Equipment control method, cleaning robot and cleaning system
By dividing the environment into patrol areas and performing pet-finding operations at patrol points, the cleaning robot optimizes the pet-finding path, solves the problem of low pet-finding efficiency in existing technologies, and achieves more efficient pet location.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- YUNJING INTELLIGENCE (SHENZHEN) CO LTD
- Filing Date
- 2026-01-15
- Publication Date
- 2026-04-14
AI Technical Summary
Existing cleaning robots are inefficient at finding pets, as they follow long paths and easily miss areas during the search, resulting in low efficiency.
By dividing the environment where the pet is to be found into multiple patrol areas and designating patrol points in each patrol area, the cleaning robot performs pet-finding operations at the patrol points. It moves to each patrol point using a preset patrol order, and determines the patrol order based on the activity frequency and distance of the target pet, thus optimizing the path planning.
It effectively shortens the pet-finding time, improves pet-finding efficiency, avoids redundant paths and missed areas, and increases the success rate and response speed of pet location.
Smart Images
Figure CN121845481A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and more particularly to a device control method, a cleaning robot, and a cleaning system. Background Technology
[0002] With the rapid growth of the pet economy and the increasing emotional needs of pet owners, the demand for products with functions such as pet care and pet finding is growing. Against this backdrop, cleaning robots are gradually evolving from simple cleaning tools into intelligent home agents with proactive interactive capabilities, such as integrating pet finding functions into cleaning robots, thereby satisfying deeper emotional and companionship needs. However, currently, the efficiency of using cleaning robots to find pets is relatively low. Summary of the Invention
[0003] In view of this, this application provides a device control method, a cleaning robot, and a cleaning system to improve the pet-finding efficiency of the cleaning robot.
[0004] A first aspect of this application provides a device control method applied to a cleaning robot. The device control method includes: responding to a pet-finding instruction sent by a terminal device, triggering a pet-finding task, and determining at least one patrol area and patrol points within each patrol area; controlling the cleaning robot to move to the patrol points according to a preset patrol order, and performing a pet-finding operation in the patrol area corresponding to the patrol point. The preset patrol order is determined by a first method and / or a second method. The first method includes determining the preset patrol order based on the activity frequency or activity duration of the target pet in the patrol area corresponding to each patrol point. The second method includes determining the preset patrol order based on the relative distance between the cleaning robot and each patrol point. If the pet-finding operation is completed in all patrol areas, or if the pet information of the target pet is obtained in any patrol area, the pet-finding task is terminated, the pet-finding result is determined, and the pet-finding result is sent to the terminal device.
[0005] In some embodiments, the method further includes: when determining the preset inspection order according to a first method and a second method, calculating a first index corresponding to each inspection area based on a first weight corresponding to the first method and a first priority corresponding to each inspection area, and calculating a second index corresponding to each inspection area based on a second weight corresponding to the second method and a second priority corresponding to each inspection area; calculating the inspection priority of each inspection area based on the first index and the second index; and determining the preset inspection order based on the inspection priority of each inspection area.
[0006] In some embodiments, performing the pet-finding operation in the patrol area corresponding to the patrol point includes: performing a patrol operation by rotating the patrol point once to obtain environmental information of the corresponding patrol area; detecting whether the environmental information contains the pet information, wherein the pet information includes the location information of the target pet in a preset cleaning map and / or the pet image of the target pet.
[0007] In some embodiments, determining at least one inspection area and the inspection point corresponding to each inspection area includes: determining an initial area; if the initial area of the initial area is less than or equal to a preset area threshold, determining the initial area as an inspection area and specifying an inspection point in the inspection area; if the initial area of the initial area is greater than the preset area threshold, dividing the initial area into multiple inspection areas according to a preset area division rule, and specifying an inspection point in each inspection area.
[0008] In some embodiments, the inspection area has at least one line segment that is equally divided by the inspection point, the line segment passes through the inspection point, and the endpoint of the line segment is located on the boundary of the inspection area, thereby dividing the inspection area into two regions.
[0009] In some embodiments, dividing the initial area into multiple inspection areas according to a preset area division rule includes: dividing the initial area according to a preset number of divisions to determine the multiple inspection areas; or determining the number of inspection areas and the inspection area of each inspection area in the initial area based on the preset area threshold and the initial area of the initial area, wherein the inspection area of at least one inspection area in the initial area is equal to the preset area threshold; dividing the initial area according to the number of areas and the inspection area of each inspection area to determine the multiple inspection areas.
[0010] In some embodiments, the method further includes: determining the preset area threshold based on the preset sensing distance of the cleaning robot.
[0011] In some embodiments, dividing the initial area into multiple patrol areas according to a preset area division rule further includes: if there is an obstacle in any of the divided patrol areas, and the obstacle obstructs the environmental perception range of the cleaning robot in any of the patrol areas, dividing the any patrol area into multiple patrol areas according to the position of the obstacle.
[0012] In some embodiments, if the area of any patrol area after division is less than the preset area threshold, the patrol area is determined as the remaining area, and the pet-finding operation is performed in the remaining area, including: controlling the cleaning robot to travel along the central axis of the remaining area and perform patrol operations to obtain environmental information of the remaining area.
[0013] In some embodiments, the method further includes: during the pet-finding operation in the patrol area, if a preset obstacle is detected, according to the position of the preset obstacle relative to the cleaning robot, controlling the cleaning robot to move from a first side area of the preset obstacle to a second side area, and performing the pet-finding operation in the second side area, wherein the first side area and the second side area are adjacent areas or opposite areas.
[0014] In some embodiments, the pet information includes a pet image of the target pet, and the method further includes: acquiring an environmental image of the patrol area; if the target pet is identified in the environmental image, calculating the visual proportion of the target pet in the environmental image; if the visual proportion is greater than a preset threshold, acquiring the pet image of the target pet; if the visual proportion is less than or equal to the preset threshold, and it is determined that the position of the target pet in the environmental image has shifted, controlling the cleaning robot to adjust its posture, thereby increasing the visual proportion of the target pet in the environmental image acquired by the adjusted cleaning robot.
[0015] In some embodiments, the method further includes generating the pet-finding instruction based on one or more of the following: the target pet's preset name, physical characteristics, or the number of pets.
