristics, including: determining the obstacle type according to the obstacle characteristics; and determining the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning obstacles in a preset operation plan according to the obstacle type.

[0012] In this technical solution, multiple operating schemes are pre-stored to match various obstacle types, determining the cleaning path of the cleaning equipment and the extension / retraction of the cleaning part when cleaning obstacles. This includes: determining the obstacle type by analyzing obstacle characteristics; then, based on the obstacle type, determining the operating scheme corresponding to the current obstacle type from the preset multiple operating schemes. The operating scheme includes the cleaning path of the cleaning equipment and the extension / retraction of the cleaning part when cleaning obstacles. Therefore, determining the operating scheme determines the cleaning path of the cleaning equipment and the extension / retraction of the cleaning part when cleaning obstacles. In other words, by matching obstacle types, the operating scheme of the cleaning equipment can be determined quickly and accurately, reducing the calculation difficulty and time of the cleaning path and the extension / retraction of the cleaning part when cleaning obstacles.

[0013] In some technical solutions, optionally, based on the obstacle type, the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning the obstacle are determined in a preset operating scheme, including: in the case of an interior angle obstacle, determining the first outer contour and the second outer contour of the obstacle, wherein the first outer contour and the second outer contour form an interior angle; based on the first outer contour and the second outer contour, determining the operating scheme of the cleaning equipment as follows: the cleaning equipment moves to a first position along the extension direction of the first outer contour; the cleaning part near the obstacle retracts into its main body, and the cleaning equipment rotates; the cleaning equipment moves to a second position along the extension direction of the second outer contour; the cleaning equipment deflects away from the second outer contour along the extension direction of the first outer contour; the cleaning equipment swings back to a third position towards the second outer contour; the cleaning part near the obstacle extends out of its main body, and the cleaning equipment is controlled to move along the extension direction of the second outer contour; wherein, when the cleaning equipment is in the third position, the distance between the cleaning equipment and the first outer contour is a first distance; when the cleaning equipment is in the first position or the second position, the distance between the cleaning equipment and the first outer contour is greater than the first distance.

[0014] In this technical solution, the obstacle type can include interior angle obstacles, such as interior angle wall corners, interior angle table legs, etc. The obstacle can include a first outer contour part and a second outer contour part, wherein the first outer contour part and the second outer contour part can form a certain angle, that is, the first outer contour part and the second outer contour part form an interior angle, thereby determining that the obstacle is an interior angle obstacle.

[0015] For obstacles with internal angles, during the process of controlling the cleaning equipment to pass through the obstacle along the passage path, firstly, the cleaning equipment can be controlled to move along the extension direction of the first outer contour to a first position, that is, to move in a straight line along the edge of the first outer contour. When the cleaning equipment reaches the first position close to the second outer contour, the cleaning equipment can be stopped to avoid collision with the second outer contour. It should be noted that during the process of the cleaning equipment moving in a straight line along the edge of the first outer contour, the cleaning part closer to the first outer contour can be in an extended state, so that the cleaning part can clean as close as possible to the edge of the first outer contour, ensuring the cleaning coverage area of ​​the cleaning equipment.

[0016] Then, after the cleaning device reaches the first position, it needs to be controlled to turn and circumvent the obstacle to avoid collisions with the first or second outer contour. At this point, the cleaning part closest to the obstacle can be retracted into the main body, and then the cleaning device can be rotated so that its forward direction is aligned with the extension direction of the second outer contour. It is understandable that when the cleaning device reaches the first position, the cleaning part closest to the first outer contour is extended. Directly rotating the cleaning device at this point could cause a collision between the cleaning part and the first outer contour. Therefore, before rotating, the cleaning part is retracted into the main body to prevent a collision.

[0017] Next, the cleaning device is controlled to move along the extension direction of the second outer contour to the second position. Then, the cleaning device is controlled to deflect away from the second outer contour along the extension direction of the first outer contour and swing back to the second outer contour to the third position. That is, the path from the second position to the third position is a broken line or curve, etc. It should be noted that if the cleaning part is directly extended when the cleaning device moves to the second position and the cleaning device is controlled to move along the extension direction of the second outer contour to pass through the obstacle, the cleaning part will not be able to cover the angle between the first and second outer contours as much as possible, resulting in the angle not being effectively cleaned, thus affecting the cleaning effect of the cleaning device.

[0018] In the process of the cleaning device moving from the second position to the third position, the cleaning device first deflects away from the second outer contour along the extension direction of the first outer contour, and then swings back to the third position. The entire movement path is in the shape of a broken line or a curve. In addition, throughout the process, the cleaning part on the side closer to the obstacle can be kept in the retracted body state, thereby avoiding collision between the cleaning part and the obstacle.

[0019] After the cleaning device moves to the third position, the cleaning part near the obstacle can be extended from the main body. At this time, the cleaning device can be moved along the extension direction of the second outer contour, so that the cleaning device can pass through the obstacle.

[0020] When the cleaning device is in the third position, the distance between the cleaning device and the first outer contour portion is the first distance; when the cleaning device is in the first position, the distance between the cleaning device and the first outer contour portion is the second distance; when the cleaning device is in the second position, the distance between the cleaning device and the first outer contour portion is the third distance. The first distance is less than the second distance, and the first distance is less than the third distance.

[0021] This allows the cleaning device to be positioned closer to the first and second outer contours, i.e., closer to the obstacle, so that the cleaning device can cover the angled area between the first and second outer contours as much as possible, ensuring the cleaning effect of the cleaning device.

[0022] In some technical solutions, optionally, based on the obstacle type, the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning the obstacle are determined in a preset operating plan, including: in the case of an external angle obstacle, determining the first outer contour part and the second outer contour part of the obstacle, wherein the first outer contour part and the second outer contour part form an external angle; based on the first outer contour part and the second outer contour part, determining the operating plan of the cleaning equipment as follows: the cleaning equipment moves to the fourth position along the extension direction of the first outer contour part; the cleaning part near the obstacle retracts into the body, and the cleaning equipment rotates; the cleaning part near the obstacle extends out of the body, and the cleaning equipment moves along the extension direction of the second outer contour part.

[0023] In this technical solution, the obstacle type can include an external angle obstacle, such as an external angle wall corner. The obstacle can include a first outer contour part and a second outer contour part, wherein the first outer contour part and the second outer contour part can form a certain angle, that is, the first outer contour part and the second outer contour part form an external angle, thereby determining that the obstacle is an external angle obstacle.

[0024] For corner-shaped obstacles, during the process of controlling the cleaning equipment to pass through the obstacle along the passage path, firstly, the cleaning equipment can be controlled to move along the extension direction of the first outer contour to the fourth position, that is, to move in a straight line along the edge of the first outer contour. After the cleaning equipment reaches the fourth position, it can be controlled to stop moving. At this time, it is necessary to control the cleaning equipment to rotate so that the forward direction of the cleaning equipment is the same as the extension direction of the second outer contour, thereby enabling the cleaning equipment to bypass the corner-shaped obstacle.

[0025] In other words, after the cleaning equipment reaches the fourth position, the cleaning equipment needs to turn and control the cleaning part on the side closest to the obstacle to retract into the main body in order to avoid a collision between the cleaning part and the obstacle.

[0026] After the cleaning device completes its rotation, the cleaning part on the side closest to the obstacle can be extended from the main body, and the cleaning device can be moved along the extension direction of the second outer contour part, so that the cleaning device can pass through the obstacle.

[0027] In some technical solutions, optionally, based on the type of obstacle, the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning the obstacle are determined in a preset operating scheme, including: when the obstacle type is an isolated obstacle, the operating scheme of the cleaning equipment is determined as follows: the cleaning part near the obstacle retracts into the main body; the cleaning equipment moves along the edge contour of the obstacle; the cleaning part near the obstacle extends out of the main body.

[0028] In this technical solution, the type of obstacle can include isolated obstacles, such as table legs, chair legs, and standing air conditioners. For isolated obstacles, the cleaning equipment can detect the shape of the obstacle through its own detection components and path planning device, and generate a suitable passage path based on the shape of the obstacle. Specifically, the passage path can be generated based on the edge contour of the isolated obstacle. Through the generated passage path, the cleaning equipment can bypass the isolated obstacle from one side along the edge contour of the isolated obstacle.

[0029] Before controlling the cleaning equipment to bypass isolated obstacles, it is first necessary to control the retraction of the cleaning section closest to the obstacle. Understandably, as the cleaning equipment moves along the edge of the obstacle, it will turn and detour, that is, move along a curve. To avoid a collision between the cleaning section closest to the obstacle and the obstacle, the cleaning section can be retracted before the equipment bypasses it.

[0030] After the cleaning equipment bypasses the obstacle, the cleaning part on the side closest to the obstacle can be extended to allow the cleaning equipment to continue to maintain a large cleaning range and ensure the cleaning effect of the cleaning equipment.

[0031] In some technical solutions, optionally, based on the obstacle type, the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning the obstacle are determined in a preset operation plan, including: when the obstacle type is a semantic obstacle, the operation plan of the cleaning equipment is determined as follows: the cleaning part near the obstacle retracts into the main body; the cleaning equipment reduces its moving speed and moves along the edge contour of the obstacle; the cleaning part near the obstacle extends out of the main body.

[0032] In this technical solution, the type of obstacle can include semantic obstacles. It should be noted that semantic obstacles refer to obstacles that do not have a fixed shape and whose shape changes or moves when subjected to external force, such as wires, yarn, and weighing scales.

[0033] For semantic obstacles, the cleaning equipment can detect the shape of the obstacle through its own detection components and path planning device, and generate a suitable passage path according to the shape of the obstacle. Specifically, the passage path can be generated according to the edge contour of the semantic obstacle. Through the generated passage path, the cleaning equipment can bypass the semantic obstacle from one side of the semantic obstacle along the edge contour of the semantic obstacle.

