Cleaning method, obstacle display method and cleaning equipment

Abstract

The invention provides a cleaning method, an obstacle display method and cleaning equipment, and in the advancing process that the cleaning equipment executes a cleaning task, a control device controls at least two image acquisition devices to acquire environment images and generate visual height information of the current environment; and when determining that a target obstacle exists in front of the advancing direction according to the visual height information, stopping advancing, and after determining a cleaning strategy corresponding to the category of the target obstacle according to the visual height information, continuing advancing to execute the cleaning strategy corresponding to the category of the target obstacle. While the accuracy of obstacle identification is improved, the method also has relatively low software and hardware complexity.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a cleaning method, an obstacle display method, and a cleaning device. Background Technology

[0002] Robotic vacuum cleaners and other cleaning devices are widely used in home environments. Their core function is to replace manual cleaning by autonomously navigating and adjusting cleaning strategies. However, in practical applications, many obstacles exist on the floor in a home, causing cleaning devices to get stuck between themselves and the floor during cleaning, severely impacting cleaning efficiency and safety. Some cleaning devices use LiDAR or multi-sensor fusion to identify obstacles in the environment, but this approach suffers from a trade-off between accuracy and cost. Therefore, improving the accuracy of obstacle detection while reducing the hardware and software costs of cleaning devices is a key technical challenge that needs to be addressed in this field. Summary of the Invention

[0003] This application provides a cleaning method, an obstacle display method, and a cleaning device, which improves the accuracy of obstacle recognition by the cleaning device while also reducing the hardware and software costs of the cleaning device.

[0004] This application provides a cleaning method applied to a cleaning device, the cleaning device including at least two image acquisition devices mounted on the body of the cleaning device and facing the direction of travel. The cleaning method includes: during the movement of the device to perform a cleaning task, controlling the at least two image acquisition devices to acquire environmental images and generating visual height information of the current environment; stopping the movement when it is determined, based on the visual height information of the current environment, that there is a target obstacle ahead in the direction of travel; determining a cleaning strategy corresponding to the category of the target obstacle based on the visual height information; continuing the movement and executing the cleaning strategy corresponding to the category of the target obstacle.

[0005] A second aspect of this application provides an obstacle display method applied to a terminal device, the terminal device being communicatively connected to a cleaning device, the cleaning device being used to perform the cleaning method as described in the first aspect, the obstacle display method comprising: displaying the position of the cleaning device on a display interface in response to the cleaning device performing a cleaning task; displaying a prompt message of the target obstacle on the display interface in response to the cleaning device determining, based on the visual height information of the current environment, that there is a target obstacle ahead in the direction of travel; and displaying the cleaning strategy corresponding to the category of the target obstacle on the display interface in response to the cleaning device performing a cleaning strategy corresponding to the category of the target obstacle.

[0006] A third aspect of this application provides a cleaning device, comprising: a body; a cleaning component disposed on the body for cleaning the floor; at least two image acquisition devices for acquiring environmental images; and a control device for performing the cleaning method as described in the first aspect of this application.

[0007] In summary, the cleaning method, obstacle display method, and cleaning equipment provided in this application, during the movement of the cleaning equipment to perform a cleaning task, involve a control device controlling at least two image acquisition devices to acquire environmental images and generate visual height information of the current environment. When it is determined that there is a target obstacle ahead based on the visual height information, the movement stops. After determining the cleaning strategy corresponding to the category of the target obstacle based on the visual height information, the movement continues to execute the cleaning strategy corresponding to the category of the target obstacle. As can be seen, the cleaning method provided in this application allows the control device to determine the target obstacle and its category based on the visualized height information formed by environmental images acquired by at least two image acquisition devices. This enables the control device to use the cleaning strategy corresponding to the category. Compared with the prior art method of determining obstacles using LiDAR, this method overcomes the inability to identify some black, transparent, or highly reflective objects, effectively improving the accuracy of obstacle identification. Compared with the prior art method of determining obstacles using two-dimensional images, the environmental images acquired by at least two image acquisition devices overcome the inability to determine the three-dimensional height and other depth information of obstacles, also improving the accuracy of obstacle identification. Compared with the prior art method of setting multiple sensors to identify obstacles, this method relies only on the image acquisition devices set on the cleaning device, rather than on complex sensors such as lasers, thereby reducing the hardware and software complexity of the cleaning device and lowering the design and implementation costs of the cleaning device while ensuring the accuracy of obstacle identification. In summary, the cleaning method provided in this application offers an obstacle recognition method that can improve the accuracy of obstacle identification while having low software and hardware complexity. This enables cleaning equipment to more effectively determine the target obstacles and their categories ahead of the direction of travel, thereby allowing the cleaning equipment to use more accurate cleaning strategies to perform cleaning tasks, thus improving the cleaning effect and user experience of the cleaning equipment. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1This is a schematic diagram illustrating the application scenario of this application;

[0010] Figure 2 A schematic diagram of the structure of an embodiment of the cleaning equipment provided in this application;

[0011] Figure 3 A schematic diagram of the structure of a cleaning device provided in this application;

[0012] Figure 4 A schematic flowchart of an embodiment of the cleaning method provided in this application;

[0013] Figure 5 This application provides a flowchart illustrating the process of determining visual height information.