[0016] In some embodiments, the method further includes: sending the pet information to the terminal device, and responding to a pet-teasing command sent by the terminal device to activate a pet-teasing mode, wherein the pet-teasing mode includes one or more of outputting pet sounds and outputting a call mode.
[0017] A second aspect of this application provides a cleaning robot, including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor implements the above-described device control method when executing the computer-readable instructions.
[0018] A third aspect of this application provides a cleaning system, the cleaning system comprising: a cleaning robot for implementing the control method described above; and a base station, the base station having a docking position for the cleaning robot to dock, the base station being used at least for maintaining the cleaning robot.
[0019] A fourth aspect of this application provides a computer-readable storage medium storing computer-readable instructions that, when executed by a processor, implement the above-described device control method.
[0020] In a device control method provided in this application embodiment, upon receiving a pet-finding instruction for a target pet, at least one patrol area and patrol points within each patrol area are determined. A cleaning robot is controlled to move to the patrol points according to a preset patrol sequence and perform a pet-finding operation within the patrol area corresponding to each patrol point. The pet-finding task ends when the pet-finding operation is completed in all patrol areas, or when pet information of the target pet is obtained in any patrol area. By simplifying the pet-finding operation to moving to each patrol point within each patrol area, pet-finding time or cycles can be effectively saved, improving pet-finding efficiency. Attached Figure Description
[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application 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.
[0022] Figure 1 This is an application scenario diagram of the device control method provided in the embodiments of this application.
[0023] Figure 2 This is a flowchart illustrating the implementation of the device control method provided in the embodiments of this application.
[0024] Figure 3 This is a flowchart illustrating the implementation of the region determination method provided in this application embodiment.
[0025] Figure 4 This is a timing diagram of the device control method provided in the embodiments of this application.
[0026] Figure 5 This is a schematic diagram of the structure of the device control apparatus provided in the embodiments of this application.
[0027] Figure 6 This is a schematic diagram of the structure of the cleaning robot provided in the embodiments of this application. Detailed Implementation
[0028] 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, 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.
[0029] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.
[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this application's specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It should be understood that, unless otherwise stated, " / " in this application means "or". For example, A / B can mean A or B. "And / or" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. "At least one" refers to one or more. "More than one" refers to two or more. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, and a, b, and c (seven cases).
[0031] Please see Figure 1 The diagram shown illustrates an application scenario of the device control method provided in this application. Figure 1The application scenario shown includes a cleaning system 300, which comprises a cleaning robot 100 and a base station 200. The base station 200 has a docking position 210 for the cleaning robot 100 to dock. The base station 200 is used at least for maintaining the cleaning robot 100. The cleaning robot 100 can optionally dock with the base station 200. After use, the cleaning robot 100 can be placed on the docking position 210. The cleaning robot 100 can move to the docking position 210 on its own, or it can be manually placed on the docking position 210 by the user, facilitating the daily storage and maintenance of the cleaning robot 100. In some embodiments, when the cleaning robot 100 is located at the docking position 210 of the base station 200, the base station 200 can perform maintenance on the cleaning robot 100, including but not limited to charging, dust collection, cleaning of cleaning components, replenishment of clean water, and pumping of wastewater. It can be understood that the cleaning robot 100 can perform at least one of the following tasks within the base station 200: 1. The base station 200 charges the cleaning robot 100; 2. The base station 200 collects the debris (e.g., debris from the cleaning robot 100's dust box or wastewater tank) into its dust collection container; 3. The base station 200 cleans the cleaning components of the cleaning robot 100 (e.g., washes the mop, washes the roller, cleans the roller brush, cleans the side brush, etc.); 4. The base station 200 replenishes the cleaning robot 100's clean water tank with clean water; 5. The base station 200 collects the dirt from the cleaning robot 100's wastewater tank into its wastewater container and discharges it to the outside. The above maintenance types are merely illustrative descriptions and are not intended to limit this application.
[0032] like Figure 2 The diagram shown is a flowchart of the device control method provided in this application embodiment, applied to a cleaning robot 100. During the control of the cleaning robot 100, upon receiving a pet-finding instruction for a target pet, the cleaning robot 100 triggers a pet-finding task and determines at least one patrol area and patrol points within each patrol area. The cleaning robot 100 is controlled to move to the patrol points according to a preset patrol sequence and perform pet-finding operations in the patrol areas corresponding to the patrol points. The pet-finding task ends when the pet-finding operation is completed in all patrol areas, or when pet information of the target pet is obtained in any patrol area. This application simplifies the pet-finding operation to moving to each patrol point within each patrol area, effectively saving pet-finding time or cycles and improving pet-finding efficiency.
[0033] In some embodiments, the cleaning robot 100 includes, but is not limited to, any one of a sweeping robot, a mopping robot, and a sweeping-mopping robot.
[0034] Figure 1The scenario shown is merely an illustrative example, and the control method provided in this application can also be applied to other scenarios. For example, in some scenarios, other types of devices may also be included, such as... Figure 1 The terminal device 400 shown is communicatively connected to the cleaning robot 100 and is used to remotely control and manage the cleaning robot 100. This application embodiment does not limit the specific application scenarios of the control method.
[0035] In this embodiment, the control method can be applied to the cleaning robot 100, or the cleaning robot control function provided by the method of this application can be directly integrated into the cleaning robot 100.
[0036] Please see Figure 2 The diagram shown is a flowchart illustrating the implementation of the device control method provided in this application embodiment. This method is applied to a cleaning robot, and this application embodiment uses this method in… Figure 1 The following explanation will be based on a cleaning robot 100. The method includes the following steps.
[0037] S11: Respond to the pet-finding command sent by the terminal device, trigger the pet-finding task, and determine at least one patrol area and patrol points within each patrol area.
[0038] In some embodiments, the target pet refers to an individual pet that can be identified by image features, electronic tags, or user-predefined identifiers.
[0039] In some embodiments, a pet-finding task refers to the process by which a cleaning robot, based on environmental perception and localization navigation, locates a target pet and performs specified interactions.
[0040] In some embodiments, the patrol area refers to a unit area that the cleaning robot moves within during the pet-finding task. During the pet-finding task, the cleaning robot can define at least one patrol area and move to that area to perform the pet-finding operation.
[0041] In some embodiments, a patrol point refers to the location of the cleaning robot within the patrol area when performing a pet-finding operation.
