Cleaning method, apparatus, smart device, storage medium, and computer program product

Abstract

The application relates to a cleaning method, a cleaning device, an intelligent device, a storage medium and a computer program product. The method comprises the following steps: acquiring a region map of a region to be cleaned; based on a boundary line of the region map, controlling a cleaning piece to be in an extended state, and cleaning an edge region along the boundary line; then, controlling the cleaning piece to be in a retracted state, and cleaning an internal region in the region to be cleaned; in the process of cleaning the internal region, in response to detection of an obstacle, controlling the cleaning piece to switch to the extended state, and cleaning along a boundary of the obstacle; after the cleaning along the boundary of the obstacle is completed, controlling the cleaning piece to switch back to the retracted state, and continuing to clean the internal region. The method can improve cleaning coverage.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and in particular to a cleaning method, apparatus, intelligent device, storage medium, and computer program product. Background Technology

[0002] With the development of artificial intelligence technology, cleaning robots are widely used in various scenarios such as homes, supermarkets, and warehouses to achieve automated cleaning of ground environments. In practical applications, the areas to be cleaned usually have boundary structures such as walls and door frames, and also contain various obstacles such as tables, chairs, and shelves, making the overall environment structure relatively complex.

[0003] In traditional technologies, cleaning robots typically construct a map of the area to be cleaned using built-in sensor modules and plan a cleaning path based on the map. As the cleaning robot moves along the cleaning path, it cleans the area to be cleaned. However, to avoid collisions with boundary structures and obstacles, the cleaning robot has difficulty cleaning the boundary areas near the boundary structures and the surrounding areas of obstacles, resulting in a low cleaning coverage rate of the area to be cleaned.

[0004] Currently, when cleaning robots perform full-coverage cleaning of an area, their cleaning components (such as rollers and tracks) are typically designed with fixed positions. To improve cleaning effectiveness along walls, furniture edges, and other boundary areas, some existing technologies have proposed retractable cleaning component structures, allowing the cleaning components to extend outwards to get closer to walls or the base of obstacles.

[0005] However, existing solutions have obvious shortcomings in practical applications: some solutions keep the cleaning component extended throughout the cleaning process. Although this ensures the cleaning effect along the edge, when cleaning open interior areas (such as the center of a room), the extended cleaning component does not bring substantial cleaning benefits. Instead, because the extended state requires the drive motor to control, it causes unnecessary energy waste. Summary of the Invention

[0006] Therefore, it is necessary to provide a cleaning method, apparatus, smart device, computer-readable storage medium, and computer program product that can improve cleaning coverage and reduce energy consumption while ensuring cleaning effectiveness, in response to the above-mentioned technical problems.

[0007] Firstly, this application provides a cleaning method. The method includes:

[0008] Obtain a map of the area to be cleaned;

[0009] Based on the boundary lines of the regional map, the cleaning component is controlled to extend outwards and clean the area along the boundary lines.

[0010] Afterwards, the cleaning component is retracted, and the internal area of ​​the area to be cleaned is cleaned.

[0011] During the cleaning of the internal area, in response to the detection of an obstacle, the cleaning component is controlled to switch to the extended state and clean along the boundary of the obstacle.

[0012] After cleaning along the boundary of the obstacle, control the cleaning component to switch to the retraction state and continue cleaning the internal area.

[0013] In one embodiment, controlling the cleaning component to switch to the extended state includes:

[0014] Depending on the type of obstacle or the degree of interference with the cleaning component, the cleaning component can be selectively controlled to switch to an extended state or remain in a retracted state.

[0015] In one embodiment, controlling the cleaning component to be in an extended state based on the boundary line of the area map, and cleaning the edge area along the boundary line, includes:

[0016] Based on the boundary lines of the area map and the cleaning length of the cleaning component, a sub-map along the edge is determined;

[0017] The cleaning component is controlled to be in an extended state to clean the edge area corresponding to the edge sub-map.

[0018] In one embodiment, the cleaning of the edge area adopts a closed circumferential path, and the cleaning of the inner area adopts a bow-shaped path.

[0019] In one embodiment, controlling the cleaning component to switch to an extended state in response to detecting an obstacle and cleaning along the boundary of the obstacle includes:

[0020] Obtain the obstacle outline information of the obstacle;

[0021] Using the cleaning length of the cleaning component as the width, and based on the obstacle contour information, determine the annular cleaning area corresponding to the obstacle;

[0022] The cleaning component is controlled to be in an extended state, and cleaning is performed along the annular cleaning area.

[0023] In one embodiment, when there are multiple obstacles, if the annular cleaning areas corresponding to the multiple obstacles overlap, the overlapping annular cleaning areas are merged into a joint cleaning area, and cleaning is performed along the joint cleaning area.

[0024] In one embodiment, the method further includes:

[0025] During the cleaning process along the boundary of the obstacle, the resistance parameter value corresponding to the cleaning component is obtained;

[0026] If the resistance parameter value is greater than the resistance parameter threshold, the cleaning component is controlled to switch to the retracted state.

[0027] In one embodiment, the cleaning component is a roller or a track.

[0028] In a second aspect, this application also provides an intelligent device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods described in the first aspect.