[0014] Figure 6 A schematic diagram of one direction of travel when the cleaning equipment provided in this application is performing a cleaning task;

[0015] Figure 7 A schematic diagram showing a target obstacle in front of the direction of travel of the cleaning equipment provided in this application;

[0016] Figure 8 A schematic diagram of an embodiment of the mapping relationship provided in this application;

[0017] Figure 9 A schematic diagram of a first category of obstacle provided for this application;

[0018] Figure 10 A schematic diagram of a second category of obstacles provided for this application;

[0019] Figure 11 A schematic diagram of a third category of obstacle provided for this application;

[0020] Figure 12 A schematic diagram of a fourth category of obstacle provided for this application;

[0021] Figure 13 A schematic diagram of a display interface for the terminal device provided in this application;

[0022] Figure 14 A schematic diagram of the structure of an embodiment of the electronic device provided in this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] This application is used in cleaning equipment and in scenarios involving the control of cleaning equipment. Figure 1 This is a schematic diagram illustrating the application scenario of this application. Figure 1 In the example shown, the cleaning device 10 is used as an example of the application of a robot vacuum cleaner in a home cleaning scenario. The cleaning device 10 can replace manual labor to complete the cleaning work of the floor through autonomous navigation and adjustment of cleaning strategies.

[0026] In other examples, the cleaning device 10 includes, but is not limited to, robotic vacuum cleaners, robotic floor scrubbers, robotic vacuum and mop combos, robotic lawnmowers, and robotic snowplows. Cleaning tasks may also include floor washing, mopping, sweeping, lawn mowing, and snow removal. The cleaning device 10 can perform cleaning using either a front-sweeping-then-mopping method or a separate sweeping-and-mopping method. The front-sweeping-then-mopping method allows sweeping and mopping simultaneously, improving cleaning efficiency. The separate sweeping-and-mopping method allows sweeping first, followed by mopping, improving cleaning effectiveness.

[0027] In other possible scenarios, the cleaning device 10 can specifically be an autonomous robot capable of moving autonomously within a work area and completing cleaning tasks without external human input or control. The work area can include indoor and outdoor areas. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas can include lawns, gardens, roads, etc.

[0028] The cleaning equipment 10 can be connected to the server 20 via the network, and the terminal device 30 can also be connected to the server 20 via the network, enabling communication between the terminal device 30 and the cleaning equipment 10 through the server 20. This allows the user 40 of the cleaning equipment 10 to control the cleaning equipment 10 to perform cleaning tasks on the ground through the terminal device 30.

[0029] This application does not limit the communication method of devices such as cleaning device 10 and terminal device 30. For example, terminal device 30 may provide an application program, through which user 40 can interact with cleaning device 10. For instance, user 40 can issue cleaning instructions through the application program, and terminal device 30 sends the cleaning instructions to cleaning device 10 via server 20, causing cleaning device 10 to process the cleaning instructions. As another example, cleaning device 10 can send operating information to terminal device 30 via server 20, and terminal device 30 can display the operating information of cleaning device 10 to user 40 on a display interface through the application program. Alternatively, in some communication technologies, terminal device 30 can also directly communicate with cleaning device 10; for example, terminal device 30 can directly send cleaning instructions to cleaning device 10, and cleaning device 10 can directly send operating information to terminal device 30.

[0030] In order to complete the floor cleaning task, the cleaning device 10 needs to plan its own path and cleaning strategy. Specifically, if there are many obstacles in the environment, the cleaning device 10 may be unable to complete the cleaning task smoothly. In particular, if some obstacles are not flush with the ground and their height is usually less than the height of the cleaning device 10 itself, the cleaning device 10 may get stuck between itself and the ground while performing the cleaning task, seriously affecting its cleaning efficiency and safety performance.

[0031] In the first prior art, the cleaning device 10 scans the environment using a horizontal lidar or line structured light to acquire distance and contour information of obstacles, thereby enabling the detection of obstacles with regular shapes such as walls. However, due to limitations in optical characteristics, the cleaning device 10 cannot effectively perceive some black, transparent, or highly reflective objects, resulting in a low accuracy rate in obstacle recognition and affecting the normal performance of cleaning tasks by the cleaning device 10.

[0032] In the second prior art, the cleaning device 10 acquires a two-dimensional image of the current environment through an image acquisition device and uses an image recognition algorithm to determine the obstacles present in the current environment. However, because the two-dimensional image cannot determine the three-dimensional height and other depth information of the obstacles, it leads to misjudgment of low furniture or thresholds, which also results in a low accuracy rate of obstacle recognition and affects the normal cleaning task performed by the cleaning device 10.

[0033] In the third prior art, the cleaning device 10 is equipped with a variety of sensors, such as lidar and cameras, so as to combine the information of multiple sensors to jointly determine the obstacles in the current environment. Although this method has a high accuracy rate in identifying obstacles, it increases the hardware and software complexity of the cleaning device 10 and requires more computing power to detect obstacles, which will increase the design and implementation cost of the cleaning device 10.

[0034] Based on this, and addressing the technical problems of low accuracy in obstacle recognition and the inability to balance accuracy and cost in the existing cleaning equipment 10, this application provides a cleaning method, an obstacle display method, and a cleaning equipment. This method improves the accuracy of obstacle recognition by the cleaning equipment 10 while also reducing the hardware and software costs of the cleaning equipment 10. The technical solution of this application will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0035] Figure 2 A schematic diagram of the structure of an embodiment of the cleaning equipment provided in this application is shown below. Figure 2 The cleaning device 10 shown can be applied to, for example... Figure 1 In the scenario shown. Specifically, as Figure 2 The cleaning device 10 shown includes:

[0036] The control device 100, as the core control unit in the cleaning equipment 10, can integrate and process sensor data, communication data, control commands, etc., and is specifically used for planning cleaning paths and coordinating the work of various components in the cleaning task of the cleaning equipment 10, enabling intelligent decision-making and control of the autonomous operation of the cleaning equipment 10. Specifically, the control device 100 can control other components in the cleaning equipment 10 to perform corresponding operations by executing cleaning methods, thereby controlling the cleaning equipment 10 to perform corresponding cleaning tasks. For example, the control device 100 can be a central processing unit (CPU), a microcontroller unit (MCU), a system on a chip (SoC), or other controllers, or it can be other devices or circuit structures with relevant control functions.