[0042] In some embodiments, a user can trigger a pet-finding command via preset controls (such as buttons), a voice interaction module, or an application (such as an application linked to a cleaning robot) on a terminal device. The terminal device, in response to the user's action, can send the pet-finding command to the cleaning robot. The cleaning robot, in response to the pet-finding command sent by the terminal device, performs the pet-finding task.
[0043] In other embodiments, the cleaning robot may integrate interactive hardware such as physical buttons, a touchscreen, a voice pickup unit, or a gesture recognition sensor, and have corresponding built-in control logic. In this case, in response to user actions such as triggering preset pet-finding controls on the cleaning robot, issuing voice commands to the cleaning robot, or clicking the pet-finding icon on the touchscreen, the cleaning robot can generate pet-finding instructions and execute pet-finding tasks according to the instructions. In other embodiments, pet-finding instructions can also be generated or triggered in other ways, which are not limited in this application.
[0044] Because generating pet-finding commands based on vague or single features of the target pet provided by the user may result in insufficient accuracy of the commands, making it difficult to accurately and effectively locate the target pet. To address this issue, in this embodiment, the cleaning robot generates pet-finding commands based on one or more features, such as the target pet's preset name, physical characteristics, or number of pets. This helps improve the accuracy of the pet-finding commands and facilitates the cleaning robot's more accurate location of the target pet based on the commands.
[0045] In some embodiments, the pet search command may include one or more of the following characteristics: the target pet's preset name, physical features, or the number of pets.
[0046] In some embodiments, the cleaning robot pre-sets and stores a mapping relationship between the pet characteristics (e.g., pet images, physical features, etc.) of the target pet and a preset name (or preset identifier) of the target pet. In response to a pet-finding command, the cleaning robot can query the preset mapping relationship to determine the pet characteristics of the target pet to be found, and then perform the pet-finding task based on those characteristics.
[0047] In this embodiment of the application, multiple features are used independently (e.g., "looking for a yellow shorthaired cat") or in combination to generate pet-finding instructions, which can accurately correspond to a specified pet individual or group, thereby adapting to different family scenarios and user needs.
[0048] In related technologies, path planning for pet-finding tasks typically involves searching along edges, such as along the edges of buildings, walls, or obstacles, and requires constant turning during the process. This process requires walking along the perimeter of the entire building area (e.g., a room), which takes a long time or cycle, thus affecting the efficiency of pet-finding and making it easy to miss areas.
[0049] To address the aforementioned issues, this embodiment divides the environment where the pet is to be located into multiple patrol zones and designates patrol points within each zone. This allows the cleaning robot to complete the pet-finding operation at the patrol points, eliminating the need to walk along walls or obstacle edges within each patrol zone. This reduces redundant paths and frequent turns caused by traversing the entire room's perimeter, shortening the pet-finding cycle and improving efficiency. Furthermore, dividing the patrol zones avoids potential blind spots and omissions during edge-tracking, achieving more comprehensive and rapid coverage of the indoor space and increasing the success rate and response speed of pet location.
[0050] In some embodiments of this application, such as Figure 3 As shown, determining at least one inspection area and the inspection points corresponding to each inspection area includes the following steps.
[0051] S21: Determine the initial region.
[0052] In some embodiments, the initial region refers to the original, undivided region before the partitioning operation (dividing at least one inspection area) is performed, serving as the logical starting point and spatial basis for subsequent inspection area division. The initial region can be an independent continuous space (e.g., a single room) or a collection of multiple independent spaces (e.g., multiple spaces). The specific composition of the initial region is not limited in the embodiments of this application.
[0053] S22: If the area of the initial region is less than or equal to the preset area threshold, the initial region is determined as the inspection area and inspection points are specified in the inspection area.
[0054] In some embodiments, a preset area threshold is used as reference data for area division. The preset area threshold can be customized; for example, it can be set to 10 square meters, 8 square meters, etc. This application embodiment does not limit the specific setting of the preset area threshold.
[0055] In some embodiments of this application, the cleaning robot can determine a preset area threshold based on the preset sensing distance of the cleaning robot.
[0056] In some embodiments, the preset sensing distance represents the maximum spatial range within which the cleaning robot's vision system (e.g., a binocular vision system) can achieve effective depth perception and ranging. The preset sensing distance can be determined based on factors such as the baseline length of the binocular vision system's camera, the lens focal length, the image sensor resolution, and the image processing capability.
[0057] In determining a preset area threshold based on the preset sensing distance of the cleaning robot, the cleaning robot can calculate the area of a circle with the preset sensing distance as its radius, and use this area as the preset area threshold. For example, if the preset sensing distance is L meters, then the preset area threshold is πL² square meters.
[0058] In other embodiments, the cleaning robot may also determine a preset area threshold through other means based on a preset sensing distance of the cleaning robot. This application does not limit this aspect.
[0059] In some embodiments, by determining a preset area threshold based on the preset sensing distance of the cleaning robot, and setting the patrol area of the patrol area to be less than or equal to the preset area threshold, it can be ensured that the cleaning robot can effectively cover the patrol area with the maximum spatial range of depth perception and distance measurement, thereby effectively improving the patrol or pet-finding efficiency of the cleaning robot.
[0060] In some embodiments, each patrol area is designated with a patrol point. During the patrol or pet-finding operation in the patrol area, the cleaning robot will move to the patrol point and patrol the patrol area by rotating or swiping to identify whether the target pet is in the patrol area.
[0061] In some embodiments, the circular ray range of the cleaning robot rotating around the inspection point can cover all points within the inspection area. This allows the cleaning robot to complete the pet-finding operation at the inspection point without having to walk along the edges of walls or obstacles in each inspection area. This effectively reduces redundant paths and frequent turns caused by traversing the entire perimeter of the room, shortens the pet-finding cycle, and improves pet-finding efficiency.
[0062] In some embodiments of this application, at least one line segment is provided in the inspection area, which is divided into two regions by an inspection point. The line segment passes through the inspection point and its endpoint is located on the boundary of the inspection area. For example, the inspection point can be the center point of the inspection area.
[0063] In other embodiments, points within the inspection area can be customized as inspection points. This application does not limit the specific method of determining inspection points.
[0064] S23: If the area of the initial region is greater than the preset area threshold, the initial region is divided into multiple inspection regions according to the preset region division rules, and inspection points are specified in each inspection region.