[0034] Before controlling the cleaning equipment to bypass semantic obstacles, it is first necessary to control the retraction of the cleaning section closest to the obstacle. Understandably, as the cleaning equipment moves along the edge contour of the obstacle, it will turn and detour, that is, move along a curve. To avoid a collision between the cleaning section closest to the obstacle and the obstacle, the cleaning section can be retracted before the cleaning equipment bypasses the obstacle.

[0035] In the process of controlling the cleaning equipment to bypass semantic obstacles, the cleaning equipment can also be controlled to reduce its moving speed. This is to prevent the cleaning equipment from moving too fast and causing the shape of the semantic obstacle to change, which would prevent the cleaning equipment from avoiding the obstacle in time and thus causing a collision. This further reduces the risk of collision between the cleaning equipment and the semantic obstacle.

[0036] After the cleaning equipment bypasses the obstacle, the cleaning part on the side closest to the obstacle can be extended to allow the cleaning equipment to continue to maintain a large cleaning range and ensure the cleaning effect of the cleaning equipment.

[0037] In some technical solutions, optionally, based on the type of obstacle, the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning obstacles are determined in a preset operating scheme, including: increasing the control weight of the retracting cleaning part when the obstacle type is a high-risk obstacle; and decreasing the control weight of the retracting cleaning part when the obstacle type is a low-risk obstacle.

[0038] In this technical solution, based on the type of obstacle, the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning obstacles are determined in the preset operation plan. This includes: the type of obstacle, which can determine the risk of the obstacle. For example, items such as wires or basins may pose a safety risk after being collided with or entangled by the cleaning part. Such obstacles can be identified as high-risk obstacles. On the other hand, items such as walls or cabinets are less likely to pose a safety risk after being collided with or entangled by the cleaning part. Such obstacles can be identified as low-risk obstacles.

[0039] High-risk and low-risk barriers can be set according to the actual situation or specified by the user.

[0040] When the obstacle type is high-risk, the control weight of the shrink cleaning section is increased, thereby improving the safety of the cleaning equipment during cleaning under high-risk conditions.

[0041] If the obstacle is identified as a high-risk obstacle such as a power cord (risk of entanglement) or a scale (easy to shift), increase the control weight of the shrink cleaning section.

[0042] The cleaning unit can be immediately retracted via a telescopic lifting mechanism, and the cleaning equipment can bypass it without making contact with the wires.

[0043] For weighing scales, the operation can be slowed down, the cleaning part can be retracted, and the scale can be gently moved around the edge to avoid pushing the scale body.

[0044] Among them, wire recognition can also be achieved through a "drag detection sensor"; in the case of a weight scale, a semi-telescopic strategy can be adopted to keep the touch clean and avoid pushing.

[0045] When the obstacle type is low-risk, the control weight of the shrink cleaning section is reduced, thereby improving the cleaning effect of the cleaning equipment under low-risk conditions.

[0046] In some technical solutions, optionally, controlling the retraction of the cleaning unit on the side closest to the obstacle includes: obtaining the actual distance between the cleaning equipment and the obstacle; and controlling the retraction amount of the cleaning unit based on the actual distance.

[0047] In this technical solution, during the process of the cleaning equipment moving to pass through the obstacle, the actual distance between the cleaning equipment and the obstacle can be obtained. Based on the distance between the cleaning equipment and the obstacle, the distance between the cleaning part and the obstacle after the cleaning part extends out of the main body of the cleaning equipment can be determined, thereby controlling the amount of retraction of the cleaning part. On the basis of ensuring that the cleaning part does not collide with the obstacle, the cleaning part can extend out of the main body of the cleaning equipment as much as possible, so as to improve the cleaning effect of the cleaning equipment.

[0048] In some technical solutions, optionally, the obstacle features of obstacles in the cleaning area are obtained, including: detecting obstacles based on multiple detection devices of the cleaning equipment; fitting the data from multiple detection devices to generate the edge contour of the obstacle; and determining the obstacle features of the obstacle based on the edge contour.

[0049] In this technical solution, the cleaning equipment is equipped with multiple detection devices to obtain the obstacle features of obstacles in the cleaning area. This includes: detecting obstacles through multiple detection devices of the cleaning equipment, and then fitting the data detected by multiple detection devices to generate the edge contour of the obstacle. By fitting the edge contour of the obstacle through multiple detection devices, the generation speed and accuracy of the edge contour can be improved.

[0050] In some technical solutions, data from multiple detection devices can be fitted to generate the edge contour of the obstacle. This includes: using the least squares method, spline curves, or Bézier curves to fit the boundary curves based on point cloud data collected by multiple detection devices to generate the edge contour of the obstacle; wherein, during the operation of the cleaning equipment, the edge contour of the obstacle is dynamically predicted and updated by using Kalman filtering or extended Kalman filtering.

[0051] This technical solution integrates data from various detection devices to generate the edge contours of obstacles. This includes fitting boundary curves based on collected point cloud data using least squares, spline curves, or Bézier curves to achieve continuous modeling of obstacles such as walls, right angles, or cylinders. Kalman filtering or extended Kalman filtering is introduced to dynamically predict and update the boundaries of walls or obstacles, ensuring a smooth fit even as the cleaning equipment moves.

[0052] By fitting boundary curves, cleaning equipment can predict obstacle shapes in advance and achieve flexible detours and the linkage of roller extension and retraction.

[0053] In some technical solutions, optionally, the operating parameters of the cleaning unit are adjusted by an extended state observer during the operation of the cleaning equipment.

[0054] In this technical solution, an active disturbance rejection controller is introduced. By setting an extended state observer, external disturbances such as friction differences, minor collisions, and wheel speed errors are estimated and compensated in real time.

[0055] Compared to traditional proportional-integral control, active disturbance rejection controllers can achieve faster dynamic response and stronger disturbance rejection capability, ensuring smooth and precise roller extension and retraction.

[0056] The active disturbance rejection controller automatically adjusts its control parameters according to different scenarios, such as inner right angles, outer right angles, isolated obstacles, or semantic obstacles.

[0057] In high-speed scenarios, response speed is prioritized, while in complex obstacle scenarios, stability is prioritized, thus solving the problem of rigidity in traditional control.

[0058] In some technical solutions, the obstacle features of obstacles in the cleaning area can be optionally acquired, including: acquiring image information of obstacles based on the image acquisition device of the cleaning equipment; and processing the image information using a preset network model to determine the obstacle features.

[0059] In this technical solution, during the process of determining the obstacle type, the image acquisition device installed on the cleaning equipment can be used in conjunction with a pre-trained preset network model to judge the obstacle characteristics.

[0060] Specifically, firstly, image information of obstacles is acquired through an image acquisition device. Then, the image information is input into a preset network model. Through the preset network model, the image information can be processed, and the preset network model can output the corresponding obstacle features based on the processing results of the image information.

[0061] A second aspect of this application provides a control device for a cleaning device, wherein the cleaning device includes a main body and at least one cleaning part connected to the main body, the cleaning part being able to extend or retract from the main body, and the control device includes: an acquisition unit for acquiring obstacle features of obstacles in the cleaning area; and a determination unit for determining the cleaning path of the cleaning device and the extension and retraction of the cleaning part when cleaning obstacles based on the obstacle features.

[0062] The control device for the cleaning equipment provided in this application acquires the obstacle characteristics of obstacles within the cleaning area, then determines the cleaning path of the cleaning equipment based on the obstacle characteristics, and determines the extension and retraction of the cleaning part when the cleaning equipment encounters an obstacle. In other words, the cleaning equipment adjusts the cleaning path and the extension and retraction of the cleaning part according to the obstacle characteristics, thereby reducing the possibility of collision between the cleaning part of the cleaning equipment and the obstacle.

[0063] According to a third aspect of this application, a cleaning device is proposed, comprising: a body and at least one cleaning part connected to the body, the cleaning part being capable of extending or retracting from the body; and a control device for the cleaning device as described in any of the above technical solutions.

[0064] The cleaning equipment provided in this application includes a main body capable of moving within a cleaning area. A cleaning unit, such as a roller brush or roller, is mounted on the main body. During the movement of the cleaning equipment within the cleaning area, the cleaning unit operates to clean the area. The cleaning unit is movably connected to the main body, allowing it to extend or retract, thereby increasing the cleaning area and improving cleaning efficiency. Furthermore, the cleaning equipment can include multiple cleaning units. For example, one cleaning unit can be provided on each side of the main body, or three or more cleaning units can be evenly arranged along the circumference of the main body. The arrangement of multiple cleaning units further increases the cleaning coverage area, thereby improving the cleaning efficiency of the equipment.

[0065] In addition, the cleaning equipment may also include a control device as described in any of the above technical solutions, for controlling the operation of the cleaning equipment. The cleaning equipment provided in this application, because it includes a control device as described in any of the above technical solutions, possesses all the beneficial effects of the aforementioned control devices, which will not be elaborated further here.

[0066] According to a fourth aspect of this application, an electronic device is proposed, including a processor and a memory, the memory storing a program or input that can run on the processor, the program or input being executed by the processor to implement the steps of a control method for a cleaning device as described in any of the above technical solutions.

[0067] The electronic device provided in this application includes a memory and a processor, and also includes a program or instructions stored in the memory. When the program or instructions are executed by the processor, they can implement the steps of the control method for the cleaning equipment described above. Therefore, the electronic device has all the beneficial effects of the control method for the cleaning equipment described above, which will not be elaborated here.

[0068] According to a fifth aspect of this application, a readable storage medium is proposed, on which a program or instructions are stored, which, when executed by a processor, implement a control method for a cleaning device as described in any of the above technical solutions.

[0069] The readable storage medium provided in this application stores a program or instructions thereon. When the program or instructions are executed by a processor, they can realize the control method of the cleaning equipment as described in any of the above technical solutions. Therefore, the readable storage medium has all the beneficial effects of the control method of the above cleaning equipment, which will not be repeated here.