[0037] Cleaning device 101, mounted on the body of cleaning equipment 10, is used for sweeping the floor. (Reference) Figure 1In the example shown, the body of the cleaning device 10 can be circular, square, or triangular, etc. The cleaning device 101 is mounted on the body and includes one or more of the following: a side brush, a roller brush, a mop, or a vacuum module. The side brush gathers foreign objects and moves them towards the center of the bottom of the cleaning robot. The roller brush sweeps up foreign objects from the bottom of the cleaning robot, allowing them to enter the dust collection box through the suction port. The mop is used for wiping or mopping the floor; the mop can be a disc mop, roller mop, flat mop, tracked mop, etc. The cleaning device 101 is communicatively connected to the control device 100, which can be used to control the cleaning device 101 to perform cleaning tasks. This application does not limit the specific implementation of the cleaning device 101 and its control method.

[0038] At least two image acquisition devices 102, each of which can be used to independently acquire an image of the front of the cleaning equipment 10 in the direction of travel, wherein the environmental image may specifically be a visible light image.

[0039] exist Figure 2 In the example shown, at least two image acquisition devices 102 are referred to as image acquisition device 102-1, image acquisition device 102-2, and so on. Each image acquisition device 102 is communicatively connected to a control device 100, which controls the at least two image acquisition devices 102 to acquire images. In one embodiment, the image acquisition device 102 can be an RGB (Red Green Blue) camera or an RGBD camera. The RGBD camera, combined with height information, enables more accurate recognition based on the images acquired.

[0040] In one embodiment, such as Figure 2 The cleaning device 10 shown also includes a supplementary lighting device 103, which can be used to provide supplementary lighting when at least two image acquisition devices 102 acquire images. The supplementary lighting device 103 is communicatively connected to a control device 100, which can be used to control the opening and closing of the supplementary lighting device 103.

[0041] For example, Figure 3 A schematic diagram of the structure of a cleaning device provided in this application, such as Figure 3A schematic diagram showing the positions of at least two image acquisition devices 102 and a supplementary lighting device 103 mounted on the body of a cleaning device 10 is shown. Taking two image acquisition devices 102 mounted on the cleaning device 10 as an example, namely image acquisition device 102-1 and image acquisition device 102-2, the image acquisition devices 102-1, 102-2 and the supplementary lighting device 103 are all mounted on the body of the cleaning device 10 in the forward direction. The image acquisition devices 102-1 and 102-2 can be used to take pictures in the forward direction of the cleaning device 10, and the supplementary lighting device 103 can be used to provide supplementary lighting in the forward direction of the cleaning device 10.

[0042] In another embodiment, at least two image acquisition devices 102 and supplementary lighting devices 103 may also be arranged in other positions. The control device 100 can control the rotation of at least two image acquisition devices 102 and supplementary lighting devices 103, so that the control device 100 can control the image acquisition devices 102 and supplementary lighting devices 103 to rotate to the direction of travel of the cleaning equipment 10 to acquire images.

[0043] Figure 4 A schematic flowchart of an embodiment of the cleaning method provided in this application is shown below. Figure 4 The cleaning method shown can be applied to, for example Figure 2 The cleaning equipment 10 shown is specifically controlled by the control device 100 of the cleaning equipment 10. Specifically, as... Figure 4 The cleaning method of the cleaning device 10 shown includes:

[0044] S101: During the movement of the cleaning equipment 10 in performing the cleaning task, the control device 100 controls at least two image acquisition devices 101 to acquire environmental images. The environmental images can be images acquired by at least two image acquisition devices 101 in the direction of movement of the cleaning equipment 10.

[0045] In one embodiment, the control device 100 can receive a start command for a cleaning task and control the cleaning device 10 to perform the cleaning task based on the start command. Subsequently, during the movement of the cleaning device 10, at least two image acquisition devices 102 are controlled to acquire environmental images, and the control device 100 receives environmental images sent by at least two image acquisition devices 102.

[0046] Understandably, in order to more accurately identify obstacles later, the cleaning equipment 10 controls at least two image acquisition devices 101 to acquire environmental images at the same time.

[0047] In one embodiment, the control device 100 can be used to control at least two image acquisition devices 102 to acquire environmental images at a preset frame rate, for example, the preset frame rate can be greater than or equal to 5 FPS.

[0048] In one embodiment, when the cleaning device 10 includes a supplementary lighting device 103, the control device 100 can further control the supplementary lighting device 103 to turn on when it is determined that the brightness of the environmental images acquired by at least two image acquisition devices 102 is less than a first brightness threshold. This allows the supplementary lighting device 103 to provide supplementary lighting to the front of the cleaning device 10 in its direction of travel, and also controls the at least two image acquisition devices 102 to acquire environmental images while the supplementary lighting device 103 is on. After the at least two image acquisition devices 102 have acquired the environmental images, the control device 100 can control the supplementary lighting device 103 to turn off to save energy.

[0049] The brightness of the environmental image can be specifically represented by the brightness (BV) value or the average grayscale value of the image. The control device 100 can determine whether to control the supplementary lighting device 103 to be turned on based on whether the average or maximum brightness of the environmental image previously acquired by at least two image acquisition devices 102 is less than a first brightness threshold. Alternatively, the control device 100 can also control at least two image acquisition devices 102 to acquire a brightness test image, and determine whether to control the supplementary lighting device 103 to be turned on when the at least two image acquisition devices 102 actually acquire environmental images thereafter based on whether the average or maximum brightness of the brightness test image is less than the first brightness threshold.