[0029] Thirdly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0030] Fourthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0031] The aforementioned cleaning method, apparatus, intelligent device, storage medium, and computer program product acquire a region map of the area to be cleaned; based on the boundary lines of the region map, control the cleaning component to be in an extended state, cleaning the edge area along the boundary lines; then, control the cleaning component to be in a retracted state, cleaning the internal area of ​​the area to be cleaned; during the cleaning of the internal area, in response to the detection of an obstacle, control the cleaning component to switch to an extended state, cleaning along the boundary of the obstacle; after completing the cleaning along the obstacle boundary, control the cleaning component to switch to a retracted state, continuing to clean the internal area. During the cleaning process of the area to be cleaned, for the edge area, the intelligent device controls the cleaning component to be in an extended state, allowing the cleaning component to conform to the boundary of the area to be cleaned, achieving effective cleaning coverage of the edge area while avoiding collisions with the boundary. For the internal area, when there are no obstacles, control the cleaning component to be in a retracted state for cleaning. The retracted cleaning component has better stability, and the overall center of gravity of the machine is most stable. Therefore, keeping the cleaning component in a retracted state when cleaning the internal area without obstacles can improve operational stability while saving energy. When obstacles are present, the cleaning component is controlled to switch to the extended state and clean along the boundary of the obstacle, thereby achieving effective cleaning coverage of the area around the obstacle. In this way, the cleaning component can switch between the extended and retracted states according to the characteristics of different areas, improving the cleaning coverage rate of the edge area and the area around the obstacle while ensuring operational safety, thereby improving the overall cleaning coverage rate of the area to be cleaned. Attached Figure Description

[0032] Figure 1 This is a diagram illustrating the application environment of a cleaning method in one embodiment;

[0033] Figure 2 This is a flowchart illustrating a cleaning method in one embodiment;

[0034] Figure 3 This is a schematic diagram of a region map in one embodiment;

[0035] Figure 4 This is a schematic diagram of a region map in another embodiment;

[0036] Figure 5 This is a schematic diagram of the obstacle boundary cleaning process in one embodiment;

[0037] Figure 6 This is a structural block diagram of the cleaning device in one embodiment;

[0038] Figure 7 This is an internal structure diagram of a smart device in one embodiment. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0040] The cleaning method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with smart device 104 via a network. A data storage system can store the data that smart device 104 needs to process. The data storage system can be integrated into smart device 104 or placed in the cloud or on other networked smart devices. Smart device 104 can be used independently to execute the cleaning method provided in this embodiment. Terminal 102 and smart device 104 can also work together to execute the cleaning method provided in this embodiment. Smart device 104 can be various self-moving devices capable of cleaning tasks, such as: inspection cleaning robots, delivery cleaning robots, guide cleaning robots, automated guided vehicles (AGVs), and sweeping robots. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can be smart TVs and smart vehicle devices, and portable wearable devices can be smartwatches.

[0041] In one embodiment, such as Figure 2As shown, a cleaning method is provided. This embodiment uses the application of this method to a smart device as an example for illustration, including steps 202 to 210.

[0042] Step 202: Obtain a map of the area to be cleaned.

[0043] Here, "cleaning component" refers to the part on the smart device used to perform the actual cleaning action. Cleaning components are not limited to rollers, belts, or other cleaning structures. "Area to be cleaned" refers to the target spatial area where the smart device needs to perform the cleaning task. "Area map" refers to data information constructed by the smart device through its sensor modules, used to characterize the spatial structure and boundary information of the area to be cleaned.

[0044] For example, a smart device uses a sensor module to build a map of the area to be cleaned.

[0045] Step 204: Based on the boundary line of the area map, control the cleaning component to be in an extended state and clean the area along the boundary line.

[0046] In this context, the boundary line refers to the outline line on the area map used to define the scope of the area to be cleaned. The boundary line can be an outline formed by walls, door frames, etc. The extended state refers to the working state where the cleaning component extends outward relative to the main body of the smart device, thus at least partially exceeding the outline of the main body. The extended state can be the state after the cleaning component has been horizontally swung outward relative to the main body. The edge area refers to the area located near the boundary of the area to be cleaned. The width of the edge area is equal to the cleaning length of the cleaning component.

[0047] For example, the smart device determines the edge sub-map based on the boundary line of the area map, controls the cleaning component to be in an extended state, and cleans the edge area corresponding to the edge sub-map in the area to be cleaned.

[0048] In one embodiment, the smart device determines an edge sub-map based on the boundary lines of a regional map, generates an edge cleaning path based on the edge sub-map, controls the cleaning component to be in an extended state, and cleans the edge area corresponding to the edge sub-map in the area to be cleaned based on the edge cleaning path. The edge cleaning path refers to the path generated based on the edge sub-map, and the edge cleaning path can be a closed circumferential path.

[0049] During the cleaning process, the smart device controls the cleaning component to extend outwards to clean the edge areas, ensuring that the cleaning component fits the boundary of the area to be cleaned. This avoids collisions with the boundary of the area to be cleaned while achieving effective cleaning coverage of the edge areas.

[0050] Step 206: Afterwards, control the cleaning component to be in the retracted state and clean the internal area of ​​the area to be cleaned.

[0051] The "retracted state" refers to the working state where the cleaning component is not extended outward relative to the main body of the smart device, and the cleaning component does not exceed the outline of the main body. The internal area refers to the area to be cleaned, excluding the edge area.