[0070] Additional aspects and advantages of this application will become apparent in the following description or may be learned by practice of this application. Attached Figure Description

[0071] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0072] Figure 1 A flowchart illustrating the control method of the cleaning equipment according to an embodiment of this application is shown;

[0073] Figure 2 One of the schematic diagrams of the cleaning process of the cleaning equipment in the embodiments of this application is shown;

[0074] Figure 3 This is a second schematic diagram illustrating the cleaning process of the cleaning equipment in an embodiment of this application;

[0075] Figure 4 The third schematic diagram illustrates the cleaning process of the cleaning equipment in an embodiment of this application;

[0076] Figure 5 The fourth schematic diagram illustrates the cleaning process of the cleaning equipment in an embodiment of this application;

[0077] Figure 6 The fifth illustration shows a schematic diagram of the cleaning process of the cleaning equipment in an embodiment of this application;

[0078] Figure 7 This is shown as the sixth schematic diagram of the cleaning process of the cleaning equipment in an embodiment of this application;

[0079] Figure 8 The seventh schematic diagram illustrates the cleaning process of the cleaning equipment in an embodiment of this application;

[0080] Figure 9 This is shown as diagram eight of the cleaning process diagrams of the cleaning equipment in the embodiments of this application;

[0081] Figure 10 This is shown as diagram number nine of the cleaning process diagrams of the cleaning equipment in the embodiments of this application;

[0082] Figure 11 The tenth illustration shows a schematic diagram of the cleaning process of the cleaning equipment in an embodiment of this application;

[0083] Figure 12 This is illustrated as 11 of a schematic diagram of the cleaning process of the cleaning equipment in an embodiment of this application;

[0084] Figure 13 This is illustrated as 12 of a schematic diagram showing the cleaning process of the cleaning equipment in an embodiment of this application;

[0085] Figure 14 A schematic diagram (number thirteen) illustrating the cleaning process of the cleaning equipment in an embodiment of this application is shown.

[0086] Figure 15The fourteenth illustration shows a schematic diagram of the cleaning process of the cleaning equipment in an embodiment of this application;

[0087] Figure 16 This invention illustrates a structural block diagram of the control system for the cleaning unit in an embodiment of the cleaning equipment.

[0088] Figure 17 A structural block diagram of the control device for the cleaning equipment provided in an embodiment of this application is shown;

[0089] Figure 18 A structural block diagram of the cleaning equipment provided in an embodiment of this application is shown;

[0090] Figure 19 A structural block diagram of an electronic device provided in an embodiment of this application is shown.

[0091] in, Figures 2 to 18 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0092] 202 Second outer contour part, 204 First outer contour part, 206 Body, 208 Cleaning part, 210 Preset curve, 212 Isolated obstacle, 220 Wall, 1700 Control device for cleaning equipment, 1702 Acquisition unit, 1704 Determination unit, 1800 Cleaning equipment, 1900 Electronic device, 1902 Processor, 1904 Memory. Detailed Implementation

[0093] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0094] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0095] The following reference Figures 1 to 19 This application describes cleaning equipment, control methods, apparatus, electronic devices, and readable storage media provided according to some embodiments of the present application.

[0096] like Figure 1 As shown, according to one embodiment of this application, a control method for a cleaning device is proposed, wherein the cleaning device includes a body and at least one cleaning part connected to the body, the cleaning part being capable of extending or retracting from the body, and the control method for the cleaning device includes:

[0097] S102, Obtain obstacle features of obstacles within the clean area;

[0098] S104, Based on the characteristics of the obstacle, determine the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning the obstacle.

[0099] The cleaning equipment provided in this application can include devices such as robotic vacuum cleaners and lawnmowers for cleaning floors. Specifically, the cleaning equipment includes a main body capable of moving within a cleaning area. A cleaning unit, such as a roller brush or roller, is mounted on the main body. During the movement of the cleaning equipment within the cleaning area, the cleaning unit operates to clean the area. The cleaning unit is movably connected to the main body, allowing it to extend or retract, thereby increasing the cleaning area and improving cleaning efficiency. Furthermore, the cleaning equipment can have multiple cleaning units. For example, one cleaning unit can be located on each side of the main body, or three or more cleaning units can be evenly arranged along the circumference of the main body. The use of multiple cleaning units further increases the cleaning coverage area, thereby improving the cleaning efficiency.

[0100] The control method for cleaning equipment provided in this application acquires the obstacle characteristics of obstacles within the cleaning area, then determines the cleaning path of the cleaning equipment based on the obstacle characteristics, and determines the extension and retraction of the cleaning part when the cleaning equipment encounters an obstacle. In other words, the cleaning equipment adjusts the cleaning path and the extension and retraction of the cleaning part according to the obstacle characteristics, thereby reducing the possibility of collision between the cleaning part of the cleaning equipment and the obstacle.

[0101] Specifically, the control method for the cleaning equipment provided in this application first acquires the obstacle characteristics of obstacles within the cleaning area, and then plans the passage path of the cleaning equipment based on the obstacle characteristics. It is understood that the cleaning equipment can detect the shape of obstacles using its own configured detection components and path planning device, and generate a suitable passage path based on the shape of the obstacles. This allows for the planning of different passage paths for different obstacle types, enabling the cleaning equipment to pass through obstacles according to the planned path. On the one hand, this avoids collisions between the cleaning equipment and obstacles; on the other hand, it ensures that the cleaning equipment can clean as close as possible to the edges of the obstacles, thereby guaranteeing the cleaning effect.

[0102] Furthermore, the plan also includes the extension and retraction of the cleaning unit of the cleaning equipment when encountering obstacles during the cleaning process.

[0103] Optionally, after planning the path for the cleaning equipment, the angular velocity of the equipment during its movement can be determined based on that path. This angular velocity occurs as the equipment moves along the planned path to pass obstacles. It's understandable that the cleaning equipment typically needs to turn and maneuver around obstacles to avoid collisions. As the equipment turns around, the distance between the side of the equipment closest to the obstacle and the obstacle gradually decreases. If the cleaning section on the side closest to the obstacle is extended, the distance between the cleaning section and the obstacle will further decrease, increasing the likelihood of a collision. Therefore, retracting the cleaning section closest to the obstacle into the main body during the turning maneuver effectively prevents collisions, ensuring both smooth passage and stable operation of the cleaning equipment.

[0104] Specifically, the process of the cleaning equipment turning to avoid an obstacle corresponds to the situation where the angular velocity of the cleaning unit is not zero. It can be understood that the movement of the cleaning equipment can include straight-line movement, left-turn movement, and right-turn movement. During straight-line movement, the angular velocity of the cleaning equipment is zero. However, during left-turn or right-turn movement, depending on the direction of the reference point, the angular velocity of the cleaning equipment can be positive or negative, meaning it is not zero. Since the distance between the cleaning equipment and the obstacle on the side does not change during straight-line movement, there is no need to retract the cleaning unit. However, during left-turn or right-turn movement, the distance between the cleaning unit closer to the obstacle and the obstacle gradually decreases, increasing the possibility of a collision between the cleaning unit and the obstacle. Therefore, when the cleaning equipment passes through an obstacle according to the path, if the angular velocity of the cleaning equipment is not 0, it can be determined that the cleaning equipment is turning around the obstacle. At this time, retracting the cleaning part on the side closest to the obstacle into the main body of the cleaning equipment can effectively prevent the cleaning part from colliding with the obstacle. This ensures that the cleaning equipment can pass through the obstacle smoothly and also effectively prevents the cleaning part from colliding with the obstacle, thus ensuring the stable operation of the cleaning equipment.

[0105] The control method for the cleaning equipment provided in this application acquires the obstacle types of obstacles within the cleaning area, and then plans the passage path of the cleaning equipment according to the obstacle types. This allows for different passage paths to be planned for different obstacle types, enabling the cleaning equipment to pass through obstacles according to the planned path. On the one hand, this avoids collisions between the cleaning equipment and obstacles; on the other hand, it ensures that the cleaning equipment can clean as close as possible to the edge of the obstacle, thereby guaranteeing the cleaning effect. Simultaneously, during the movement of the cleaning equipment along the passage path, when the angular velocity of the cleaning equipment is not zero, it can be determined that the cleaning equipment is turning to bypass the obstacle. At this time, the cleaning part closest to the obstacle is retracted into the main body of the cleaning equipment, effectively preventing collisions between the cleaning part and the obstacle. This ensures both smooth passage through obstacles and effective avoidance of collisions between the cleaning part and the obstacle, guaranteeing the stable operation of the cleaning equipment.

[0106] Currently, in the embodiments of this application, it is also possible to determine whether the cleaning equipment is bypassing obstacles in other ways, such as by establishing a three-dimensional model or a planar map, to determine whether the cleaning path of the cleaning equipment is bypassing obstacles.

[0107] In some embodiments, optionally, determining the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning obstacles includes: determining the obstacle type based on obstacle characteristics; and determining the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning obstacles in a preset operating scheme based on the obstacle type.

[0108] In this embodiment, multiple operating schemes are pre-stored to match various obstacle types. The cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning obstacles are determined include: determining the obstacle type by analyzing the obstacle characteristics; then, based on the obstacle type, determining the operating scheme corresponding to the current obstacle type from the preset multiple operating schemes. The operating scheme includes the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning obstacles. Therefore, determining the operating scheme determines the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning obstacles. That is, by matching obstacle types, the operating scheme of the cleaning equipment can be determined quickly and accurately, reducing the calculation difficulty and calculation time of the cleaning path and the extension and retraction of the cleaning part when cleaning obstacles.