[0050] In another embodiment, the cleaning device 10 is further equipped with a brightness sensor, which can be used to detect the ambient brightness in front of the cleaning device 10 as it moves. If the control device 100 determines through the brightness sensor that the ambient brightness is less than a second brightness threshold, it controls the supplementary lighting device 103 to turn on, providing supplementary lighting to the front of the cleaning device 10 in its direction of travel. At least two image acquisition devices 102 are also controlled to acquire environmental images while the supplementary lighting device 103 is on. The brightness sensor allows for more precise control of the supplementary lighting device 103, effectively improving the quality of the acquired environmental images.

[0051] In one embodiment, after receiving environmental images acquired by at least two image acquisition devices 102, the control device 100 can further preprocess the environmental images to improve their quality, thereby increasing the efficiency of subsequent environmental image processing. The preprocessing includes at least one of brightness enhancement, white balance adjustment, or adaptive exposure processing of the environmental images.

[0052] In another embodiment, when the control device 100 activates the supplementary lighting device 103 to provide supplementary lighting in front of the cleaning equipment 10 in the direction of travel, and controls at least two image acquisition devices 102 to acquire environmental images while the supplementary lighting device 103 is activated, the environmental images are then preprocessed. However, when the control device 100 does not activate the supplementary lighting device 103, preprocessing can be skipped, and the environmental images can be directly processed to reduce the amount of computation and improve processing efficiency.

[0053] Furthermore, after acquiring environmental images from at least two image acquisition devices 102, the control device 100 generates visual height information of the current environment in which the cleaning equipment 10 is located based on the environmental images. For example, Figure 5 A flowchart illustrating the process of determining visual height information provided in this application includes:

[0054] S1011: Control device 100 calibrates the parameters of at least two image acquisition devices 102.

[0055] In one embodiment, taking two image acquisition devices 102 as an example, the environmental images acquired by the two image acquisition devices 102 can form a binocular environmental image. Then, the control device 100 can calibrate and obtain the intrinsic and extrinsic parameters of the two image acquisition devices 102 by methods such as Zhang Zhengyou calibration method. After calibration, distortion correction and epipolar correction need to be performed on the left and right views formed by the two image acquisition devices 102 respectively to ensure the accuracy of subsequent parallax calculation and coordinate mapping.

[0056] S1012: Control device 100 calculates and determines the parallax of environmental images acquired by at least two acquisition devices 102.

[0057] In one embodiment, the two image acquisition devices 102 are referred to as the left image acquisition device and the right image acquisition device, and the acquired environmental images are referred to as the left environmental image IR and the right environmental image IL. Then, the control device 100 can use the deep learning method to input the left environmental image IR and the right environmental image IL into the neural network, and obtain the disparity map between the left environmental image IR and the right environmental image IL according to the output of the neural network.

[0058] S1013: The control device 100 generates point cloud data of the current environment based on the parallax of the environmental images acquired by at least two acquisition devices 102 and the parameters of at least two acquisition devices 102.

[0059] In one embodiment, the parameters of the two acquisition devices 102 include focal length (fx, fy), principal point coordinates (cx, cy), distortion coefficients (k1, k2), and the relative pose between the left and right image acquisition devices: rotation matrix (R) and translation vector (T, usually only the baseline distance B, i.e. the X-axis component of T), etc. The control device 100 can generate point cloud data of the current environment based on the above parameters, denoted as P(x, y, z).

[0060] S1014: The control device 100 performs noise reduction processing on the point cloud data generated in S1013.

[0061] S1014 is an optional step. In one embodiment, the noise reduction process performed by the control device 100 on the point cloud data includes: invalid point filtering: removing pixels with disparity d=0 or d being negative (non-overlapping areas or mismatched areas) to avoid invalid coordinates (such as Z being infinite); and noise removal: eliminating noise points caused by disparity matching errors through statistical filtering (such as removing points that are too far from the mean) or radius filtering (such as removing isolated points with too few neighboring points).

[0062] S1015: The control device 100 performs contour projection based on the height information of the point cloud data obtained in S1014, and generates visual height information of the current environment through color mapping.

[0063] Specifically, the control device 100 projects the point cloud data from a top-down perspective using a certain contour value and assigns different colors to points within different height regions to obtain visualized height information. Specifically, the visualized height information provided in this application can be a heat map of height distribution. Obstacles of different heights and shapes exhibit different characteristics in the heat map; different colored areas in the heat map represent different actual heights of the object, while the same color indicates the same height.

[0064] Through the above S1011-S1015, the control device 100 can obtain the point cloud data of the current environment from the current perspective of the cleaning equipment 10 based on the environmental images collected by at least two image acquisition devices 102, and use it for subsequent calculations.

[0065] S102: When the control device 100 determines, based on the visual height information of the current environment determined in S101, that there is a target obstacle in front of the direction of travel of the cleaning equipment 10, it controls the cleaning equipment 10 to stop moving.

[0066] In one embodiment, the control device 100 can input the visual height information of the current environment determined in S101 into the obstacle recognition model, and determine whether there is a target obstacle in front of the cleaning device 10 in its direction of travel based on the information output by the obstacle recognition model. The obstacle recognition model can be trained using machine learning techniques and the visual height information corresponding to the obstacle. This application embodiment does not limit the specific implementation of the obstacle recognition model.

[0067] In conjunction with the specific implementation method, Figure 6 A schematic diagram illustrating one direction of travel for the cleaning equipment provided in this application when performing a cleaning task, such as... Figure 6 As shown, the control device 100 can determine the travel route L of the cleaning equipment 10 when performing the cleaning task according to the positioning map, and control the cleaning equipment 10 to travel along the travel route L, thereby completing the cleaning task of the ground in the target space 1.