[0065] In some embodiments, the preset region division rule refers to a pre-defined strategy or algorithm for region division.
[0066] In some embodiments, the initial area can be a single, continuous space (e.g., a single room) or a collection of multiple independent spaces (e.g., multiple spaces). The area of the initial area represents the area of any corresponding independent space within the initial area. Accordingly, the initial area of the initial area is greater than a preset area threshold, including cases where the area of any independent space within the initial area is greater than the preset area threshold. In this case, the cleaning robot can divide any independent space into multiple inspection areas according to preset area division rules, and specify inspection points in each inspection area. In some embodiments, at least one line segment in the inspection area is equally divided by the inspection point, the line segment passes through the inspection point, and the endpoint of the line segment is located on the boundary of the inspection area, thus dividing the inspection area into two regions. For example, the inspection point can be the center point of the inspection area. In other embodiments, points within the inspection area can also be custom-designated as inspection points; the specific method of determining inspection points is not limited in this application embodiment.
[0067] In some embodiments, dividing the initial area into multiple patrol areas when the initial area is greater than a preset area threshold helps ensure that the cleaning robot can effectively cover the patrol area with the maximum spatial range of depth perception and distance measurement, thereby effectively improving the patrol or pet-finding efficiency of the cleaning robot.
[0068] In some embodiments of this application, the initial area is divided into multiple inspection areas according to a preset area division rule, including: dividing the initial area according to a preset division number to determine multiple inspection areas; or determining the number of inspection areas and the inspection area of each inspection area in the initial area based on a preset area threshold and the initial area of the initial area, wherein the inspection area of at least one inspection area in the initial area is equal to the preset area threshold; dividing the initial area according to the number of areas and the inspection area of each inspection area to determine multiple inspection areas.
[0069] In some embodiments, the preset number of divisions can be customized. For example, the preset number of divisions can be set to 2. This application does not limit the specific setting of the preset number of divisions. As an example, the initial area may include two independent spaces (e.g., two rooms). Assuming the preset number of divisions is 2, the cleaning robot can divide each independent space into 2 inspection areas.
[0070] In other embodiments of this application, the cleaning robot can determine the number of patrol areas and the patrol area of each patrol area in the initial area based on a preset area threshold and the initial area of the initial area, and divide the initial area into multiple patrol areas according to the number of areas and the patrol area of each patrol area.
[0071] In some embodiments, where the initial area comprises multiple independent spaces (e.g., multiple rooms), the cleaning robot can acquire the area of each independent space, i.e., the corresponding initial area area. If the initial area area corresponding to any independent space is greater than a preset area threshold, the cleaning robot can determine the number of inspection areas and the inspection area area of each inspection area within that independent space based on the preset area threshold and the initial area area corresponding to that independent space. Furthermore, based on the number of areas and the inspection area area of each inspection area, the robot can divide that independent space into multiple inspection areas within that independent space.
[0072] As an example, suppose the initial area of the independent space H contained in the initial region is 25 square meters, and the preset area threshold is 10 square meters. The initial area of the independent space H is greater than the preset area threshold. In this case, the cleaning robot can perform a region division operation to divide the inspection area into inspection areas with an area equal to the preset area threshold, and naturally form an inspection area from the remaining area. Specifically, the cleaning robot can divide the initial area of the independent space H by the preset area threshold. Based on the calculated quotient, it determines the number of inspection areas with an area equal to the preset area threshold, naturally forming an inspection area from the remaining area, and determines the area of the remaining area based on the remainder. The cleaning robot divides the independent space H into three inspection areas based on the number of areas and the area of each inspection area, with inspection area areas of 10 square meters, 10 square meters, and 5 square meters, respectively.
[0073] In other embodiments, the cleaning robot may also divide the area in other ways. For example, the cleaning robot may also divide the area according to a user-defined area division operation. This application does not limit the specific method of area division.
[0074] In some embodiments of this application, the initial area is divided into multiple inspection areas according to a preset area division rule. The method further includes: if there is an obstacle in any of the divided inspection areas, and the obstacle obstructs the environmental perception range of the cleaning robot in any inspection area, the inspection area is divided into multiple inspection areas according to the location of the obstacle.
[0075] In some embodiments, when obstacles obstruct the cleaning robot's environmental perception range within the patrol area, the cleaning robot may miss or be unable to acquire a portion of the patrol area's field of vision, potentially leading to incorrect pet-finding results for that area. To address this issue, in this embodiment, when obstacles obstruct the cleaning robot's environmental perception range within the patrol area, the cleaning robot can further divide the patrol area into multiple patrol zones based on the obstacle's location. This ensures that the cleaning robot's environmental perception range covers the entire patrol area where the obstacle is located, preventing any omissions.
[0076] In other embodiments, obstacles can be pre-set. Upon detecting a pre-set obstacle, the cleaning robot divides the area where the obstacle is located into multiple patrol zones based on the obstacle's position. The types of pre-set obstacles include, but are not limited to, obstacles that may obstruct the cleaning robot's environmental perception range, such as furniture like sofas and bookshelves. This application does not limit the specific types of pre-set obstacles.
[0077] In this embodiment, by pre-setting area division rules when obstacles obstruct the environmental perception range of the cleaning robot in any patrol area, the cleaning robot can further divide the patrol area where the obstacle is located into multiple patrol areas according to the location of the obstacle. This can avoid missing areas for pet finding and thus help improve the efficiency of successfully finding pets.
[0078] S12: Control the cleaning robot to move to the inspection point according to the preset inspection sequence, and perform the pet search operation in the inspection area corresponding to the inspection point.
[0079] In some embodiments, the method for determining the preset patrol order includes a first method and / or a second method. The first method includes determining the preset patrol order based on the activity frequency or activity duration of the target pet in the patrol area corresponding to each patrol point. The second method includes determining the preset patrol order based on the relative distance between the cleaning robot and each patrol point.
[0080] In some embodiments, the frequency and duration of the target pet's activity in the patrol area can be customized by the user based on the pet's behavior. In other embodiments, the cleaning robot can also determine the frequency and duration of the target pet's activity in the patrol area based on cleaning or pet-finding records corresponding to the patrol area. In other embodiments, the frequency and duration of the target pet's activity in the patrol area can also be determined by other methods, and this application does not limit these methods.