[0109] Optionally, based on the obstacle type, in a preset operating scheme, the cleaning path of the cleaning device and the extension and retraction of the cleaning part when cleaning the obstacle are determined, including: in the case of an interior angle obstacle, determining a first outer contour portion and a second outer contour portion of the obstacle, wherein the first outer contour portion and the second outer contour portion form an interior angle; based on the first outer contour portion and the second outer contour portion, determining the operating scheme of the cleaning device as follows: the cleaning device moves to a first position along the extension direction of the first outer contour portion; the cleaning part near the obstacle retracts into the main body, and the cleaning device rotates; the cleaning device moves to a second position along the extension direction of the second outer contour portion; the cleaning device deflects away from the second outer contour portion along the extension direction of the first outer contour portion; the cleaning device swings back to a third position towards the second outer contour portion; the cleaning part near the obstacle extends out of the main body, and the cleaning device is controlled to move along the extension direction of the second outer contour portion; wherein, when the cleaning device is in the third position, the distance between the cleaning device and the obstacle of the first outer contour portion is a first distance, and when the cleaning device is in the first position or the second position, the distance between the cleaning device and the first outer contour portion is greater than the first distance.

[0110] In this embodiment, the obstacle type can include interior angle obstacles, such as interior angle wall corners, interior angle table legs, etc. Figures 2 to 5 As shown, the obstacle may include a first outer contour portion 204 and a second outer contour portion 202, wherein the first outer contour portion 204 and the second outer contour portion 202 may form a certain angle, that is, the first outer contour portion 204 and the second outer contour portion 202 form an interior angle, thereby determining that the obstacle is an interior angle type obstacle.

[0111] For interior angle obstacles, in controlling the cleaning equipment to pass through the obstacle along the passage path, firstly, such as Figure 2 As shown, the cleaning device can be controlled to move along the extension direction of the first outer contour portion 204 to a first position, that is, to move in a straight line along the edge of the first outer contour portion 204. When the cleaning device reaches the first position close to the second outer contour portion 202, the cleaning device can be controlled to stop moving to avoid collision between the cleaning device and the second outer contour portion 202. It should be noted that during the process of the cleaning device moving in a straight line along the edge of the first outer contour portion 204, the cleaning part 208 on the side close to the first outer contour portion 204 can be in an extended state, so that the cleaning part 208 can be as close as possible to the edge of the first outer contour portion 204 for cleaning, ensuring the cleaning coverage area of ​​the cleaning device.

[0112] Then, after the cleaning equipment reaches the first position, it needs to be controlled to turn and detour to avoid collision with the first outer contour portion 204 or the second outer contour portion 202, such as... Figure 3As shown, at this time, the cleaning part 208 near the obstacle can first be controlled to retract into the main body 206, and then the cleaning device can be controlled to rotate so that the forward direction of the cleaning device is rotated to the extension direction along the second outer contour part 202. It can be understood that when the cleaning device reaches the first position, since the cleaning part 208 near the first outer contour part 204 is in an extended state, if the cleaning device is rotated directly at this time, it may cause the cleaning part 208 to collide with the first outer contour part 204. Therefore, before rotating, the cleaning part 208 is retracted into the main body 206 to avoid the cleaning part 208 colliding with the first outer contour part 204.

[0113] Next, as Figure 3 and Figure 4 As shown, the cleaning device is controlled to move along the extension direction of the second outer contour portion 202 to the second position. Then, the cleaning device is controlled to deflect away from the second outer contour portion 202 along the extension direction of the first outer contour portion 204, and swing back to the second outer contour portion 202 to the third position. That is, the path from the second position to the third position is a broken line or curve, etc. It should be noted that if the cleaning part 208 is directly extended when the cleaning device moves to the second position, and the cleaning device is controlled to move along the extension direction of the second outer contour portion 202 to pass through an obstacle, the cleaning part 208 will not be able to cover the angle between the first outer contour portion 204 and the second outer contour portion 202 as much as possible. This results in the angle not being effectively cleaned, thus affecting the cleaning effect of the cleaning device.

[0114] During the process of the cleaning device moving from the second position to the third position, the cleaning device first deflects away from the second outer contour 202 along the extension direction of the first outer contour 204, and then swings back to the third position. The entire movement path is in the shape of a broken line or a curve. In addition, during the entire process, the cleaning part 208 on the side closer to the obstacle can be kept in the state of retracting the body 206, thereby avoiding collision between the cleaning part 208 and the obstacle.

[0115] like Figure 5 As shown, after the cleaning device moves to the third position, the cleaning part 208 near the obstacle can be controlled to extend out of the main body 206. At this time, the cleaning device can be controlled to move along the extension direction of the second outer contour part 202, so that the cleaning device can pass through the obstacle.

[0116] Therefore, taking the cleaning device moving from the second position to the third position along the preset curve 210 as an example, by controlling the cleaning device to move from the second position to the third position along the preset curve 210, at the third position, the distance between the cleaning device and the obstacle is less than the distance between the cleaning device and the obstacle at the first position and the second position. This allows the cleaning device to get closer to the first outer contour portion 204 and the second outer contour portion 202, that is, closer to the obstacle, so that the cleaning device can cover the angle area between the first outer contour portion 204 and the second outer contour portion 202 as much as possible, thus ensuring the cleaning effect of the cleaning device.

[0117] Additionally, it should be noted that during the process of moving the cleaning device from the first position to the second position, the cleaning device moves in a straight line, and the cleaning part near the obstacle can extend out of the main body. However, since the cleaning device can still cover the edge of the second outer contour portion as it moves along the extension direction of the second outer contour portion from the third position onwards, it is not necessary to extend the cleaning part out of the main body during the movement from the first position to the second position to ensure coverage of the edge of the second outer contour portion. This reduces the extension and retraction actions of the cleaning part, thus reducing the number of control steps and improving control efficiency.

[0118] In some embodiments, optionally, based on the obstacle type, in a preset operating scheme, the cleaning path of the cleaning device and the extension and retraction of the cleaning part when cleaning the obstacle are determined, including: in the case of an external angle obstacle, determining the first outer contour portion and the second outer contour portion of the obstacle, wherein the first outer contour portion and the second outer contour portion form an external angle; based on the first outer contour portion and the second outer contour portion, determining the operating scheme of the cleaning device as follows: the cleaning device moves to a fourth position along the extension direction of the first outer contour portion; the cleaning part near the obstacle retracts into the body, and the cleaning device rotates; the cleaning part near the obstacle extends out of the body, and the cleaning device moves along the extension direction of the second outer contour portion.

[0119] In this embodiment, the obstacle type may include an external corner obstacle, such as an external corner wall, like... Figures 6 to 9 As shown, the obstacle may include a first outer contour portion 204 and a second outer contour portion 202, wherein the first outer contour portion 204 and the second outer contour portion 202 may form a certain angle, that is, the first outer contour portion 204 and the second outer contour portion 202 form an outer angle, thereby determining that the obstacle is an outer angle type obstacle.

[0120] For external corner obstacles, in controlling the cleaning equipment to pass through the obstacle along the passage path, firstly, such as Figure 6 and Figure 7As shown, the cleaning device can be controlled to move along the extending direction of the first outer contour portion 204 to the fourth position, that is, the cleaning device can be controlled to move in a straight line along the edge of the first outer contour portion 204. After the cleaning device reaches the fourth position, the cleaning device can be controlled to stop moving. At this time, as... Figure 8 As shown, it is necessary to control the rotation of the cleaning equipment so that the forward direction of the cleaning equipment is the same as the extension direction of the second outer contour portion 202, thereby enabling the cleaning equipment to bypass the outer corner obstacle.

[0121] That is, after the cleaning equipment reaches the fourth position, the cleaning equipment needs to turn. During the rotation of the cleaning equipment, the cleaning part 208 on the side closest to the obstacle can be controlled to retract into the main body 206 to avoid the cleaning part 208 from colliding with the obstacle.

[0122] After the cleaning equipment has finished rotating, such as Figure 9 As shown, the cleaning part 208 near the obstacle can be controlled to extend out of the main body 206, and the cleaning device can be controlled to move along the extension direction of the second outer contour part 202, so that the cleaning device can pass through the obstacle.

[0123] In some embodiments, optionally, based on the obstacle type, the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning the obstacle are determined in a preset operating scheme, including: when the obstacle type is an isolated obstacle, the operating scheme of the cleaning equipment is determined as follows: the cleaning part near the obstacle retracts into the body; the cleaning equipment moves along the edge contour of the obstacle; the cleaning part near the obstacle extends out of the body.

[0124] In this embodiment, the type of obstacle can include isolated obstacles, such as table legs, chair legs, and standing air conditioners. For isolated obstacles, the cleaning equipment can detect the shape of the obstacle using its own detection components and path planning device, and generate a suitable passage path based on the shape of the obstacle. Specifically, the passage path can be generated based on the edge contour of the isolated obstacle. Through the generated passage path, the cleaning equipment can bypass the isolated obstacle from one side along the edge contour of the isolated obstacle.

[0125] like Figure 10 , Figure 11 , Figure 12 and Figure 13As shown, before controlling the cleaning equipment to bypass the isolated obstacle 212, it is first necessary to control the cleaning part near the obstacle to retract. It can be understood that during the process of the cleaning equipment moving along the edge contour of the isolated obstacle 212, the cleaning equipment will turn and detour, that is, move along a curve. In order to avoid the cleaning part 208 near the isolated obstacle 212 from colliding with the isolated obstacle 212, the cleaning part 208 can be retracted into the main body 206 before the cleaning equipment bypasses the isolated obstacle 212.

[0126] After the cleaning equipment bypasses the isolated obstacle 212, the cleaning section 208 on the side closest to the isolated obstacle 212 can extend out of the main body 206, allowing the cleaning equipment to maintain a large cleaning range and ensure its cleaning effect. Figure 10 and Figure 13 The arrows in the diagram indicate the movement trajectory of the cleaning equipment.