[0052] For example, after the smart device finishes cleaning the edge area, it controls the cleaning component to be retracted and then cleans the inner area of ​​the area to be cleaned.

[0053] In one embodiment, after the smart device finishes cleaning the edge area, it controls the cleaning component to be in a retracted state, determines the map area in the area map excluding the edge sub-map as the internal sub-map, generates an internal cleaning path based on the internal sub-map, and cleans the internal area corresponding to the internal sub-map in the area to be cleaned based on the internal cleaning path.

[0054] In one embodiment, after the smart device finishes cleaning the edge area, it controls the cleaning component to be retracted. In the absence of obstacles in the inner area, the device cleans the inner area of ​​the area to be cleaned until the inner area is cleaned.

[0055] For the internal area, the cleaning component is kept in the retracted state when there are no obstacles. The retracted cleaning component has better stability, and the center of gravity of the whole machine is most stable. Therefore, keeping the cleaning component in the retracted state when cleaning the internal area without obstacles can save energy while improving operational stability.

[0056] Step 208: During the cleaning of the internal area, in response to the detection of an obstacle, the cleaning component is controlled to switch to the extended state and clean along the boundary of the obstacle.

[0057] An obstacle is an object located within the area to be cleaned that obstructs or interferes with the movement or cleaning of the smart device. The boundary of an obstacle refers to its outermost contour edge.

[0058] For example, when a smart device detects an obstacle through its sensor module during the cleaning of an internal area, it controls the cleaning component to switch to an extended state and clean along the boundary of the obstacle.

[0059] In one embodiment, during the cleaning of an internal area, when an obstacle is detected by a sensor module, the smart device acquires the obstacle's outline information, determines the corresponding annular cleaning area based on the obstacle's outline information, determines the obstacle cleaning path based on the annular cleaning area, and cleans along the obstacle's boundary based on the obstacle cleaning path. Here, the obstacle cleaning path refers to the path along the obstacle's boundary.

[0060] When an obstacle is present, the cleaning component is controlled to switch to the extended state and clean along the boundary of the obstacle, thereby achieving effective cleaning coverage of the area surrounding the obstacle.

[0061] Step 210: After cleaning along the boundary of the obstacle, control the cleaning component to switch to the retraction state and continue cleaning the internal area.

[0062] For example, after the smart device has finished cleaning along the boundary of the obstacle, it controls the cleaning component to switch to the retraction state and continue cleaning the internal area until the internal area is cleaned.

[0063] In the above cleaning method, during the cleaning process, the intelligent device controls the cleaning component to be in an extended state for edge areas, ensuring it conforms to the boundary of the area to be cleaned. This avoids collisions with the boundary while achieving effective cleaning coverage of the edge area. For internal areas, when there are no obstacles, the cleaning component is controlled to be in a retracted state. The retracted state provides better stability, resulting in the most stable center of gravity for the entire machine. Therefore, keeping the cleaning component in the retracted state when cleaning unobstructed internal areas improves operational stability and saves energy. When obstacles are present, the cleaning component switches to an extended state to clean along the boundary of the obstacle, thereby achieving effective cleaning coverage of the area surrounding the obstacle. Through this method, the cleaning component can switch between extended and retracted states according to the characteristics of different areas, improving the cleaning coverage rate of edge areas and areas surrounding obstacles while ensuring operational safety, thus increasing the overall cleaning coverage rate of the area to be cleaned.

[0064] In one embodiment, controlling the cleaning component to switch to the extended state includes:

[0065] Depending on the type of obstacle or the degree of interference with the cleaning component, the cleaning component can be selectively controlled to switch to the extended state or remain in the retracted state.

[0066] The type of obstacle refers to the type of obstacle itself, which can be determined based on its shape, size, material, or mobility. Obstacles can be categorized into rigid, fixed obstacles and flexible, avoidable obstacles. Rigid, fixed obstacles are those with a fixed position and rigid structure, such as table legs, chair legs, or appliance bases. Flexible, avoidable obstacles are those that appear temporarily or move, with a soft or lightweight structure, which the cleaning robot can avoid or gently push aside without damage, such as shoes, clothing, or cardboard boxes. The degree of interference refers to the extent to which an obstacle hinders the rotation or movement of the cleaning component. The degree of interference can be characterized by the resistance experienced by the cleaning component due to the obstacle, the contact area between the cleaning component and the obstacle, and the magnitude of motion deviation or deceleration caused by the obstacle.

[0067] For example, the smart device can selectively control the cleaning component to switch to an extended state or remain in a retracted state, depending on the type of obstacle or the degree of interference between the obstacle and the cleaning component.

[0068] In one embodiment, depending on the type of obstacle, selectively controlling the cleaning component to switch to an extended state or remain in a retracted state includes: controlling the cleaning component to switch to an extended state when the obstacle is a rigid, fixed obstacle; and controlling the cleaning component to remain in a retracted state when the obstacle is a flexible, avoidable obstacle.

[0069] In one embodiment, the cleaning component is selectively controlled to switch to an extended state or remain in a retracted state based on the degree of interference between the obstacle and the cleaning component. This includes: controlling the cleaning component to switch to an extended state when the degree of interference between the obstacle and the cleaning component is equal to or less than a threshold value; and controlling the cleaning component to remain in a retracted state when the degree of interference between the obstacle and the cleaning component is greater than the threshold value. The threshold value refers to the maximum degree of interference required to control the cleaning component to switch to the extended state, and this threshold value can be preset according to actual needs.