[0081] In determining the preset patrol order according to the first method, the cleaning robot can determine the preset patrol order based on the activity frequency or duration of the target pet in the patrol area corresponding to each patrol point, from high to low. In determining the preset patrol order according to the second method, the cleaning robot can determine the preset patrol order based on the relative distance between the cleaning robot and each patrol point, from near to far (or the principle of proximity). In other embodiments, the cleaning robot can also determine the preset patrol order through other methods, which are not limited in this application.
[0082] In some embodiments, the cleaning robot may determine a preset patrol order based solely on a first method and sequentially perform pet-finding operations on at least one patrol area. Alternatively, the cleaning robot may determine a preset patrol order based solely on a second method and sequentially perform pet-finding operations on at least one patrol area. The cleaning robot may also dynamically switch methods to determine the next patrol area to perform the pet-finding operation during the pet-finding process. For example, the cleaning robot may determine the first patrol area to perform the pet-finding operation according to the first method (i.e., the activity frequency or activity duration of the target pet in the patrol area corresponding to each patrol point). After patrolling the first patrol area, if no pet information is identified, the cleaning robot may determine the next patrol area to perform the pet-finding operation according to the second method (proximity principle).
[0083] In one embodiment, the priorities of the first method and the second method can be predefined. The cleaning robot selects or switches the preset inspection order determination method according to the priority of the first method and the second method.
[0084] Determining the preset patrol order based solely on a single method (such as the first or second method) may affect pet-finding efficiency. For example, if the preset patrol order is determined only based on the target pet's activity frequency or duration in the patrol area corresponding to each patrol point (the first method), the time loss due to actual distance may be overlooked, leading to inefficient path planning, increased unnecessary movement, and thus reduced pet-finding efficiency. Similarly, if the preset patrol order is determined only based on the relative distance between the cleaning robot and each patrol point (the second method), the patrol areas where the target pet frequently appears may be ignored, resulting in search direction deviation and wasted time in areas with low activity frequency, thereby reducing pet-finding efficiency. To address these issues and further improve pet-finding efficiency, the cleaning robot can combine the first and second methods to determine the preset patrol order.
[0085] In some embodiments of this application, when the preset inspection order is determined according to the first method and the second method, the first index corresponding to each inspection area is calculated according to the first weight corresponding to the first method and the first priority corresponding to each inspection area, and the second index corresponding to each inspection area is calculated according to the second weight corresponding to the second method and the second priority corresponding to each inspection area; the inspection priority of each inspection area is calculated according to the first index and the second index; and the preset inspection order is determined according to the inspection priority of each inspection area.
[0086] In some embodiments, the first weight represents the priority or probability coefficient of the cleaning robot using the first method to traverse the area. The second weight represents the priority or probability coefficient of the cleaning robot using the second method to traverse the area. The first and second weights can be customized.
[0087] In some embodiments, the first priority for each patrol area is determined based on the activity frequency or duration of the target pet in each patrol area. For example, a cleaning robot sequentially performs a pet-finding operation in three patrol areas (Area A, Area B, and Area C). The order of the target pet's activity frequency or duration in the three patrol areas, from highest to lowest, is Area A, Area B, and Area C. The cleaning robot can then assign a first priority value to Area A, Area B, and Area C based on this order, ensuring that the first priority for Area A is higher than that for Area B, and vice versa. For example, the first priority for Area A might be assigned a value of 3, the first priority for Area B a value of 2, and the first priority for Area C a value of 1.
[0088] In some embodiments, the second priority corresponding to each patrol area is determined based on the relative distance between the cleaning robot and the patrol points within each patrol area. For example, the cleaning robot sequentially performs a pet-finding operation on three patrol areas (area A, area B, and area C). The order of the relative distances between the cleaning robot and the patrol points within each patrol area, from closest to farthest, is area C, area B, and area A. Therefore, the cleaning robot can assign values to the second priorities corresponding to areas A, B, and C based on this order of relative distance, such that the second priority of area C is greater than the second priority of area B, and the first priority of area B is greater than the second priority of area A. For example, the second priority of area A is assigned a value of 1, the second priority of area B is assigned a value of 2, and the second priority of area C is assigned a value of 3.
[0089] After determining the first weight corresponding to the first method, the second weight corresponding to the second method, and the first and second priorities corresponding to each inspection area, the cleaning robot calculates the first index corresponding to each inspection area based on the first weight and the first priority of each inspection area, and calculates the second index corresponding to each inspection area based on the second weight and the second priority of each inspection area. The cleaning robot then calculates the inspection priority of each inspection area based on the first and second indices, and determines the preset inspection order based on the inspection priority of each inspection area. In some embodiments, the higher the inspection priority of an inspection area, the higher the priority of that inspection area.
[0090] As an example, a cleaning robot sequentially performs a pet-finding operation in three inspection areas (Area A, Area B, and Area C). The first weight for the first method is X, and the second weight for the second method is Y. The first priority for Area A is assigned a value of 3, for Area B a value of 2, and for Area C a value of 1. The second priority for Area A is assigned a value of 1, for Area B a value of 2, and for Area C a value of 3. Therefore, the cleaning robot can calculate the first index for Area A as 3x, for Area B as 2x, and for Area C as 1x, and the second index for Area A as 1y, for Area B as 2y, and for Area C as 3y. Furthermore, the cleaning robot can calculate the inspection priority for Area A as... In the formula, This indicates the inspection priority for area A; the inspection priority for area B is... In the formula, This indicates the inspection priority for area B; the inspection priority for area C is... In the formula, This indicates the patrol priority for area C. The cleaning robot can... , , The sizes are sorted to determine the preset inspection order.
[0091] In some embodiments of this application, performing a pet-finding operation in the patrol area corresponding to the patrol point includes: performing a patrol operation by rotating around the patrol point once to obtain environmental information of the corresponding patrol area; and detecting whether the environmental information contains pet information.
[0092] In some embodiments, environmental information may include environmental images, environmental maps, and other information about the patrol area. This application does not limit the specific content of the environmental information.
[0093] In some embodiments, pet information includes the target pet's location information in a preset cleaning map and / or pet images. Location information may include the target pet's real-time coordinates in the map coordinate system corresponding to the preset cleaning map, the target pet's orientation and distance relative to the cleaning robot, the patrol area where the target pet is located, and the timestamp corresponding to this location information. This information collectively constitutes dynamic location information, enabling the cleaning robot or user to accurately locate and track the target pet's movement trajectory. Pet images include, but are not limited to, pet photos and pet videos.