[0127] In some embodiments, optionally, based on the obstacle type, in a preset operating scheme, the cleaning path of the cleaning device and the extension and retraction of the cleaning part when cleaning the obstacle are determined, including: in the case of a semantic obstacle, the operating scheme of the cleaning device is determined as follows: the cleaning part near the obstacle retracts into the main body; the cleaning device reduces its moving speed and moves along the edge contour of the obstacle; the cleaning part near the obstacle extends out of the main body.

[0128] In this embodiment, the type of obstacle may include semantic obstacles. It should be noted that semantic obstacles refer to obstacles that do not have a fixed shape and whose shape changes or moves when subjected to external force, such as wires, yarn, and weighing scales.

[0129] Understandably, for semantic obstacles like electrical wires and yarn, if the cleaning unit of a cleaning device collides with the obstacle, there's a high probability it will become entangled, causing the cleaning device to malfunction and fail to operate normally. Similarly, for semantic obstacles like weighing scales, if the cleaning unit of a cleaning device collides with the obstacle, it will cause the obstacle to shift, affecting the user experience.

[0130] For semantic obstacles, the cleaning equipment can detect the shape of the obstacle through its own detection components and path planning device, and generate a suitable passage path according to the shape of the obstacle. Specifically, the passage path can be generated according to the edge contour of the semantic obstacle. Through the generated passage path, the cleaning equipment can bypass the semantic obstacle from one side of the semantic obstacle along the edge contour of the semantic obstacle.

[0131] Before controlling the cleaning equipment to bypass semantic obstacles, it is first necessary to control the retraction of the cleaning section closest to the obstacle. Understandably, as the cleaning equipment moves along the edge contour of the obstacle, it will turn and detour, that is, move along a curve. To avoid a collision between the cleaning section closest to the obstacle and the obstacle, the cleaning section can be retracted before the cleaning equipment bypasses the obstacle.

[0132] In the process of controlling the cleaning equipment to bypass semantic obstacles, the cleaning equipment can also be controlled to reduce its moving speed. This is to prevent the cleaning equipment from moving too fast and causing the shape of the semantic obstacle to change, which would prevent the cleaning equipment from avoiding the obstacle in time and thus causing a collision. This further reduces the risk of collision between the cleaning equipment and the semantic obstacle.

[0133] After the cleaning equipment bypasses the obstacle, the cleaning part on the side closest to the obstacle can be extended to allow the cleaning equipment to continue to maintain a large cleaning range and ensure the cleaning effect of the cleaning equipment.

[0134] In some embodiments, optionally, the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning obstacles are determined in a preset operation plan according to the obstacle type, including: increasing the control weight of the retracting cleaning part when the obstacle type is a high-risk obstacle; and decreasing the control weight of the retracting cleaning part when the obstacle type is a low-risk obstacle.

[0135] In this embodiment, based on the type of obstacle, the cleaning path of the cleaning equipment and the extension and retraction of the cleaning part when cleaning obstacles are determined in the preset operation plan. This includes: the type of obstacle, which can determine the risk of the obstacle. For example, items such as wires or basins may pose a safety risk after being collided with or entangled by the cleaning part. Such obstacles can be identified as high-risk obstacles. On the other hand, items such as walls or cabinets are less likely to pose a safety risk after being collided with or entangled by the cleaning part. Such obstacles can be identified as low-risk obstacles.

[0136] High-risk and low-risk barriers can be set according to the actual situation or specified by the user.

[0137] When the obstacle type is high-risk, the control weight of the shrink cleaning section is increased, thereby improving the safety of the cleaning equipment during cleaning under high-risk conditions.

[0138] When the obstacle type is low-risk, the control weight of the shrink cleaning section is reduced, thereby improving the cleaning effect of the cleaning equipment under low-risk conditions.

[0139] In some embodiments, optionally, the cleaning part retracting from the side closest to the obstacle includes: obtaining the actual distance between the cleaning device and the obstacle; and controlling the amount of retraction of the cleaning part based on the actual distance.

[0140] In this embodiment, during the process of the cleaning equipment moving to pass through the obstacle, the actual distance between the cleaning equipment and the obstacle can be obtained. Based on the distance between the cleaning equipment and the obstacle, the distance between the cleaning part and the obstacle after the cleaning part extends out of the main body of the cleaning equipment can be determined, thereby controlling the amount of retraction of the cleaning part. On the basis of ensuring that the cleaning part does not collide with the obstacle, the cleaning part can extend out of the main body of the cleaning equipment as much as possible to improve the cleaning effect of the cleaning equipment.

[0141] For example, the extension and retraction process of the cleaning unit can be controlled using an Anti-disturbance Robust Control (ADRC) controller. Furthermore, an Extended State Observer (ESO) can be introduced through the ADRC controller to estimate and compensate for external disturbances within milliseconds, such as changes in wall friction, minor collisions, and wheel speed differences. The nonlinear disturbance rejection compensation of the ADRC controller process ensures smooth operation of the cleaning unit in complex road environments, avoiding oscillations caused by vibrations or errors. Experimental results show that when encountering complex environments such as corners, the retraction and extension response time of the cleaning unit is shortened by approximately 35% compared to traditional proportional-integral control, and the position control error is reduced by more than 40%.

[0142] In some embodiments, optionally, acquiring obstacle features of obstacles within the cleaning area includes: detecting obstacles based on multiple detection devices of the cleaning equipment; fitting data from the multiple detection devices to generate edge contours of the obstacles; and determining obstacle features of the obstacles based on the edge contours.

[0143] In this embodiment, the cleaning device is equipped with multiple detection devices to obtain obstacle features of obstacles in the cleaning area. This includes: detecting obstacles using the multiple detection devices of the cleaning device, and then fitting the data detected by the multiple detection devices to generate the edge contour of the obstacle. By fitting the edge contour of the obstacle using multiple detection devices, the generation speed and accuracy of the edge contour can be improved.

[0144] In determining the type of obstacle, the cleaning equipment itself can be equipped with a detection device to detect the obstacle. Specifically, the detection device can include a combination of radar and edge sensors. The device can transmit signals, which, upon contact with the obstacle, are reflected. After receiving the reflected signals, the detection device can fit the reflected signals to generate the obstacle's edge profile. Specifically, a combination of least-squares curve fitting and Kalman filter prediction algorithm can be used to fit the obstacle's edge profile, thus achieving a continuous and smooth model of the obstacle's edge profile.

[0145] Experiments have shown that by combining radar and edge sensors, the edge contours of obstacles can be fitted. In complex geometric scenes, such as cylindrical obstacles and right-angled corners, the fitting error is controlled within ±1.5 cm, which is about 45% more accurate than the traditional single-sensor fitting method.

[0146] In some embodiments, optionally, data from multiple detection devices are fitted to generate the edge contour of the obstacle, including: based on point cloud data collected by multiple detection devices, boundary curve fitting is performed using the least squares method, spline curve or Bézier curve to generate the edge contour of the obstacle; wherein, during the operation of the cleaning equipment, the edge contour of the obstacle is dynamically predicted and updated by Kalman filtering or extended Kalman filtering.

[0147] In this embodiment, data from multiple detection devices are fitted to generate the edge contours of obstacles. This includes: using least squares, spline curves, or Bézier curves to fit boundary curves based on collected point cloud data, achieving continuous modeling of obstacles such as walls, right angles, or cylinders. Kalman filtering or extended Kalman filtering is introduced to dynamically predict and update the boundaries of walls or obstacles, ensuring smooth fitting even as the cleaning equipment moves.

[0148] By fitting boundary curves, cleaning equipment can predict obstacle shapes in advance and achieve flexible detours and the linkage of roller extension and retraction.

[0149] In some embodiments, the operating parameters of the cleaning unit can be adjusted by an extended state observer during the operation of the cleaning equipment.

[0150] In this embodiment, an active disturbance rejection controller is introduced, which estimates and compensates for external disturbances such as friction differences, minor collisions and wheel speed errors in real time by setting an extended state observer.

[0151] Compared to traditional proportional-integral control, active disturbance rejection controllers can achieve faster dynamic response and stronger disturbance rejection capability, ensuring smooth and precise roller extension and retraction.

[0152] The active disturbance rejection controller automatically adjusts its control parameters according to different scenarios, such as inner right angles, outer right angles, isolated obstacles, or semantic obstacles.

[0153] In high-speed scenarios, response speed is prioritized, while in complex obstacle scenarios, stability is prioritized, thus solving the problem of rigidity in traditional control.

[0154] In practical implementation, when the cleaning equipment rotates, to minimize the distance between the equipment and the wall and ensure effective cleaning, the angular velocity of the equipment can be calculated based on this distance. Then, based on this angular velocity, the rotation of the equipment is controlled using a combination of a Proportional-Integral-Derivative (PID) controller and an Extended State Observer (ESO). The input to this control process is the motor speed of the cleaning equipment, and the output is a pulse-width modulated wave. Simultaneously, an Anti-disturbance Robust Control (ADRC) controller can be used to control the extension and retraction of the cleaning section, combined with a Kalman-based Extended State Observer (KESO) to estimate and compensate for disturbances during the extension and retraction process in real time.

[0155] Among them, such as Figure 14 and Figure 15 As shown, the calculation process of angular velocity is as follows: First, in order to maintain the distance s between the preset point B outside the cleaning device 1800 and the wall 220 at the preset distance s t Nearby, the distance Δs between the cleaning equipment 1800 and the wall 220 needs to be calculated, specifically using the following formula:

[0156] s = l × sinθ + d × cosθ;

[0157] Δs=s t -s=s t -l×sinθ-d×cosθ;

[0158] Where s represents the actual distance between preset point B and wall 220, l represents the straight-line distance between reference point O of cleaning equipment 1800 and preset point B, where reference point O can be the center of cleaning equipment 1800, θ represents the angle between the line connecting reference point O and preset point B and wall 220, the dashed line passing through reference point O in the figure represents the line parallel to wall 220, d represents the distance between reference point O and preset point A, where preset point A is the intersection of the perpendicular line OB drawn from reference point O and wall 220.