[0070] In this embodiment, by selectively controlling the cleaning component to switch to the extended state or remain in the retracted state according to the type of obstacle or the degree of interference with the cleaning component, the state switching of the cleaning component is targeted and adaptive. This avoids the situation where the cleaning component is switched to the extended state when it is not suitable for extension, which would cause the smart device to fail to operate normally and clean, thereby improving the safety and reliability of the smart device.

[0071] In one embodiment, based on the boundary lines of a region map, the cleaning component is controlled to be in an extended state, and cleaning is performed along the boundary lines to clean the area along the edge, including:

[0072] Based on the boundary lines of the regional map and the cleaning length of the cleaning component, an edge sub-map is determined; the cleaning component is controlled to be in an extended state to clean the edge area corresponding to the edge sub-map.

[0073] Here, cleaning length refers to the effective cleaning width that the cleaning component can cover horizontally when performing a cleaning action. An edge sub-map refers to a local map area divided based on the boundary lines of the area map and the cleaning length of the cleaning component. The edge sub-map is used to represent the location and extent of the edge area within the area to be cleaned. The width of the edge sub-map is equal to the cleaning length of the cleaning component multiplied by the map scale of the area map. The map scale refers to the proportional relationship between the distance between any two points on the area map and their corresponding distance in the actual environment. For example, a schematic diagram of the area map is shown below. Figure 3 As shown, the gray area in the regional map is the sub-map along the edge.

[0074] For example, the smart device calculates the cleaning length of the cleaning component by multiplying its width by the map scale of the area map, resulting in the width of the edge sub-map. Based on the boundary lines of the area map, it extends inwards according to the width of the edge sub-map to obtain the edge sub-map. An edge cleaning path is generated based on the edge sub-map, and the cleaning component is controlled to be in an extended state. Cleaning is performed on the edge area corresponding to the edge sub-map in the area to be cleaned, based on the edge cleaning path. The edge cleaning path is a closed circumferential path, and its shape matches the outer contour of the area to be cleaned. For example, if the area to be cleaned is rectangular, the edge cleaning path is a rectangular closed path; or if the area to be cleaned is circular, the edge cleaning path is a circular closed path. The edge cleaning path travels in a single direction, either clockwise or counterclockwise, to avoid path deviation caused by frequent turning of the smart device.

[0075] In this embodiment, the edge sub-map is determined based on the boundary line of the regional map and the cleaning length of the cleaning component as the width. The edge area corresponding to the edge sub-map in the area to be cleaned is cleaned when the cleaning component is extended, thereby achieving full coverage cleaning of the edge area and improving the cleaning coverage rate of the edge area.

[0076] In one embodiment, cleaning of the edge area uses a closed circumferential path, while cleaning of the inner area uses a bow-shaped path.

[0077] A closed circumferential path refers to a closed cleaning path that runs along the boundary of the area to be cleaned, with each end connected to the next. A bow-shaped path refers to a continuous cleaning path that resembles a bow, planned in a round-trip manner. For example, a schematic diagram of the area map is shown below. Figure 4 As shown, the gray area in the regional map is the edge sub-map corresponding to the edge area, and the white area is the internal sub-map corresponding to the internal area. The edge sub-map includes the edge cleaning path 402, which is a closed circumferential path. The internal sub-map includes the internal cleaning path 404, which is a bow-shaped path.

[0078] For example, the smart device determines the edge cleaning path based on the edge sub-map, and the edge cleaning path is a closed circumferential path; the smart device determines the internal cleaning path based on the internal sub-map, and the internal cleaning path is a bow-shaped path.

[0079] In this embodiment, the cleaning of the edge area adopts a closed circumferential path, while the internal area adopts a bow-shaped path. This allows different areas in the area to be cleaned to be cleaned using a path form that adapts to their characteristics. On the one hand, this ensures full coverage cleaning of the edge area, and on the other hand, it improves the cleaning efficiency and coverage of the internal area.

[0080] In one embodiment, such as Figure 5As shown, in response to detecting an obstacle, the cleaning component is controlled to switch to an extended state and clean along the boundary of the obstacle, including:

[0081] Step 502: Obtain the obstacle outline information.

[0082] Among them, obstacle contour information refers to geometric information data that describes the outer boundary of an obstacle.

[0083] For example, a smart device acquires obstacle outline information through a sensor system.

[0084] Step 504: Using the cleaning length of the cleaning component as the width, determine the annular cleaning area corresponding to the obstacle based on the obstacle contour information.

[0085] The annular cleaning area refers to the region surrounding the obstacle, formed by extending outwards from its outline according to the cleaning width. The width of the annular cleaning area is equal to the cleaning length of the item being cleaned.

[0086] For example, the smart device expands outward according to the cleaning width based on the obstacle outline information to form a ring-shaped cleaning area corresponding to the obstacle.

[0087] Step 506: Control the cleaning component to be in an extended state and clean along the annular cleaning area.

[0088] For example, the smart device controls the cleaning component to be in an extended state, performing cleaning along a circular cleaning area.

[0089] In one embodiment, an obstacle sub-map is determined based on obstacle contour information and the cleaning length of the cleaning component; an obstacle cleaning path is generated based on the obstacle sub-map; and the circular cleaning area corresponding to the obstacle sub-map in the area to be cleaned is cleaned based on the obstacle cleaning path. The width of the obstacle sub-map is equal to the cleaning length of the cleaning component multiplied by the map scale of the area map.