[0094] In some embodiments, during the pet-finding operation within the patrol area corresponding to the patrol point, the cleaning robot can rotate once around the patrol point to perform the patrol operation. When the patrol area is less than or equal to a preset area threshold and the patrol point is located at the center of the patrol area, it can be ensured that the cleaning robot's environmental perception range covers the entire patrol area and acquires environmental information for that area during its rotation. The cleaning robot can determine whether the target pet is within the corresponding patrol area by detecting whether the environmental information contains pet information. For example, if the environmental information of the patrol area contains pet information, the cleaning robot can determine that the target pet is within that patrol area. If the environmental information of the patrol area does not contain pet information, the cleaning robot can determine that the target pet is not within that patrol area.
[0095] In some embodiments of this application, if the area of any patrol area after division is less than a preset area threshold, the patrol area is determined as the remaining area, and a pet-finding operation is performed in the remaining area, including: controlling the cleaning robot to travel along the central axis of the remaining area and performing patrol operations to obtain environmental information of the remaining area.
[0096] In some embodiments, when the remaining area is a regular shape, the cleaning robot can determine the central axis of the remaining area by determining the axis of symmetry. When the remaining area is an irregular shape, the cleaning robot can take the midpoints of multiple pairs of symmetrical points on the contour of the remaining area, and then connect these midpoints or fit them into a smooth curve, using this smooth curve as the central axis of the remaining area, or use a mathematical algorithm model (such as central axis transformation) to determine the central axis of the remaining area. This application does not limit the specific method of determining the central axis in its embodiments.
[0097] In some embodiments of this application, during the pet-finding operation in the patrol area, if a preset obstacle is detected, the cleaning robot is controlled to move from the first side area of the preset obstacle to the second side area according to the position of the preset obstacle relative to the cleaning robot, and the pet-finding operation is performed in the second side area.
[0098] In some embodiments, the first side region and the second side region are adjacent regions or opposite regions.
[0099] In some embodiments, the preset obstacle can be an obstacle that obstructs the environmental perception range of the cleaning robot, or it can be other custom-designed obstacles. This application does not limit this.
[0100] In some embodiments, because pre-set obstacles may obstruct the cleaning robot's environmental perception range within the patrol area, some areas within the patrol area may not be patrolled, thus affecting the accuracy of the pet-finding results. In this case, during the pet-finding operation within the patrol area, if a pre-set obstacle is detected, the cleaning robot can move from a first side area to a second side area based on the position of the pre-set obstacle relative to the cleaning robot, and perform the pet-finding operation in the second side area, thereby ensuring that the entire patrol area is patrolled without omissions and improving the accuracy of the pet-finding results.
[0101] S13: If the pet-finding operation is completed in all patrol areas, or if the pet information of the target pet is obtained in any patrol area, the pet-finding task ends, the pet-finding result is confirmed, and the pet-finding result is sent to the terminal device.
[0102] In some embodiments, the pet-finding result may include whether the target pet was found or not. If the target pet was found, the pet-finding result may also include pet information such as the target pet's information. This application embodiment does not limit the specific content of the pet-finding result.
[0103] In some embodiments, pet information includes, but is not limited to, the location information of the target pet in a preset cleaning map and / or pet images of the target pet.
[0104] In some embodiments, if the pet information of the target pet is obtained in any patrol area, the cleaning robot can determine that the target pet has been found, and send the result information of finding the target pet and / or the pet information as the pet finding result to the terminal device.
[0105] In some embodiments, if the cleaning robot still fails to obtain the pet information of the target pet after completing the pet-finding operation in all patrol areas, the cleaning robot can determine that the target pet has not been found and send the result of not finding the target pet to the terminal device as the pet-finding result.
[0106] In some embodiments of this application, during the process of acquiring the pet image of the target pet, the cleaning robot can acquire the environmental image of the patrol area; if the target pet is identified in the environmental image, the visual proportion of the target pet in the environmental image is calculated; if the visual proportion is greater than a preset threshold, the pet image of the target pet is acquired; if the visual proportion is less than or equal to the preset threshold and it is determined that the position of the target pet in the environmental image has shifted, the cleaning robot is controlled to adjust its pose, so that the visual proportion of the target pet in the environmental image acquired by the adjusted cleaning robot increases.
[0107] In some embodiments, the preset threshold can be customized; for example, the preset threshold can be set to 50%. This application does not limit the specific setting of the preset threshold.
[0108] In some embodiments, by identifying the visual proportion of the target pet in the environmental image and adjusting the cleaning robot's pose (e.g., moving, turning, or adjusting the gimbal) when the visual proportion is less than or equal to a preset threshold, the stability and accuracy of visual recognition and tracking can be improved. This ensures that the target pet is always in the center of the image and its features are clear, avoiding recognition failure or loss due to the target being too small. Furthermore, it can optimize the viewing experience for remote users. Users can obtain clearer images of the target pet through their terminal devices, providing an ideal compositional basis for subsequent interactive behaviors (e.g., playing with the pet, taking photos), enabling the cleaning robot to complete pet-finding and interaction tasks in a more proactive and intelligent manner.
[0109] In some embodiments of this application, after obtaining the pet information of the target pet, the cleaning robot can also send the pet information to the terminal device and respond to the pet-teasing command sent by the terminal device to start the pet-teasing mode.
[0110] In some embodiments, the pet-playing mode includes, but is not limited to, one or more of the following: outputting pet sounds and outputting a call mode.
[0111] In some embodiments, after the cleaning robot successfully identifies the target pet, it can acquire the pet's information and send it to a terminal device (e.g., a smartphone or tablet). After viewing the target pet's status on the terminal device, the user can trigger a pet-playing command (e.g., controls or voice input) through a preset interface (e.g., an interactive interface within an application). Upon receiving the pet-playing command, the cleaning robot can activate its built-in pet-playing mode, such as controlling the cleaning robot to perform a specified movement (e.g., slowly approaching, circling, outputting pet sounds, or outputting a call), thereby enabling remote interaction with the target pet.