[0159] Δs represents the error between the actual distance between the cleaning device 1800 and the wall 220 and the preset distance. t This indicates the preset distance between the cleaning device 1800 and the wall 220.

[0160] Because of s t It is preset, therefore, it can be set to a value that better meets cleaning needs. In this case, theoretically, the optimal path for cleaning equipment 1800 is when Δs approaches 0. Let Δs' = -k × Δs, and differentiate the above formula. Solving the system of equations, we can obtain:

[0161] l×cosθ×ω+d'×sinθ×ω=k×Δs;

[0162] Where Δs' represents the derivative of error Δs with respect to time, k represents the proportionality coefficient, d' represents the derivative of distance d with respect to time, and ω represents the angular velocity of the cleaning equipment at 180°.

[0163] Then, based on the small angle limit theorem, the movement mode of the cleaning equipment 1800 is modeled according to the circular arc model. The cleaning equipment 1800 rotates using a differential wheel mechanism. Taking the limit of infinitesimals, we obtain:

[0164] δd = (r + d) × δθ tanθ;

[0165] d'=v×tanθ+d×ω×tanθ;

[0166] Where δd represents the change in distance, r represents the radius of motion of the cleaning equipment 1800, δθ represents the change in angle θ, and v represents the linear velocity of the cleaning equipment 1800. Figure 15 In the diagram, preset point A' represents the position of preset point A at the next moment, and preset point B' represents the position of preset point B at the next moment.

[0167] Finally, substituting back into the above equation and adding an integral compensation step, we can obtain the angular velocity of the cleaning equipment at 180°:

[0168] ;

[0169] Where, ω cLet represent the angular velocity of the cleaning equipment at 180° under closed-loop control, k1 and k2 represent the proportional and integral coefficients respectively, and ∫Δsdt represent the integral of the error Δs over time.

[0170] like Figure 16 As shown, Figure 16 In this context, n represents the rotational speed of the motor controlling the extension and retraction of the cleaning section. The rotational speed ntd is generated based on the rotational speed n through a transition process. ntd represents the processed rotational speed and is a signal adapted to the subsequent calculation process. no represents the rotational speed output by the speed controller. fn represents the disturbance compensation amount of the rotational speed. i represents the motor circuit. io represents the current output by the current controller. fi represents the disturbance compensation amount of the current. PWM / u represents the duty cycle or equivalent voltage of the motor.

[0171] As mentioned above, combining proportional-integral control and Kalman extended state observer can estimate and compensate for external disturbances (such as changes in wall friction, minor collisions, and wheel speed difference errors) within milliseconds.

[0172] In some embodiments, optionally, if the included angle between the two outer contour portions is less than a first angle, the obstacle type is determined to be an interior angle obstacle; if the included angle between the two outer contour portions is greater than a second angle, the obstacle type is determined to be an exterior angle obstacle.

[0173] In this embodiment, after determining the edge contour of the obstacle, it can be determined whether the obstacle is an interior angle obstacle or an exterior angle obstacle based on the angle between the two contour bodies of the edge contour.

[0174] Specifically, if the included angle between two contoured entities is less than a first angle, the detected obstacle is determined to be an interior angle obstacle. For example, the first angle can be set to 180 degrees, 175 degrees, or 165 degrees, etc. Conversely, if the included angle between two contoured entities is greater than a second angle, the detected obstacle is determined to be an exterior angle obstacle. For example, the second angle can be set to 180 degrees, 185 degrees, or 200 degrees, etc.

[0175] Additionally, it should be noted that if the angle between the two contoured bodies is greater than or equal to the first angle and less than or equal to the second angle, it indicates that the detected obstacle is approximately straight. The cleaning equipment only needs to move in a straight line along the edge of the obstacle, without the need for the cleaning unit to extend or retract.

[0176] In some embodiments, optionally, acquiring obstacle features of obstacles within the cleaning area includes: acquiring image information of obstacles based on an image acquisition device of the cleaning equipment; and processing the image information using a preset network model to determine the obstacle features of the obstacles.

[0177] In this embodiment, during the process of determining the obstacle type, the image acquisition device installed on the cleaning equipment can also be used, combined with a pre-trained preset network model, to judge the obstacle characteristics.

[0178] Specifically, firstly, image information of obstacles is acquired through an image acquisition device. Then, the image information is input into a preset network model. Through the preset network model, the image information can be processed, and the preset network model can output the corresponding obstacle features based on the processing results of the image information.

[0179] For example, for some semantic obstacles, the image information of semantic obstacles can be processed by a preset network model. This can not only identify the edge contour of the semantic obstacle, but also obtain other features of the semantic obstacle from the image information, such as material and color, thereby improving the accuracy of the judgment of semantic obstacles.

[0180] This application introduces an active disturbance rejection controller, which estimates and compensates for external disturbances in real time by setting an extended state observer, such as friction differences, minor collisions and wheel speed errors.

[0181] Compared to traditional single PID control, the active disturbance rejection controller can achieve faster dynamic response and stronger disturbance rejection capability, ensuring smooth and precise roller extension and retraction.

[0182] Depending on the scenario, such as inner right-angle obstacles, outer right-angle obstacles, isolated obstacles, or semantic obstacles, the control parameters of the active disturbance rejection controller are automatically adjusted.

[0183] In high-speed scenarios, response speed is prioritized, while in complex obstacle scenarios, stability is prioritized, thus solving the problem of rigidity in traditional control.

[0184] By fusing data from lidar or ultrasonic sensors with edge-mounted infrared sensors, errors caused by the influence of lighting and material on a single sensor can be avoided.

[0185] Based on the collected point cloud data, the least squares method, spline curves, or Bézier curves are used to fit the boundary curves, enabling continuous modeling of walls, external right angles, and cylindrical obstacles. Kalman filtering or extended Kalman filtering (EKF) is introduced to dynamically predict and update the boundaries of walls or obstacles, ensuring smooth fitting even as the cleaning equipment moves.

[0186] By fitting boundary curves, cleaning equipment can predict obstacle shapes in advance and achieve flexible detours and the linkage of roller extension and retraction.

[0187] Based on different scenarios, such as inner right-angle obstacles, outer right-angle obstacles, isolated obstacles, or semantic obstacles, they are classified into finite state machine patterns.

[0188] Each state corresponds to a specific sequence of actions for cleaning department extension and path adjustment, ensuring clear logic and efficient switching.

[0189] Introduce cleaning coverage metrics and safety weight parameters.

[0190] When near high-risk obstacles (such as power lines), the safety weight is automatically increased, and the cleaning unit is prioritized for retraction; at ordinary wall corners, the coverage weight is increased to ensure thorough cleaning without any blind spots.

[0191] The underlying controller synchronizes the cleaning head extension and retraction, wheel speed difference steering, and reversing cleaning actions to avoid time delays or abrupt switching between actions, thus achieving smooth and continuous cleaning.

[0192] By combining the control of the cleaning section's extension and retraction by an active disturbance rejection controller, a radar or edge sensor fitting algorithm, and a finite state machine coordinated control, the cleaning equipment can achieve fast, accurate, and disturbance-resistant control of the extension and retraction of the cleaning section.

[0193] Achieve high-precision boundary fitting and prediction in complex wall and obstacle scenarios, improve cleaning coverage, reduce blind spots, reduce entanglement and damage, enhance safety and robustness, and improve the smoothness and intelligence of the overall cleaning path.

[0194] The embodiments of the present invention effectively overcome the problems of poor response lag, poor anti-disturbance capability, insufficient obstacle fitting accuracy, and low cleaning coverage in related technologies by adopting a telescopic control strategy for the cleaning section based on an active disturbance rejection controller and an obstacle fitting algorithm that fuses radar and edge sensors, achieving the following significant technical effects:

[0195] The effectiveness of the cleaning department's telescopic control has been improved. By introducing an expansion state observer through an active disturbance rejection controller, it is possible to estimate and compensate for external disturbances (such as changes in wall friction, minor collisions, and wheel speed difference errors) within milliseconds.

[0196] Experimental comparison results show that when encountering complex environments such as corners, the response time of the cleaning part retraction and extension is shortened by about 35% compared with traditional PID control, and the position control error is reduced by more than 40%.

[0197] The nonlinear disturbance rejection compensation of the active disturbance rejection controller enables the cleaning unit to maintain smooth operation in complex road environments, avoiding oscillations caused by vibration or errors.

[0198] In a test environment containing slight steps and cable interference, embodiments of the present invention can improve the stability of the cleaning part's extension and retraction motion by approximately 50%.

[0199] The cleaning department can automatically select either "rapid expansion mode" (such as a normal corner) or "protective contraction mode" (such as high-risk obstacles like power lines or weighing scales) depending on the scenario.

[0200] This adaptive strategy avoids the contradiction between insufficient coverage and the risk of entanglement inherent in traditional cleaning equipment, thus balancing coverage and safety.

[0201] The accuracy of wall / obstacle fitting is improved. This embodiment of the invention achieves continuous and smooth wall and obstacle contour modeling by fusing radar and edge sensors and using least squares curve fitting and Kalman filter prediction.

[0202] The experimental results show that in complex geometric scenarios (such as cylindrical obstacles and right-angled corners), the fitting error is controlled within ±1.5 cm, which is about 45% more accurate than the traditional single-sensor solution.

[0203] By predicting the shape of obstacles through curve fitting, the cleaning equipment can determine in advance whether the cleaning section needs to be retracted, thus avoiding collisions and entanglements.

[0204] In the test environment, when encountering isolated table or chair legs or electrical wires, the success rate of bypassing them increased to 98%, significantly higher than the approximately 80% of the traditional strategy.