[0068] Figure 7 This is a schematic diagram showing a target obstacle in front of the cleaning equipment's direction of travel, as provided in this application. Figure 7 As shown, during the process of the control device 100 controlling the cleaning equipment 10 to perform a cleaning task, if a target obstacle is found in front of the direction of travel at position P1, the control device 100 can control the cleaning equipment 10 to stop moving and stay at position P1.

[0069] S103: The control device 100 further determines the cleaning strategy corresponding to the category of the target obstacle based on the visual height information of the current environment determined in S101.

[0070] In one embodiment, the control device 100 can input the visual height information of the current environment determined in S101 into the machine learning model, and based on the information output by the machine learning model, determine the type of target obstacle existing in front of the cleaning device 10 in the direction of travel, and then determine the cleaning strategy corresponding to the type of target obstacle.

[0071] In one embodiment, the machine learning model can be trained by labeling the visual height information of different obstacles. In the specific implementation process, the visual height information of different categories of obstacles has different semantic information. The machine learning model can be used to extract and learn the semantic information of the visual height information of obstacles of different categories.

[0072] In one embodiment, the control device 100 determines a first cleaning strategy corresponding to the category of the target obstacle from a mapping relationship between obstacle categories and cleaning strategies, based on the determined category of the target obstacle. For example, Figure 8 A schematic diagram of an embodiment of the mapping relationship provided in this application is shown below. Figure 8The mapping relationships shown include correspondences between multiple obstacle categories and cleaning strategies. For example, there's the correspondence between obstacle category 1 and cleaning strategy 1, obstacle category 2 and cleaning strategy 2, and so on, with N being a positive integer. Once the control device 100 determines the category of the target obstacle, it can then... Figure 8 The mapping relationship shown determines the cleaning strategy corresponding to the category of the target obstacle, denoted as the first cleaning strategy.

[0073] S104: After determining the cleaning strategy corresponding to the target obstacle in S103, the control device 100 can control the cleaning equipment 10 to continue moving to continue performing the cleaning task and execute the first cleaning strategy or the second cleaning strategy.

[0074] In one embodiment, after the control device 100 determines the first cleaning strategy, it can control the cleaning device 10 to continue moving to continue performing the cleaning task and execute the cleaning strategy corresponding to the category of the target obstacle.

[0075] In another embodiment, combined with, for example Figure 1 In the scenario shown, after determining the first cleaning strategy, the control device 100 can send the first cleaning strategy and the visual height information of the target obstacle to the terminal device 30, enabling the terminal device 30 to display the first cleaning strategy and visual height information to the user 40, and receive the first or second cleaning strategy indicated by the user 40. The terminal device 30 sends instruction information to the cleaning device 10 to indicate the first or second cleaning strategy, wherein the second cleaning strategy may be a different cleaning strategy from the first cleaning strategy. Upon receiving the instruction information, the control device 100 controls the cleaning device 10 to continue moving to continue performing the cleaning task, and executes the first or second cleaning strategy indicated by the instruction information.

[0076] Specifically, in the specific implementation of this application, four different categories of target obstacles are provided, and the control device 100 can execute different cleaning strategies for different categories of obstacles. These will be described below with reference to the accompanying drawings.

[0077] For obstacles that cannot be entered, the corresponding cleaning strategy is detour. In S104, the control device 100 specifically controls the cleaning device 10 to detour around the target obstacle.

[0078] For example, Figure 9 A schematic diagram of a first-class obstacle provided for this application, such as Figure 9As shown, an obstacle Z1 in the "impossible to access" category is exemplified by a tripod. Due to the poor stability of such obstacles, the cleaning device 10 is prone to knocking over during its movement, causing damage or breaking other items. Another example of an "impossible to access" obstacle is furniture placed flush with the ground, preventing the cleaning device 10 from accessing the area beneath it for cleaning. Therefore, for such "impossible to access" obstacles Z1, the cleaning strategy can be defined as bypassing the area where the obstacle is located.

[0079] refer to Figure 9 As shown, after the control device 100 controls the cleaning device 10 to continue moving from point P1, since there is an obstacle Z1 of the inaccessible category ahead in its direction of travel, the control device 100 controls the cleaning device 10 to move along path L1 to bypass the area S1 where the inaccessible obstacle Z1 is located. The area S1 where the inaccessible obstacle Z1 is located can be determined by the control device 100 through image recognition processing based on the environmental image acquired by the image acquisition device 102, thus forming the boundary of the inaccessible obstacle Z1.

[0080] For obstacles that are accessible and traversable, the corresponding cleaning strategy is to enter from the opening or to enter the ground below from the traversable part. In S104, the control device 100 specifically controls the cleaning device 10 to enter from the opening of the target obstacle and clean the ground below the target obstacle, or controls the cleaning device 10 to enter from the traversable part of the target obstacle and clean the ground below the target obstacle.

[0081] For example, Figure 10 A schematic diagram of an accessible and traversable barrier provided for this application, such as... Figure 10 As shown, the accessible and traversable obstacle Z2 is exemplified by a chair with U-shaped legs. This type of obstacle has an opening at its ground contact point and a boundary that the cleaning device 10 can potentially cross. Alternatively, accessible and traversable obstacles can also be other furniture with U-shaped legs, such as cabinets or sofas. This application uses a chair as an example, not as a limitation. Therefore, for this accessible and traversable obstacle Z2, the cleaning strategy can be defined as entering from the opening or from the traversable portion.

[0082] refer to Figure 10 As shown, after the control device 100 controls the cleaning device 10 to continue moving from point P1, for the accessible and traversable obstacle Z2 in front of its direction of travel, the control device 100 controls the cleaning device 10 to move along path L2-1, so as to enter the ground below the accessible and traversable obstacle Z2 from the traversable point Z2-1 of the accessible and traversable obstacle Z2, and perform cleaning.