[0112] As an example, such as Figure 4As shown, users can trigger a pet-finding command through an application (APP) on their terminal device. The cleaning robot (Application module) responds to the command by stopping its current task, moving out of the base station if it's already there, and entering pet-finding mode. In pet-finding mode, the cleaning robot (AI module) acquires video data of the patrol area and uploads it to the Artificial Intelligence of Things (AIoT) module. The cleaning robot can perform pet-finding operations within the patrol area, such as rotating around a patrol point to identify the target pet. If a target pet is identified, the cleaning robot can use the AI module to capture a video or photo of the target pet, obtaining its image. If the target pet's visual proportion in the video or photo is less than or equal to a preset threshold, the cleaning robot's posture can be adjusted (e.g., moving, turning, or adjusting the gimbal), and the pet-finding navigation can be terminated. The cleaning robot can play a voice prompt indicating the end of the pet-finding navigation. Furthermore, the cleaning robot can send the pet-finding results to the terminal device, where users can view the results through the APP's interface.
[0113] In some embodiments, the pet-finding results may include pet images such as videos or photos of the target pet. For example... Figure 4 As shown, the cleaning robot can store pet-finding results in its AIoT module. Users can request videos or photos of their target pet from the robot's AIoT module via their terminal devices. Responding to video call commands sent by the user through the terminal device's app, the cleaning robot can output real-time environmental video streams, synchronized audio streams, its own status information (such as battery level and location), and confirmation and execution feedback of the user's interaction commands, thus building a two-way, immersive remote interaction channel. After the pet-finding task is completed, the user can trigger pet-playing commands (such as controls or voice input) through a preset interface on the terminal device (such as an in-app interface). Upon receiving the pet-playing command, the cleaning robot can activate its built-in pet-playing mode. After ending the pet-playing session, the cleaning robot can wait for a certain period or respond to a return command triggered by the user through the terminal device's app, returning to the base station and ending the entire pet-finding process.
[0114] For example Figure 4 As shown, users can obtain video data of the inspected area from the AIoT module through their terminal devices.
[0115] For example Figure 4 As shown, after the cleaning robot obtains a video or photo of the target pet, it can request to store the upload and download credentials of the video or photo in the storage cloud, thereby storing the video or photo of the target pet in the storage cloud.
[0116] In a device control method provided in this application embodiment, upon receiving a pet-finding instruction for a target pet, at least one patrol area and patrol points within each patrol area are determined. A cleaning robot is controlled to move to the patrol points according to a preset patrol sequence and perform a pet-finding operation within the patrol area corresponding to each patrol point. The pet-finding task ends when the pet-finding operation is completed in all patrol areas, or when pet information of the target pet is obtained in any patrol area. By simplifying the pet-finding operation to moving to each patrol point within each patrol area, pet-finding time or cycles can be effectively saved, improving pet-finding efficiency.
[0117] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.
[0118] Please see Figure 5 The diagram shown is a structural diagram of the device control apparatus provided in an embodiment of this application, which can implement the details of the device control method in the above embodiments and achieve the same effect. Figure 5 As shown, the device control device 10 can be applied to a cleaning robot with data processing capabilities. The device control device 10 includes: a response module 11, used to respond to a pet-finding command sent by a terminal device, trigger a pet-finding task, and determine at least one patrol area and patrol points within each patrol area; a pet-finding module 12, used to control the cleaning robot to move to the patrol points according to a preset patrol order, and to perform pet-finding operations in the patrol areas corresponding to the patrol points. The preset patrol order is determined by a first method and / or a second method. The first method includes determining the preset patrol order based on the activity frequency or activity duration of the target pet in the patrol area corresponding to each patrol point. The second method includes determining the preset patrol order based on the relative distance between the cleaning robot and each patrol point; the pet-finding module 12 is also used to end the pet-finding task, determine the pet-finding result, and send the pet-finding result to the terminal device if the pet-finding operation is completed in all patrol areas or if the pet information of the target pet is obtained in any patrol area.
[0119] Regarding the limitations of the equipment control device 10, please refer to the limitations of the equipment control method above, which will not be repeated here. Each module of the aforementioned equipment control device 10 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the cleaning robot in hardware form or independent of it, or stored in the memory of the cleaning robot in software form, so that the processor can call and execute the operations corresponding to each module.
[0120] Please see Figure 6The diagram shown is a structural schematic of a cleaning robot provided in an embodiment of this application. The network in which the cleaning robot 100 is located includes, but is not limited to, the Internet, wide area network, metropolitan area network, local area network, and virtual private network (VPN).
[0121] like Figure 6 As shown, the cleaning robot 100 includes a communication module 101, a memory 102, a processor 103, an input / output interface 104, and a bus 105. The processor 103 is coupled to the communication module 101, the memory 102, and the input / output interface 104 via the bus 105.
[0122] The communication module 101 can be a wireless communication module or a mobile communication module. The wireless communication module can provide solutions for wireless communication used in the cleaning robot 100, including Wireless Local Area Networks (WLAN) (e.g., Wireless Fidelity, Wi-Fi), Bluetooth (BT), Global Navigation Satellite System (GNSS), Frequency Modulation (FM), Near Field Communication (NFC), and Infrared (IR) technologies. The mobile communication module can provide solutions for wireless communication used in the cleaning robot 100, including 2G / 3G / 4G / 5G technologies. Memory 102 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). The RAM can be directly read and written by the processor 103 and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, as well as user and application data. The RAM may include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM, such as fifth-generation DDR SDRAM, generally referred to as DDR5 SDRAM), etc. Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by the processor 103. Non-volatile memory can include disk storage devices and flash memory. The memory 102 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 103. The one or more computer programs include multiple instructions that, when executed by the processor 103, enable a device control method to be executed on the cleaning robot 100. In other embodiments, the cleaning robot 100 also includes an external memory interface for connecting to an external memory to expand the storage capacity of the cleaning robot 100. Processor 103 may include one or more processing units, such as an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). These different processing units may be independent devices or integrated into one or more processors. The processor 103 provides computing and control capabilities. For example, the processor 103 is used to execute computer programs stored in the memory 102 to implement the device control method described above.