[0205] To improve scene action coordination and overall performance, this invention implements low-level synchronous scheduling of the extension and retraction control of the cleaning unit with actions such as differential steering and tail-swing reversing cleaning, avoiding the discontinuity of "pause-switching-re-execution" between actions of traditional cleaning equipment.

[0206] This demonstrates that the embodiments of the present invention achieve a dynamic balance between coverage and security, overcoming the shortcomings of related technologies where these two aspects cannot be simultaneously achieved.

[0207] Specifically, such as Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, when the cleaning equipment detects an inner right-angle corner (such as a room corner), its operation process is as follows:

[0208] The cleaning equipment retracts its cleaning section. When the edge sensors and radar detect that the angle between the cleaning section and the wall is less than a set threshold, the controller activates the telescopic drive mechanism to retract the cleaning section, preventing direct collision. The cleaning section can extend and retract under the control of the telescopic drive mechanism.

[0209] Straight along the edge: The drive wheel assembly drives the main body straight for a short distance to ensure that the cleaning equipment enters the corner area.

[0210] Reverse cleaning with a tail-swing motion: The controller controls the right drive wheel to rotate as the center, causing the rear of the machine to veer to the right, close to the inner right angle, thus achieving a "tail-swing" motion. At this time, the cleaning section remains in the retracted state.

[0211] Reverse and straighten: Rotate the cleaning equipment around the left drive wheel to straighten the machine and align it with the inner wall.

[0212] Cleaning section extension: After the cleaning equipment reaches the corner, the telescopic drive mechanism drives the cleaning section to extend and continue cleaning along the edge to ensure that there are no blind spots at the corner.

[0213] Among them, if a dual-cleaning section structure is adopted, only the cleaning section near the corner can be retracted, while the other side remains extended, thereby reducing the retraction and extension time; the tail-swing reversing action can also be achieved through "simultaneous control of dual-wheel differential speed" to improve maneuverability.

[0214] When the cleaning equipment detects a right-angle protrusion from the wall, its operation mode is as follows:

[0215] Early retraction of the cleaning section: The edge sensor detects the curvature change, and the controller controls the telescopic mechanism to retract the cleaning section to avoid impacting the protruding corners.

[0216] Detour and turn: The cleaning equipment uses the inner wheel as a fulcrum and the outer wheel accelerates to complete the outward right-angle detour.

[0217] Cleaning section restoration: After passing the corner, the cleaning equipment extends its cleaning section again to resume edge cleaning.

[0218] External right angle recognition can be achieved either through radar or through a front-mounted infrared sensor combined with wall curvature fitting.

[0219] In some modes, the cleaning equipment can be selected in a semi-retracted mode (the cleaning section shortens its travel) instead of being fully retracted to improve cleaning continuity.

[0220] When isolated columnar obstacles such as table legs and chair legs are present, the cleaning equipment operates as follows:

[0221] Obstacle identification: Radar detects the geometric features of isolated cylinders and identifies them as isolated obstacles.

[0222] Detour and cleaning department storage:

[0223] If the vehicle travels in the opposite direction (away from the obstacle), the cleaning unit retracts to prevent the extended components from interfering with the obstacle.

[0224] If you go around the obstacle, the cleaning section remains extended to ensure close cleaning of the obstacle's edge.

[0225] Detour complete: After the cleaning equipment bypasses the obstacle, the cleaning section returns to its normal extended position.

[0226] If a dual-cleaning section design is adopted, only the cleaning section on the side closest to the obstacle can be retracted, while the other side remains extended; the extension and retraction of the cleaning section can be dynamically adjusted when navigating around obstacles by combining Kalman filtering to predict the shape of the obstacle.

[0227] When high-risk obstacles such as power lines and weighing scales are present, the cleaning equipment will operate as follows:

[0228] Obstacle identification: The camera, combined with an artificial intelligence model, determines whether the obstacle is a power line (risk of entanglement) or a weighing scale (easy to move).

[0229] For the protective action of the wires: the telescopic drive mechanism immediately retracts the cleaning section, and the cleaning equipment bypasses it to perform cleaning without contact.

[0230] Protective measures for the weighing scale: The cleaning equipment slows down, the cleaning section retracts, and it gently circles around the edge to avoid pushing the scale body.

[0231] Wire identification can also be achieved through a "drag detection sensor".

[0232] In the case of a weight scale, a semi-retractable strategy can be adopted to keep the surface clean and avoid pushing it away.

[0233] Specifically, the expansion and contraction of the cleaning section can be achieved through an active disturbance rejection control algorithm.

[0234] The extension and retraction of the cleaning section is driven by an anti-disturbance controller, which compensates for disturbances such as friction and collision in real time to ensure smooth extension and retraction.

[0235] When the cleaning equipment is on a complex path (such as an inner right angle), the automatic disturbance rejection controller adjusts the control parameters to a fast response mode; when it is going around an obstacle, the automatic disturbance rejection controller adjusts to a stability priority mode.

[0236] The wall or obstacle fitting algorithm uses a controller that fits wall curves based on fused data from radar and edge sensors, employing least squares or Kalman filtering for prediction to achieve real-time modeling of irregular boundaries. The control algorithm can replace the active disturbance rejection controller with a fuzzy controller to achieve dynamic adjustment in different scenarios; wall fitting can also be replaced by a neural network model to improve the accuracy of complex environment recognition.

[0237] like Figure 17As shown, a second aspect of this application provides a control device 1700 for a cleaning device, wherein the cleaning device includes a main body and at least one cleaning part connected to the main body, the cleaning part being able to extend or retract from the main body, and the control device 1700 for the cleaning device includes: an acquisition unit 1702 for acquiring obstacle features of obstacles in the cleaning area; and a determination unit 1704 for determining the cleaning path of the cleaning device and the extension and retraction of the cleaning part when cleaning obstacles based on the obstacle features.

[0238] The control device for the cleaning equipment provided in this application acquires the obstacle characteristics of obstacles within the cleaning area, then determines the cleaning path of the cleaning equipment based on the obstacle characteristics, and determines the extension and retraction of the cleaning part when the cleaning equipment encounters an obstacle. In other words, the cleaning equipment adjusts the cleaning path and the extension and retraction of the cleaning part according to the obstacle characteristics, thereby reducing the possibility of collision between the cleaning part of the cleaning equipment and the obstacle.

[0239] In some embodiments, the determining unit is optionally configured to: determine the obstacle type based on obstacle characteristics; and, based on the obstacle type, determine the cleaning path of the cleaning equipment and the extension and retraction of the cleaning section when cleaning obstacles in a preset operating scheme.

[0240] In some embodiments, optionally, the determining unit is specifically configured to: determine a first outer contour portion and a second outer contour portion of the obstacle when the obstacle type is an interior angle obstacle, wherein the first outer contour portion and the second outer contour portion form an interior angle; and determine the operating scheme of the cleaning device according to the first outer contour portion and the second outer contour portion as follows: the cleaning device moves to a first position along the extension direction of the first outer contour portion; the cleaning part near the obstacle retracts into its main body, and the cleaning device rotates; the cleaning device moves to a second position along the extension direction of the second outer contour portion; the cleaning device deflects away from the second outer contour portion along the extension direction of the first outer contour portion; the cleaning device swings back to a third position towards the second outer contour portion; the cleaning part near the obstacle extends out of its main body, and the cleaning device is controlled to move along the extension direction of the second outer contour portion; wherein, when the cleaning device is in the third position, the distance between the cleaning device and the obstacle of the first outer contour portion is a first distance, which is less than the distance between the cleaning device and the first outer contour portion when the cleaning device is in the first position and the second position.

[0241] In some embodiments, optionally, the determining unit is specifically configured to: determine the first outer contour portion and the second outer contour portion of the obstacle when the obstacle type is an external angle obstacle, wherein the first outer contour portion and the second outer contour portion form an external angle; and determine the operating scheme of the cleaning device according to the first outer contour portion and the second outer contour portion as follows: the cleaning device moves to the fourth position along the extension direction of the first outer contour portion; the cleaning part near the obstacle retracts into the body and the cleaning device rotates; the cleaning part near the obstacle extends out of the body and the cleaning device moves along the extension direction of the second outer contour portion.

[0242] In some embodiments, optionally, the determining unit is specifically configured to: determine the operating scheme of the cleaning equipment as follows when the obstacle type is an isolated obstacle: the cleaning part near the obstacle retracts into the main body; the cleaning equipment moves along the edge contour of the obstacle; the cleaning part near the obstacle extends out of the main body.

[0243] In some embodiments, optionally, the determining unit is specifically configured to: determine the operating scheme of the cleaning equipment as follows when the obstacle type is a semantic obstacle: the cleaning part near the obstacle retracts into the main body; the cleaning equipment reduces its moving speed and moves along the edge contour of the obstacle; the cleaning part near the obstacle extends out of the main body.

[0244] In some embodiments, the determining unit is optionally configured to: increase the control weight of the shrink cleaning section when the obstacle type is a high-risk obstacle; and decrease the control weight of the shrink cleaning section when the obstacle type is a low-risk obstacle.

[0245] In some embodiments, the determining unit is optionally configured to: obtain the actual distance between the cleaning equipment and the obstacle; and control the retraction amount of the cleaning part based on the actual distance.

[0246] In some embodiments, the acquisition unit is optionally configured to: detect obstacles based on multiple detection devices of the cleaning equipment; fit the data from the multiple detection devices to generate the edge contour of the obstacle; and determine the obstacle features of the obstacle based on the edge contour.

[0247] In some embodiments, the acquisition unit is optionally used to: perform boundary curve fitting using the least squares method, spline curve or Bézier curve based on point cloud data collected by various detection devices to generate the edge contour of the obstacle; wherein, during the operation of the cleaning equipment, the edge contour of the obstacle is dynamically predicted and updated by Kalman filtering or extended Kalman filtering.

[0248] In some embodiments, the operating parameters of the cleaning unit can be adjusted by an extended state observer during the operation of the cleaning equipment.