[0083] In one embodiment, before the control device 100 controls the cleaning device 10 to cross over the ground below the accessible and traversable obstacle Z2, the control device 100 further determines the location of the traversable point based on the visual height information of the accessible and traversable obstacle Z2 in the current environment's visual height information, and the traversable height of the cleaning device 10. For example, if the height of the traversable point Z2-1 of the accessible and traversable obstacle Z2 is denoted as h, and the traversable height of the cleaning device 10 is denoted as d, then when the control device 100 determines based on the visual height information that h is less than d, it determines that the cleaning device 10 can enter the ground below the accessible and traversable obstacle Z2 from the traversable point Z2-1.

[0084] Alternatively, the control device 100 controls the cleaning device 10 to travel along path L2-2 to enter the ground below the accessible and traversable barrier Z2 from the opening Z2-2 of the accessible and traversable barrier category, and to perform cleaning.

[0085] In one embodiment, before the control device 100 controls the cleaning device 10 to enter the ground below the accessible and traversable obstacle Z2 through the opening, the control device 100 further determines the position of the opening based on the visual height information of the accessible and traversable obstacle Z2 in the current environment's visual height information, and the height of the cleaning device 10. For example, if the width of the opening Z2-2 of the accessible and traversable obstacle Z2 is k, and the width of the cleaning device 10 is g, then when the control device 100 determines that k is greater than g based on the visual height information, it determines that the cleaning device 10 can enter the ground below the accessible and traversable obstacle Z2 through the opening Z2-2.

[0086] In one embodiment, the specific access to the accessible and traversable obstacle Z2 via the traversable point Z2-1 or the opening Z2-2 may be determined by the cleaning device 10, or it may be preset, or it may be indicated by the user 40.

[0087] For obstacles of the accessible category, the corresponding cleaning strategy is to bypass them or enter through the opening. In S104, the control device 100 specifically controls the cleaning device 10 to bypass the target obstacle, or controls the cleaning device 10 to enter through the opening of the target obstacle and clean the ground below the target obstacle.

[0088] For example, Figure 11 A schematic diagram of the accessible category of obstacles provided in this application, such as Figure 11As shown, the accessible obstacle Z3 uses a sofa as an example. These obstacles have their bottoms suspended above the ground, and the bottom heights vary, which can easily cause the cleaning equipment 10 to get stuck and stop. Alternatively, accessible obstacles could also be other furniture pieces spaced off the ground, such as cabinets. This application uses a sofa as an example, not as a limitation. Therefore, for this type of accessible obstacle Z3, the cleaning strategy can be defined as either going around it or entering through an opening.

[0089] refer to Figure 11 As shown, after the control device 100 controls the cleaning device 10 to continue moving from point P1, since there is an accessible obstacle Z3 in front of its direction of travel, the control device 100 controls the cleaning device 10 to move along path L3, so as to enter from the opening Z3-1 of the accessible obstacle Z3, exit from the opening Z3-2, enter from the opening Z3-3, and exit from the opening Z3-4 below the accessible obstacle Z3, and clean the area below the accessible obstacle Z3.

[0090] In one embodiment, before the control device 100 controls the cleaning device 10 to enter the ground below the accessible obstacle Z3 through the opening, the control device 100 also determines the position of the opening based on the visual height information of the accessible obstacle Z3 in the current environment's visual height information and the height of the cleaning device 10. For example, if the heights of openings Z3-1, Z3-2, Z3-3, and Z3-4 are determined to be p, and the height of the cleaning device 10 is determined to be q, then when the control device 100 determines based on the visual height information that q is less than p, it determines that the cleaning device 10 can enter the ground below the accessible obstacle Z3 through the opening.

[0091] It should be noted that, as Figure 11 The number and location of the openings of the accessible category obstacle Z3 shown are merely examples. The control device 100 can control the cleaning device 10 to enter or leave the accessible category obstacle Z3 from any opening of the accessible category obstacle Z3, and this application does not limit this.

[0092] For some types of suspended obstacles, the corresponding cleaning strategy is to bypass the suspended part. In S104, the control device 100 specifically controls the cleaning device 10 to bypass the suspended part of the target obstacle.

[0093] For example, Figure 12 Schematic diagrams of some suspended categories of obstacles provided in this application, such as Figure 12As shown, the partially suspended obstacle Z4 is exemplified by a piano. These obstacles have suspended parts, such as pedals, which can be damaged when repeatedly struck by the cleaning device 10. Other examples of partially suspended obstacles include furniture with other structural parts suspended from the ground, such as cabinets. This application uses a piano as an example, not as a limitation. Therefore, for this type of partially suspended obstacle Z4, the cleaning strategy can be defined as bypassing its suspended parts.

[0094] refer to Figure 12 As shown, after the control device 100 controls the cleaning device 10 to continue moving from point P1, for a partially suspended obstacle Z4 in front of its direction of travel, the control device 100 controls the cleaning device 10 to move along path L4 to bypass a predetermined portion S4 of the fourth type of obstacle Z4. The control device 100 can determine the boundary of the predetermined portion S4 based on visual height information.

[0095] In summary, the cleaning method provided in this application, during the movement of the cleaning equipment to perform the cleaning task, involves a control device controlling at least two image acquisition devices to acquire environmental images and generate visual height information of the current environment. When it is determined that there is a target obstacle ahead based on the visual height information, the movement is stopped. After determining the cleaning strategy corresponding to the category of the target obstacle based on the visual height information, the movement continues to execute the cleaning strategy corresponding to the category of the target obstacle.