[0123] The input / output interface 104 is used to provide a channel for user input or output. For example, the input / output interface 104 can be used to connect various input / output devices, such as a mouse, keyboard, touch device, display screen, etc., so that users can enter information or visualize information. Bus 105 is used to provide a channel for communication between the communication module 101, memory 102, processor 103, and input / output interface 104 in the cleaning robot 100. It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the cleaning robot 100. In other embodiments of this application, the cleaning robot 100 may include more or fewer components than illustrated, or combine some components, or separate some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
[0124] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the method implemented when the program instructions are executed can refer to the device control method in the above embodiments of this application. The computer-readable storage medium can be the internal memory of the cleaning robot described in the above embodiments, such as the hard drive or memory of the cleaning robot. Alternatively, the computer-readable storage medium can be an external storage device for the cleaning robot, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the cleaning robot.
[0125] Furthermore, the computer-readable storage medium may primarily include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, etc.; and the data storage area may store data created based on the use of the cleaning robot, etc.
[0126] 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 it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.
Claims
1. A device control method applied to a cleaning robot, characterized in that, The equipment control method includes: In response to the pet-finding command sent by the terminal device, the pet-finding task is triggered and at least one patrol area and patrol points in each patrol area are determined. The cleaning robot is controlled to move to the patrol point according to a preset patrol order, and to perform a pet-finding operation in the patrol area corresponding to the patrol point. The preset patrol order is determined by a first method and / or a second method. The first method includes determining the preset patrol order based on the activity frequency or activity duration of the target pet in the patrol area corresponding to each patrol point. The second method includes determining the preset patrol order based on the relative distance between the cleaning robot and each patrol point. If the pet-finding operation is completed in all patrol areas, or if the pet information of the target pet is obtained in any patrol area, the pet-finding task ends, the pet-finding result is determined, and the pet-finding result is sent to the terminal device.
2. The equipment control method as described in claim 1, characterized in that, The method further includes: When the preset inspection order is determined according to the first method and the second method, the first index corresponding to each inspection area is calculated according to the first weight corresponding to the first method and the first priority corresponding to each inspection area, and the second index corresponding to each inspection area is calculated according to the second weight corresponding to the second method and the second priority corresponding to each inspection area. The inspection priority of each inspection area is calculated based on the first index and the second index. The preset inspection sequence is determined based on the inspection priority of each inspection area.
3. The equipment control method as described in claim 1, characterized in that, The pet-finding operation performed in the patrol area corresponding to the patrol point includes: The patrol operation is performed by rotating once at the patrol point to obtain environmental information of the corresponding patrol area; The system detects whether the environmental information contains the pet information, which includes the location information of the target pet in the preset cleaning map and / or the pet image of the target pet.
4. The equipment control method as described in claim 1, characterized in that, The determination of at least one inspection area and the inspection points corresponding to each inspection area includes: Determine the initial region; If the area of the initial region is less than or equal to a preset area threshold, the initial region is determined as the inspection area and inspection points are specified in the inspection area. If the initial area of the initial region is greater than the preset area threshold, the initial region is divided into multiple inspection areas according to the preset area division rules, and inspection points are specified in each inspection area.
5. The equipment control method as described in claim 4, characterized in that, The inspection area contains at least one line segment that is equally divided by the inspection point. The line segment passes through the inspection point and its endpoint is located on the boundary of the inspection area, thus dividing the inspection area into two regions.
6. The equipment control method as described in claim 4, characterized in that, The process of dividing the initial area into multiple inspection areas according to a preset area division rule includes: The initial area is divided according to a preset number of divisions to determine the multiple inspection areas; or Based on the preset area threshold and the initial area of the initial region, the number of patrol areas in the initial region and the patrol area of each patrol area are determined, and the patrol area of at least one patrol area in the initial region is equal to the preset area threshold. The initial area is divided according to the number of areas and the area of each patrol area to determine the multiple patrol areas.
7. The equipment control method as described in claim 4, characterized in that, The method further includes: The preset area threshold is determined based on the preset sensing distance of the cleaning robot.
8. The equipment control method as described in claim 4, characterized in that, The step of dividing the initial area into multiple inspection areas according to a preset area division rule also includes: If any of the divided inspection areas contains an obstacle, and the obstacle obstructs the environmental perception range of the cleaning robot in any of the inspection areas, the inspection area is divided into multiple inspection areas according to the location of the obstacle.
9. The equipment control method as described in claim 6, characterized in that, If the area of any patrol zone after division is less than the preset area threshold, the patrol zone is determined as the remaining area, and the pet-finding operation is performed in the remaining area, including: The cleaning robot is controlled to travel along the central axis of the remaining area and perform patrol operations to obtain environmental information of the remaining area.
10. The equipment control method as described in claim 1, characterized in that, The method further includes: During the pet-finding operation in the patrol area, if a preset obstacle is detected, the cleaning robot is controlled to move from a first side area to a second side area based on the position of the preset obstacle relative to the cleaning robot, and the pet-finding operation is performed in the second side area. The first side area and the second side area are adjacent areas or opposite areas.
11. The equipment control method as described in claim 1, characterized in that, The pet information includes a pet image of the target pet, and the method further includes: Acquire environmental images of the patrol area; If the target pet is identified in the environmental image, calculate the visual proportion of the target pet in the environmental image; If the visual proportion is greater than a preset threshold, acquire the pet image of the target pet; If the visual proportion is less than or equal to the preset threshold, and it is determined that the position of the target pet in the environmental image has shifted, the cleaning robot is controlled to adjust its posture, so that the visual proportion of the target pet in the environmental image collected by the adjusted cleaning robot increases.
12. The equipment control method as described in claim 1, characterized in that, The method further includes: The pet-finding instruction is generated based on one or more of the target pet's preset name, appearance characteristics, or number of pets.
13. The equipment control method as described in claim 1, characterized in that, The method further includes: The pet information is sent to the terminal device, and the pet-playing command sent by the terminal device is responded to to start the pet-playing mode, which includes one or more of outputting pet sounds and outputting a call mode.
14. A cleaning robot, characterized in that, The device includes a memory, a processor, and computer-readable instructions stored in the memory, which, when executed by the processor, implement the device control method as described in any one of claims 1 to 13.
15. A cleaning system, characterized in that, The cleaning system includes: A cleaning robot, said cleaning robot being used to implement the equipment control method as described in any one of claims 1 to 13; and A base station is provided with a docking position for the cleaning robot to dock, and the base station is used at least for maintaining the cleaning robot.