[0090] In this embodiment, the annular cleaning area is determined by the obstacle contour information and the cleaning length of the cleaning component, and the annular cleaning area is cleaned while the cleaning component is extended. This allows the cleaning component to move along the edge of the obstacle and fully cover the annular cleaning area around the obstacle, thereby improving the cleaning coverage rate of the annular cleaning area around the obstacle.

[0091] In one embodiment, when there are multiple obstacles, if the annular cleaning areas corresponding to the multiple obstacles overlap, the overlapping annular cleaning areas are merged into a joint cleaning area, and cleaning is performed along the joint cleaning area.

[0092] Among them, a joint cleaning area refers to a unified cleaning area formed by merging multiple overlapping ring-shaped cleaning areas.

[0093] For example, when there are multiple obstacles in the internal area, the smart device determines whether the annular cleaning areas corresponding to the obstacles overlap. If the annular cleaning areas corresponding to multiple obstacles overlap, the multiple overlapping annular cleaning areas are merged into a joint cleaning area, and the smart device cleans along the joint cleaning area.

[0094] In one embodiment, when there are multiple obstacles in the internal area, for each obstacle, an obstacle sub-map is determined based on the obstacle outline information and the cleaning length of the cleaning component; it is determined whether there are overlapping areas among the multiple obstacle sub-maps; if at least two obstacle sub-maps have overlapping areas, a joint sub-map is formed based on the at least two obstacle sub-maps with overlapping areas; a joint cleaning path is generated based on the joint sub-map; and the joint cleaning area corresponding to the joint sub-map in the area to be cleaned is cleaned based on the joint cleaning path.

[0095] In this embodiment, when the annular cleaning areas corresponding to multiple obstacles overlap, the overlapping annular cleaning areas are merged into a joint cleaning area, and cleaning is performed along the joint cleaning area to avoid repeated cleaning of the overlapping areas, reduce cleaning time, and thus improve cleaning efficiency.

[0096] In one embodiment, the cleaning method further includes:

[0097] During the cleaning process along the boundary of the obstacle, the resistance parameter value corresponding to the cleaning component is obtained; if the resistance parameter value is greater than the resistance parameter threshold, the cleaning component is controlled to switch to the retraction state.

[0098] The resistance parameter value refers to the numerical value characterizing the resistance encountered by the cleaning component during the cleaning process. The resistance parameter value includes, but is not limited to, at least one of the following: the pressure value of the cleaning component, the decrease in operating speed, and the increase in the drive current of the active wheel. It can be understood that the greater the resistance encountered by the cleaning component, the greater the pressure value experienced by the cleaning component, and / or the greater the decrease in operating speed, and / or the greater the increase in the drive current of the active wheel. The resistance parameter threshold refers to the minimum resistance parameter value required to control the cleaning component to switch to the retracted state.

[0099] For example, during the cleaning process along the boundary of an obstacle, the smart device obtains the resistance parameter value corresponding to the cleaning component, compares the resistance parameter value with a parameter threshold, and controls the cleaning component to switch to the retracted state if the resistance parameter value is greater than the resistance parameter threshold.

[0100] In one embodiment, during the cleaning process along the boundary of an obstacle, the smart device obtains the pressure value of the cleaning component through a pressure sensor installed on the end of the cleaning component, compares the pressure value with a pressure threshold, and controls the cleaning component to switch to the retracted state if the pressure value is greater than the pressure threshold.

[0101] In one embodiment, during the cleaning process along the boundary of an obstacle, the smart device obtains the current operating speed of the smart device, calculates the difference between the cleaning operating speed and the current operating speed to obtain the reduction in operating speed, compares the reduction in operating speed with a reduction threshold, and if the reduction in operating speed is greater than the reduction threshold, controls the cleaning component to switch to the retraction state.

[0102] In one embodiment, during the cleaning process along the boundary of an obstacle, the smart device obtains the current drive current of the smart device's drive wheel, calculates the difference between the cleaning drive current and the current drive current to obtain the increase in the drive current of the drive wheel, compares the increase in the drive current of the drive wheel with an increase threshold, and if the increase in the drive current of the drive wheel is greater than the increase threshold, controls the cleaning component to switch to the retracted state.

[0103] In this embodiment, during the cleaning process along the obstacle boundary, the intelligent device acquires the resistance parameter value of the cleaning component, and controls the cleaning component to switch to the retracted state when the resistance parameter value is greater than the resistance parameter threshold. This allows the cleaning component to adjust its state in a timely manner when it encounters significant resistance, thereby avoiding affecting the normal operation of the intelligent device or even causing it to jam, and improving the operational safety and stability of the intelligent device.

[0104] In one embodiment, the cleaning component is a roller or a track.

[0105] Among them, a roller refers to a cylindrical cleaning component that rotates around its own axis and is used to sweep or wipe the ground. A track refers to a ring-shaped component that achieves its cleaning function through contact with the ground.

[0106] For example, the cleaning component of the smart device is a roller, or the cleaning component of the smart device is a track.

[0107] In this embodiment, by setting the cleaning component as a roller or a track, the above cleaning method can be applied to smart devices that use different cleaning components, thereby expanding the scope of application of the cleaning method and improving its versatility.