[0096] As can be seen, the cleaning method provided in this application allows the control device to determine the target obstacle and its category based on the visualized height information formed by environmental images acquired by at least two image acquisition devices. This enables the control device to use the cleaning strategy corresponding to the category. Compared with the prior art method of determining obstacles using LiDAR, this method overcomes the inability to identify some black, transparent, or highly reflective objects, effectively improving the accuracy of obstacle identification. Compared with the prior art method of determining obstacles using two-dimensional images, the environmental images acquired by at least two image acquisition devices overcome the inability to determine the three-dimensional height and other depth information of obstacles, also improving the accuracy of obstacle identification. Compared with the prior art method of setting multiple sensors to identify obstacles, this method relies only on the image acquisition devices set on the cleaning device, rather than on complex sensors such as lasers, thereby reducing the hardware and software complexity of the cleaning device and lowering the design and implementation costs of the cleaning device while ensuring the accuracy of obstacle identification.

[0097] In summary, the cleaning method provided in this application addresses the problems existing in the obstacle recognition of existing cleaning equipment. It provides an obstacle recognition method that can improve the accuracy of obstacle recognition while having low software and hardware complexity. This allows the cleaning equipment to more effectively determine the target obstacles and their categories in the direction of travel, thereby enabling the cleaning equipment to use more accurate cleaning strategies to perform cleaning tasks, thus improving the cleaning effect and user experience of the cleaning equipment.

[0098] Furthermore, during the cleaning task performed by the cleaning equipment 10 provided in this application, when the control device 100 follows the procedure as described above... Figure 4 The method shown can identify at least one target obstacle in the current environment and determine the visual height information of that obstacle in the current environment's location map. Therefore, after the cleaning device 10 performs a cleaning task, it can identify all target obstacles and their visual height information in the current environment. The control device 100 can then plan the path for the cleaning device 10's next cleaning task based on all target obstacles and their visual height information in the current environment. This allows the cleaning device 10 to travel along a path with a height greater than its own height, and / or cross over obstacles to clean the ground beneath them. This maximizes the cleanable area while preventing the cleaning device 10 from getting stuck, ensuring the effectiveness of the cleaning task. In this embodiment, path planning uses visual height information. Since visual height information can more directly indicate the height of obstacles at different locations, the resulting path can more accurately avoid the cleaning device 10 getting stuck, further improving the cleaning device 10's ability to perform cleaning tasks.

[0099] This application also provides an obstacle display method, applied to, for example, Figure 1 The terminal device 30 shown is communicatively connected to the cleaning device 10. When the control device 100 uses the cleaning method provided in any of the aforementioned embodiments, the terminal device 30 can display content corresponding to the cleaning task and target obstacles on the display interface.

[0100] Figure 13 A schematic diagram of a display interface for a terminal device provided in this application, specifically, as shown below. Figure 13 The terminal device 30 displays a map on the display interface 301-1 during the cleaning task performed by the cleaning device 10. In some embodiments, the terminal device may also display the operating information of the cleaning device 10 on the map, wherein the operating information includes at least one of the following: the current location of the cleaning device 10, the cleaned path, the cleaned area, or the uncleaned area, etc.

[0101] like Figure 13 In the display interface 301-2, when the cleaning device 10 determines that there is a target obstacle ahead in its direction of travel based on the current visual height information of the environment, the terminal device 30 can display a prompt information about the target obstacle on the display interface, for example in... Figure 13 In the example shown, the shading indicates that there is a target obstacle in front of the cleaning device 10 in the direction of travel.

[0102] like Figure 13 In the display interface 301-3, after the cleaning device 10 determines the first cleaning strategy, it sends the first cleaning strategy and the visual height information of the target obstacle to the terminal device 30. The terminal device 30 can then display the first cleaning strategy on the display interface through the display component 312 and the visual height information of the target obstacle through the display component 311. Figure 13 China and Israel Figure 11 The sofa in the image is used as an example. Furthermore, the terminal device 30 can also display an interactive component 313 on the display interface to receive instructions from the user 40. When the terminal device 30 receives instructions from the user regarding the first or second cleaning strategy via the interactive component 131, it can then send instructions to the cleaning device 10.

[0103] like Figure 13 In response to the cleaning device 10 moving to the area corresponding to the target obstacle, the terminal device 30 displays the instruction information of the cleaning strategy executed by the cleaning device 10 on the display interface 301-4: "First cleaning strategy".

[0104] This application also provides a cleaning device, comprising: a body; a cleaning component disposed on the body for cleaning the ground; at least two image acquisition devices for acquiring environmental images; and a control device for performing any of the aforementioned cleaning methods of this application.

[0105] In the foregoing embodiments of this application, the cleaning method provided by the embodiments of this application has been described. In order to realize the functions of the methods provided by the embodiments of this application, the control device 100, as the execution subject, can implement the above functions through hardware structure and / or software modules. Whether a certain function is executed in the form of hardware structure, software module, or hardware structure plus software module depends on the specific application and design constraints of the technical solution.

[0106] It should be understood that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, a module can be a separately established processing element, or it can be integrated into a chip within the above device. Alternatively, it can be stored as program code in the memory of the above device, and its functions can be called and executed by a processing element of the device. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0107] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together to implement a system-on-a-chip (SOC).

[0108] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0109] For example, Figure 14 A schematic diagram of the structure of an embodiment of the electronic device provided in this application is shown below. Figure 14 The electronic device 2000 shown can be used to perform the cleaning method or obstacle display method provided in any embodiment of this application.

[0110] In one embodiment, such as Figure 14 The control device 2000 shown includes one or more processors 2001 and a memory 2002. The memory 2002 stores computer-executable instructions, and the processor 2001 can execute the computer-executable instructions stored in the memory 2002. When the computer-executable instructions are executed by the processor 2001, the processor 2001 implements the cleaning method or obstacle display method provided in any of the foregoing embodiments of this application.