[0249] In some embodiments, the acquisition unit is optionally configured to: acquire image information of obstacles based on the image acquisition device of the cleaning equipment; process the image information using a preset network model to determine the obstacle features of the obstacles.

[0250] In some embodiments of this application, such as Figure 18 As shown, a cleaning device 1800 is proposed, comprising: a body 206 and at least one cleaning part 208 connected to the body 206, the cleaning part 208 being able to extend or retract from the body 206; and a control device 1700 for the cleaning device as described in any of the above technical solutions.

[0251] The cleaning device 1800 provided in this application includes a main body 206, which is movable within a cleaning area. A cleaning unit 208, such as a roller brush or roller, is mounted on the main body 206. During the movement of the cleaning device within the cleaning area, the cleaning unit 208 cleans the area. The cleaning unit 208 is movably connected to the main body 206, allowing it to extend or retract, thereby increasing the cleaning area and improving cleaning efficiency. Furthermore, the cleaning unit 208 of the cleaning device 1800 can include multiple units. For example, one cleaning unit 208 can be provided on each side of the main body 206, or three or more cleaning units 208 can be evenly arranged along the circumference of the main body 206. The arrangement of multiple cleaning units 208 further increases the cleaning coverage area of ​​the cleaning device 1800, thereby improving its cleaning efficiency.

[0252] In addition, the cleaning equipment 1800 may also include a control device 1700 of any of the above-described technical solutions for controlling the operation of the cleaning equipment 1800. Since the cleaning equipment 1800 provided in this application includes the control device 1700 of any of the above-described technical solutions, the cleaning equipment 1800 possesses all the beneficial effects of the control device 1700, which will not be elaborated further here.

[0253] In some embodiments of this application, such as Figure 19 As shown, an electronic device 1900 is proposed, including a processor 1902 and a memory 1904. The memory 1904 stores a program or input that can run on the processor 1902. When the program or input is executed by the processor 1902, it implements the steps of the control method of the cleaning device as described in any of the above technical solutions.

[0254] The electronic device 1900 provided in this application includes a memory 1904 and a processor 1902, and also includes a program or instructions stored in the memory 1904. When the program or instructions are executed by the processor 1902, they can implement the steps of the control method of the cleaning equipment described above. Therefore, the electronic device 1900 has all the beneficial effects of the control method of the cleaning equipment described above, which will not be repeated here.

[0255] In some embodiments of this application, a readable storage medium is proposed that stores a program or instructions thereon, which, when executed by a processor, implement a control method for a cleaning device as described in any of the above technical solutions.

[0256] The readable storage medium provided in this application stores a program or instructions thereon. When the program or instructions are executed by a processor, they can realize the control method of the cleaning equipment as described in any of the above technical solutions. Therefore, the readable storage medium has all the beneficial effects of the control method of the above cleaning equipment, which will not be repeated here.

[0257] A readable storage medium can be a computer-readable storage medium, and can be a tangible device that can retain and store instructions for use by an instruction execution device. A readable storage medium can be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing, but is not limited thereto. A non-exhaustive list of more specific examples of readable storage media includes: portable computer floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EROM, EPROM, or flash memory), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital video disc (DVD), memory cards, floppy disks, encoding devices (e.g., punched cards or grooves with raised structures for recording instructions), and any suitable combination of the foregoing. The readable storage medium used herein should not be construed as the transmitted signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media, or electrical signals transmitted through wires.

[0258] In the description of this application, the term "multiple" refers to two or more. Unless otherwise expressly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0259] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0260] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method of a cleaning apparatus, characterized by, The cleaning device comprises a body and at least one cleaning part connected with the body, the cleaning part being capable of extending or retracting the body, and the control method comprises: obtaining an obstacle feature of an obstacle in a cleaning area; determining a cleaning path of the cleaning device and extension and retraction of the cleaning part when cleaning the obstacle according to the obstacle feature.

2. The control method according to claim 1, characterized by, determining a cleaning path of the cleaning device and extension and retraction of the cleaning part when cleaning the obstacle according to the obstacle feature, comprising: determining an obstacle type according to the obstacle feature; determining the cleaning path of the cleaning device and extension and retraction of the cleaning part when cleaning the obstacle in a preset operation scheme according to the obstacle type.

3. The control method according to claim 2, characterized by, determining the cleaning path of the cleaning device and extension and retraction of the cleaning part when cleaning the obstacle in a preset operation scheme according to the obstacle type, comprising: in the case that the obstacle type is an internal angle obstacle, determining a first outer contour part and a second outer contour part of the obstacle, wherein the first outer contour part and the second outer contour part enclose an internal angle therebetween; determining an operation scheme of the cleaning device according to the first outer contour part and the second outer contour part as follows: the cleaning device moves to a first position along an extension direction of the first outer contour part; the cleaning part close to one side of the obstacle retracts the body, and the cleaning device rotates; the cleaning device moves to a second position along an extension direction of the second outer contour part; the cleaning device deflects along the extension direction of the first outer contour part away from the second outer contour part; the cleaning device swings back to a third position to the second outer contour part; the cleaning part close to one side of the obstacle extends the body, and the cleaning device moves along the extension direction of the second outer contour part is controlled; wherein, when the cleaning device is at the third position, the distance between the cleaning device and the first outer contour part is a first distance; when the cleaning device is at the first position or the second position, the distance between the cleaning device and the first outer contour part is greater than the first distance.

4. The control method according to claim 2, characterized by, determining the cleaning path of the cleaning device and extension and retraction of the cleaning part when cleaning the obstacle in a preset operation scheme according to the obstacle type, comprising: in the case that the obstacle type is an external angle obstacle, determining a first outer contour part and a second outer contour part of the obstacle, wherein the first outer contour part and the second outer contour part enclose an external angle therebetween; determining an operation scheme of the cleaning device according to the first outer contour part and the second outer contour part as follows: the cleaning device moves to a fourth position along an extension direction of the first outer contour part; the cleaning part close to one side of the obstacle retracts the body, and the cleaning device rotates; the cleaning part close to one side of the obstacle extends the body, and the cleaning device moves along the extension direction of the second outer contour part.

5. The control method according to claim 2, characterized by, determining the cleaning path of the cleaning device and extension and retraction of the cleaning part when cleaning the obstacle in a preset operation scheme according to the obstacle type, comprising: In the case of the obstacle type being an isolated obstacle, the operation scheme of the cleaning device is determined as follows: the cleaning part near one side of the obstacle is retracted into the body; the cleaning device moves along the edge contour of the obstacle; the cleaning part near one side of the obstacle is extended out of the body.

6. The control method according to claim 2, characterized by, According to the obstacle type, in the preset operation scheme, the cleaning path of the cleaning device and the extension and retraction of the cleaning part when cleaning the obstacle are determined, including: In the case of the obstacle type being a semantic obstacle, the operation scheme of the cleaning device is determined as follows: the cleaning part near one side of the obstacle is retracted into the body; the cleaning device reduces the moving speed and moves along the edge contour of the obstacle; the cleaning part near one side of the obstacle is extended out of the body.

7. The control method according to claim 2, characterized by, According to the obstacle type, in the preset operation scheme, the cleaning path of the cleaning device and the extension and retraction of the cleaning part when cleaning the obstacle are determined, including: In the case of the obstacle type being a high-risk obstacle, the control weight of retracting the cleaning part is increased; In the case of the obstacle type being a low-risk obstacle, the control weight of retracting the cleaning part is reduced.

8. The control method according to any one of claims 3 to 6, characterized by, Controlling the cleaning part near one side of the obstacle to retract into the body includes: obtaining the actual distance between the cleaning device and the obstacle; controlling the retraction amount of the cleaning part according to the actual distance.

9. The control method according to any one of claims 1 to 7, characterized by, Obtaining the obstacle features of the obstacles in the cleaning area includes: detecting obstacles based on multiple detection devices of the cleaning device; fitting the data of multiple detection devices to generate the edge contour of the obstacle; determining the obstacle features of the obstacle according to the edge contour.

10. The control method of claim 9, wherein fitting the data of multiple detection devices to generate the edge contour of the obstacle includes: based on the point cloud data collected by multiple detection devices, using least squares method, spline curve or Bezier curve for boundary curve fitting to generate the edge contour of the obstacle; wherein, in the process of operation of the cleaning device, the edge contour of the obstacle is dynamically predicted and updated through Kalman filtering or extended Kalman filtering.

11. The control method of any one of claims 1 to 7, wherein in the process of operation of the cleaning device, the operating parameters of the cleaning part are adjusted through an extended state observer.

12. The control method according to any one of claims 1 to 7, characterized by, Obtaining the obstacle features of the obstacles in the cleaning area includes: collecting image information of the obstacle based on an image collection device of the cleaning device; processing the image information using a preset network model to determine the obstacle features of the obstacle.

13. A control device for a cleaning apparatus, characterized in that The cleaning device includes a body and at least one cleaning part connected to the body, the cleaning part can extend or retract into the body, and the control device includes: an obtaining unit for obtaining the obstacle features of the obstacles in the cleaning area; a determining unit for determining the cleaning path of the cleaning device and the extension and retraction of the cleaning part when cleaning the obstacle according to the obstacle features.

14. A cleaning apparatus, characterized by including: a body and at least one cleaning part connected to the body, the cleaning part being able to extend or retract the body; and The control device of the cleaning apparatus according to claim 13.

15. An electronic device, comprising: A computer program product comprising a processor and a memory storing a program or input executable on the processor, the program or input, when executed by the processor, implementing the steps of the control method of the cleaning apparatus according to any one of claims 1 to 12.

16. A readable storage medium, characterized by, A readable storage medium storing a program or instructions, the program or instructions, when executed by a processor, implementing the steps of the control method of the cleaning apparatus according to any one of claims 1 to 12.

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