[0108] In one exemplary embodiment, a cleaning method is provided, the core of which is: after the cleaning robot starts, it first performs a pre-cleaning scan to construct a region map of the area to be cleaned and identify obstacles in the region to be cleaned; based on the region map, the area to be cleaned is divided into three nested layered regions, namely the edge region, the ring-shaped cleaning region, and the core cleaning region; for the cleaning needs of each layered region, a dedicated cleaning path and roller (i.e., the aforementioned cleaning component) outward swing control strategy are designed to achieve the synergistic effect of "full coverage of the edge region, precise cleaning of the ring-shaped cleaning region, and efficient cleaning of the core cleaning region".

[0109] A cleaning robot includes a main body, a cleaning system, a walking system, a drive system, a sensor system, and a controller.

[0110] The main body is used to install cleaning systems, walking systems, drive systems, sensor systems, and controllers.

[0111] The cleaning system includes a roller, a roller drive mechanism, and a roller swing actuator. The roller can rotate around its own axis to perform the cleaning action; the roller swing actuator is an electrically telescopic structure that can drive the roller to swing laterally outward or retract relative to the main body. In the extended state, the roller exceeds the width of the main body by 1 to 3 centimeters, and in the retracted state, the roller does not exceed the width of the main body; the roller drive mechanism is a servo motor used to drive the roller to rotate.

[0112] The drive system includes left and right walking wheels, walking drive motors and steering mechanisms, which are used to drive the cleaning robot to perform forward, backward, turning and rotating actions, and can accurately respond to the path control commands of the controller.

[0113] The sensor system includes a SLAM (Simultaneous Localization and Mapping) module, a vision sensor, a distance sensor, and a collision sensor. The SLAM module is used to build a map of the area to be cleaned and obtain the area outline and boundary coordinates. The vision sensor works in conjunction with the distance sensor to identify the location, type, size, and outline information of obstacles. The collision sensor is used to assist in detecting nearby obstacles and avoid hard collisions.

[0114] The controller is an embedded processor that pre-stores region hierarchical algorithms, path planning algorithms, obstacle classification algorithms, and roller control logic. It is electrically connected to the cleaning system, drive system, and sensor system to receive sensor data, execute algorithm calculations, and output control commands, thereby achieving coordinated control of region hierarchical division, path planning, and roller status.

[0115] The cleaning process is as follows:

[0116] After the cleaning robot starts, the controller controls the sensor system to perform a pre-cleaning scan, acquiring a map of the area to be cleaned and the outline information of obstacles. The area to be cleaned is divided into three nested, layered areas: the edge cleaning area, the ring-shaped cleaning area, and the core cleaning area. The edge cleaning area is a closed ring-shaped area planned based on the boundary of the area to be cleaned (such as walls, door frames, etc.). The width of this area is equal to the cleaning length of the roller, and the edge cleaning path is a circumferentially closed path that fits the boundary. The ring-shaped cleaning area is located inside the edge cleaning area, surrounding the obstacles within the cleaning area, and is an independent closed ring-shaped area planned. The width of the ring-shaped cleaning area is equal to the cleaning length of the roller. If the ring-shaped cleaning areas of multiple obstacles overlap, they are merged into a unified joint cleaning area. The core cleaning area is the remaining area of ​​the cleaning area excluding the edge cleaning area and the ring-shaped cleaning area. This area has no obvious boundary restrictions and only needs to achieve full coverage cleaning.

[0117] The intelligent equipment performs cleaning operations sequentially in the order of "edge area → circular cleaning area → core cleaning area". The path planning and roller control strategies for each layer area are as follows:

[0118] 1. Cleaning along the edge area

[0119] Path planning: The controller uses the area map built by the SLAM module to plan a circumferential closed path that fits the boundary of the area to be cleaned. The shape of the path is consistent with the outer contour of the area to be cleaned (e.g., a rectangular area corresponds to a rectangular closed path, and a circular area corresponds to a circular closed path). The path travels in a single direction, either clockwise or counterclockwise, to avoid path deviation caused by frequent turns.

[0120] Roller control: The controller sends an outward swing command to the cleaning system, driving the roller to swing outward and switch the roller to the extended state (1 cm to 3 cm beyond the width of the main body); during the cleaning process, the distance sensor detects the distance between the cleaning robot and the boundary of the area in real time, and the controller fine-tunes the drive system according to the detection data to ensure that the roller always moves in close contact with the boundary, achieving full circumferential coverage cleaning along the edge; after the edge area is cleaned, the controller controls the roller to keep in the extended state and enter the circular cleaning area for cleaning.

[0121] 2. Cleaning of the circular cleaning area

[0122] Path planning: For rigid fixed obstacles, a closed loop path is planned, and the roller is ensured to fit the edge of the obstacle after swinging outward; if there are multiple adjacent rigid fixed obstacles, a unified joint cleaning path is planned to cover the outer area of ​​all adjacent obstacles; for flexible and avoidable obstacles, the controller plans a straight bypass path, without the need to form a closed loop path.