[0111] In one embodiment, such as Figure 14 The control device 2000 shown also includes a communication interface 2003, through which the processor 2001 can communicate with other devices, such as sending and receiving data through the communication interface 2003.

[0112] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0113] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0114] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0115] This application also provides a chip for executing instructions, which is used to execute the carpet recognition method or carpet display method provided in any of the foregoing embodiments of this application.

[0116] This application also provides a computer program product, including a computer program that, when executed, implements the carpet recognition method or carpet display method provided in any of the foregoing embodiments of this application.

[0117] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed, can be used to implement the carpet recognition method or carpet display method provided in any of the foregoing embodiments of this application.

[0118] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0119] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0120] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0121] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0123] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A cleaning method, characterized in that, The cleaning method, applied to cleaning equipment including at least two image acquisition devices mounted on the body of the cleaning equipment and facing the direction of travel, includes: During the movement of the cleaning task, the at least two image acquisition devices are controlled to acquire environmental images and generate visual height information of the current environment; When it is determined, based on the visual height information of the current environment, that there is a target obstacle ahead in the direction of travel, stop traveling; Based on the visualized height information, determine the cleaning strategy corresponding to the category of the target obstacle; Continue moving forward and execute the cleaning strategy corresponding to the category of the target obstacle.

2. The cleaning method according to claim 1, characterized in that, The cleaning strategy corresponding to the category of the target obstacle includes: For the target obstacle of the inaccessible category, control the cleaning equipment to bypass the target obstacle; And / or, for the target obstacle of the accessible and traversable access category, control the cleaning device to enter from the opening of the target obstacle and clean the ground below the target obstacle, or control the cleaning device to enter from the traversable part of the target obstacle and clean the ground below the target obstacle; And / or, for accessible target obstacles, control the cleaning device to go around the target obstacle, or control the cleaning device to enter through an opening in the target obstacle and clean the ground below the target obstacle; And / or, for partially suspended target obstacles, control the cleaning equipment to circumvent the suspended portion of the target obstacle.

3. The cleaning method according to claim 2, characterized in that, Before controlling the cleaning device to enter from the opening of the target obstacle and clean the ground below the target obstacle, the method further includes: determining the position of the opening of the target obstacle based on the visual height information of the target obstacle in the visual height information of the current environment and the height of the cleaning device; Before controlling the cleaning device to enter from the traversable part of the target obstacle and clean the ground below the target obstacle, the method further includes: determining the position of the traversable part of the target obstacle based on the visual height information of the target obstacle in the visual height information of the current environment and the traversable height of the cleaning device.

4. The cleaning method according to claim 3, characterized in that, The prohibited obstacles include: tripods and furniture placed close to the ground; The accessible and traversable barriers include: furniture with U-shaped legs; The accessible category of obstacles includes: furniture spaced at intervals off the ground; The suspended category of obstacles includes: pianos with pedals, and furniture with parts suspended from the ground.

5. The cleaning method according to any one of claims 1-3, characterized in that, The cleaning strategy corresponding to determining the category of the target obstacle includes: The category of the target obstacle is determined based on the visual height information of the obstacle; Based on the category of the target obstacle, a first cleaning strategy is determined; Send the visual height information of the obstacle and the first cleaning strategy; Receive instruction information and execute the first cleaning strategy or the second cleaning strategy indicated by the instruction information.

6. The cleaning method according to claim 5, characterized in that, Determining the category of the target obstacle based on the visual height information of the obstacle includes: inputting the visual height information of the obstacle into a machine learning model to determine the category of the target obstacle; And / or, determining the first cleaning strategy based on the category of the target obstacle includes: determining the first cleaning strategy corresponding to the category of the target obstacle from the mapping relationship between the categories of obstacles and cleaning strategies; And / or, controlling the at least two image acquisition devices to acquire environmental images to generate visual height information of the current environment includes: determining the parallax of the environmental images acquired by the at least two image acquisition devices; generating point cloud data of the current environment based on the parallax of the environmental images acquired by the at least two image acquisition devices and the parameters of the at least two acquisition devices; performing contour projection based on the height information of the point cloud data, and generating visual height information of the current environment through color mapping.

7. The cleaning method according to claim 1, characterized in that, Also includes: After completing the cleaning task, the path for the next cleaning task is planned based on the visual height information of the current environment.

8. An obstacle display method, characterized in that, Applied to a terminal device, the terminal device being communicatively connected to a cleaning device, the cleaning device being used to perform the cleaning method as described in any one of claims 1-7, the obstacle display method comprising: In response to the movement of the cleaning equipment during the cleaning task, the position of the cleaning equipment is displayed on the display interface; In response to the cleaning device determining that there is a target obstacle ahead in the direction of travel based on the visual height information of the current environment, a prompt message about the target obstacle is displayed on the display interface; In response to the cleaning device executing the cleaning strategy corresponding to the category of the target obstacle, the cleaning strategy corresponding to the category of the target obstacle is displayed on the display interface.

9. The obstacle display method according to claim 8, characterized in that, Also includes: In response to receiving the visual height information of the obstacle and the first cleaning strategy sent from the cleaning device, the visual height information of the obstacle, the first cleaning strategy, and interactive components are displayed on the display interface; The interactive component receives instruction information from the first or second cleaning strategy and sends the instruction information to the cleaning device.

10. A cleaning device, characterized in that, include: body; A cleaning component, mounted on the machine body, is used for cleaning the floor; At least two image acquisition devices are used to acquire environmental images; A control device for performing the cleaning method as described in any one of claims 1-7.

Images