[0123] Roller control: For rigid, fixed obstacles, the roller remains extended, and the controller controls the robot to move clockwise or counterclockwise along a circular path. The roller swings outward to achieve full circumferential cleaning of the obstacle's edge. During the movement, the vision sensor detects the obstacle's outline in real time, and the controller fine-tunes the path based on the outline changes to ensure no cleaning is missed. For flexible, avoidable obstacles, the controller judges the degree of interference between the roller and the obstacle. If the degree of interference is low (no risk of direct collision), the roller remains extended and the path is fine-tuned to avoid the obstacle. If the degree of interference is high (risk of collision), the roller is temporarily retracted, and after avoiding the obstacle, it immediately swings outward again to continue performing circumferential cleaning.

[0124] Path switching: After the circular cleaning area is cleaned, the controller controls the roller to retract to the inside of the main body and enter the core cleaning area for cleaning.

[0125] 3. Cleaning of core cleaning areas

[0126] Path planning: The controller plans an arc-shaped reciprocating path with the path spacing equal to the cleaning width of the roller, ensuring no cleaning gaps between adjacent paths; the path direction is perpendicular to the travel direction of the edge area, improving cleaning efficiency. The core cleaning area may not use an arc-shaped reciprocating path, but can use the same circumferential closed path as the edge area cleaning, or at least one circumferential closed path. After cleaning one circumference, it retracts a certain distance inward to continue circumferential cleaning.

[0127] Roller control: During the cleaning process, the roller remains in a retracted state and does not exceed the width of the main body; the controller controls the drive system to move at a constant speed along the planned path, and regular cleaning is achieved by rotating the roller; if an unidentified new obstacle is found in the core cleaning area, cleaning is immediately paused, obstacle classification and surrounding layer path planning are performed, and after completing the surrounding cleaning of the new obstacle, the system returns to the core cleaning area to continue cleaning along the original path.

[0128] Layer switching and path connection

[0129] 1. Layer switching trigger:

[0130] Within a single area to be cleaned (referring to a space without physical partitions where the cleaning robot can move continuously, such as a separate living room, a connected living and dining room, or a separate bedroom), the controller automatically triggers layer switching when it determines that the current functional layer (edge ​​area / circular cleaning area / core cleaning area) meets any of the following conditions: a) Path loop completed: The planned path for the current functional layer has been fully executed, and the start and end points of the path coincide (such as the wall-closed path in the edge area, or the circular path in the circular cleaning area); b) Area full coverage completed: The sensor system (visual sensor + distance sensor) detects the coverage range of the roller in real time, confirming that all areas of the current functional layer have been covered, with no uncleaned blind spots (applicable to functional layers with irregular contours).

[0131] Switching between independent spaces: After the robot completes three-layer cleaning of an independent area to be cleaned, if there are other physically separated independent spaces (such as bedrooms or kitchens), the controller will control the robot to move to that space through doors or other passages, and repeat the "area layering → three-layer cleaning" process in the new independent space.

[0132] 2. Path connection logic:

[0133] Functional layer connection: Based on the map coordinates generated by the SLAM module, the controller calculates the "shortest non-repeating transition path" from the end point of the current functional layer to the starting point of the next layer. This path is only used for the movement of the cleaning robot and does not start the cleaning action of the roller (to avoid repeatedly cleaning the already covered area).

[0134] Roller state pre-switching: During the movement, the controller triggers the roller state switching in advance (such as when switching from the circular cleaning area to the core cleaning area, the roller is retracted during the movement; when switching from the edge area to the circular cleaning area, the roller is kept in the extended state). The switching action is synchronized with the movement action, without the need to stop and wait, ensuring the cleaning process is continuous.

[0135] Optimization of avoiding heavy objects: The transition path prioritizes uncleaned or non-cleaned areas (such as gaps between obstacles or narrow crevices not covered at the edge of the area). If it is necessary to pass through a cleaned area, the controller controls the roller to pause rotation (or keep it in the retracted state) to avoid ineffective repeated cleaning of the cleaned area and improve the overall cleaning efficiency.

[0136] The above cleaning method can achieve the following results:

[0137] 1. Significantly improved cleaning coverage along the edges: The circumferential closed path along the outer edge area, combined with the outward swing design of the roller, enables the cleaning robot to clean the entire circumferential boundary of the area, significantly improving the cleaning coverage along the edges and effectively solving the problem of missed cleaning along the edges of the arc-shaped path.

[0138] 2. No blind spots around obstacles: The circular path around rigid fixed obstacles, combined with the outward swing of the roller, achieves 360° full coverage cleaning of the obstacle edge; the adaptive avoidance strategy for flexible obstacles balances cleaning effect and efficiency, and the missed cleaning rate in obstacle areas is significantly reduced.

[0139] 3. Energy consumption and efficiency balance optimization: The roller is kept out of the way only in the edge and rigid obstacle areas, and the roller is retracted in the core area, which reduces ineffective energy consumption and component wear and improves the single cleaning cycle; layered path planning avoids repeated cleaning and the overall cleaning time can be shortened.

[0140] 4. High adaptability: It is compatible with cleaning areas of different house types (rectangular, circular, irregular shapes), can identify obstacles of different types and sizes and adapt to corresponding cleaning strategies, without manual intervention, and is applicable to a wide range of scenarios.

[0141] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0142] Based on the same inventive concept, this application also provides a cleaning apparatus for implementing the cleaning method described above. The solution provided by this apparatus is similar to the solution described in the above method; therefore, specific limitations in one or more cleaning apparatus embodiments provided below can be found in the limitations of the cleaning method described above, and will not be repeated here.

[0143] In one embodiment, such as Figure 6 As shown, a cleaning device 600 is provided, including: an acquisition module 602, a first cleaning module 604, and a second cleaning module 606, wherein:

[0144] Module 602 is used to obtain a region map of the area to be cleaned;

[0145] The first cleaning module 604 is used to control the cleaning component to be in an extended state based on the boundary line of the area map, and to clean the edge area along the boundary line.

[0146] The second cleaning module 606 is used to control the cleaning component to be in the retracted state and to clean the internal area of ​​the area to be cleaned; during the cleaning of the internal area, in response to the detection of an obstacle, the cleaning component is controlled to switch to the extended state and clean along the boundary of the obstacle; after cleaning along the boundary of the obstacle is completed, the cleaning component is controlled to switch to the retracted state and continue to clean the internal area.

[0147] In one embodiment, the second cleaning module 606 is further configured to selectively control the cleaning component to switch to an extended state or remain in a retracted state, depending on the type of obstacle or the degree of interference with the cleaning component.

[0148] In one embodiment, the second cleaning module 604 is further configured to: determine an edge sub-map based on the boundary lines of the area map and the cleaning length of the cleaning component; control the cleaning component to be in an extended state, and clean the edge area corresponding to the edge sub-map.

[0149] In one embodiment, cleaning of the edge area uses a closed circumferential path, while cleaning of the inner area uses a bow-shaped path.

[0150] In one embodiment, the second cleaning module 606 is further configured to: acquire obstacle contour information of the obstacle; determine the annular cleaning area corresponding to the obstacle based on the obstacle contour information, using the cleaning length of the cleaning component as the width; and control the cleaning component to be in an extended state to clean along the annular cleaning area.

[0151] In one embodiment, the second cleaning module 606 is further configured to: when there are multiple obstacles, if the annular cleaning areas corresponding to the multiple obstacles overlap, merge the overlapping annular cleaning areas into a joint cleaning area, and clean along the joint cleaning area.

[0152] In one embodiment, the second cleaning module 606 is further configured to: obtain the resistance parameter value corresponding to the cleaning component during the cleaning process along the boundary of the obstacle; and control the cleaning component to switch to the retracted state when the resistance parameter value is greater than the resistance parameter threshold.

[0153] In one embodiment, the cleaning component is a roller or a track.

[0154] Each module in the aforementioned cleaning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the smart device in hardware form or independent of it, or stored in the memory of the smart device in software form, so that the processor can call and execute the operations corresponding to each module.

[0155] In one embodiment, a smart device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7As shown, the smart device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a cleaning method. The display unit of the smart device forms a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the smart device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the smart device, or external keyboards, touchpads, or mice, etc.

[0156] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the solution of this application and does not constitute a limitation on the smart device to which the solution of this application is applied. A specific smart device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0157] In one embodiment, a smart device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0158] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0159] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0160] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0161] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0162] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0163] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A cleaning method, characterized in that, The method is applied to smart devices with cleaning components, including: Obtain a map of the area to be cleaned; Based on the boundary lines of the area map, the cleaning component is controlled to be in an extended state, and the edge area is cleaned along the boundary lines; Then, the cleaning component is retracted to clean the internal area of ​​the area to be cleaned; During the cleaning of the internal area, in response to the detection of an obstacle, the cleaning component is controlled to switch to an extended state and clean along the boundary of the obstacle. After cleaning along the boundary of the obstacle is completed, the cleaning component is controlled to switch to the retracted state to continue cleaning the internal area.

2. The method according to claim 1, characterized in that, The control of switching the cleaning component to the extended state includes: Depending on the type of obstacle or the degree of interference with the cleaning component, the cleaning component can be selectively controlled to switch to an extended state or remain in a retracted state.

3. The method according to claim 1, characterized in that, Based on the boundary line of the area map, the cleaning component is controlled to be in an extended state, and cleaning is performed along the boundary line to clean the edge area, including: Based on the boundary lines of the area map and the cleaning length of the cleaning component, a sub-map along the edge is determined; The cleaning component is controlled to be in an extended state to clean the edge area corresponding to the edge sub-map.

4. The method according to claim 1, characterized in that, The cleaning of the edge area adopts a closed circumferential path, while the cleaning of the inner area adopts a bow-shaped path.

5. The method according to claim 1, characterized in that, The step of controlling the cleaning component to switch to an extended state in response to detecting an obstacle and cleaning along the boundary of the obstacle includes: Obtain the obstacle outline information of the obstacle; Using the cleaning length of the cleaning component as the width, and based on the obstacle contour information, determine the annular cleaning area corresponding to the obstacle; The cleaning component is controlled to be in an extended state, and cleaning is performed along the annular cleaning area.

6. The method according to claim 5, characterized in that, When there are multiple obstacles, if the annular cleaning areas corresponding to the multiple obstacles overlap, the overlapping annular cleaning areas are merged into a joint cleaning area, and cleaning is performed along the joint cleaning area.

7. The method according to claim 1, characterized in that, The method further includes: During the cleaning process along the boundary of the obstacle, the resistance parameter value corresponding to the cleaning component is obtained; If the resistance parameter value is greater than the resistance parameter threshold, the cleaning component is controlled to switch to the retracted state.

8. The method according to claim 1, characterized in that, The cleaning component is a roller or a track.

9. A smart device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

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