Work surface size detection method and apparatus, cleaning device, and storage medium

Abstract

The present disclosure provides a work surface size detection method, a cleaning device, a work surface size detection apparatus and a computer readable storage medium. The method comprises: controlling the cleaning device to perform an exploration movement in at least one detection direction on a work surface to be cleaned; obtaining pose detection data of the cleaning device during the exploration movement; and in response to the cleaning device colliding with a boundary of the work surface during the exploration movement, determining size information of the work surface in the at least one detection direction according to the pose detection data. The method can efficiently estimate the size of the work surface and the boundary.

Description

Technical Field

[0001] This disclosure relates to the field of smart homes, and more specifically, to a method for detecting the dimensions of a working surface, a cleaning device, a device for detecting the dimensions of a working surface, and a computer-readable storage medium. Background Technology

[0002] In recent years, with the rapid development of computer technology and artificial intelligence, intelligent cleaning equipment has been increasingly widely used in the smart home field, leading to a continuous increase in the demand for automated generation of work area dimensions and path planning. While some existing cleaning devices can construct maps of the work area, they lack dimensional modeling methods adapted to specific structural devices, and some solutions rely on high-cost positioning and navigation devices, resulting in insufficient adaptability and cost-effectiveness. Therefore, there is an urgent need for a low-cost, highly adaptable method for detecting the dimensions of work surfaces. Summary of the Invention

[0003] The purpose of this disclosure is to provide a method, cleaning equipment, device, and computer-readable storage medium for measuring the dimensions of a working surface, thereby addressing the problems of poor convenience and high cost in the prior art when estimating the dimensions of a working surface. The specific solution is as follows: According to a specific embodiment of the present disclosure, in a first aspect, the present disclosure provides a method for detecting the size of a working surface, the method comprising: controlling a cleaning device to perform exploratory movement along at least one detection direction on a working surface to be cleaned; acquiring pose detection data of the cleaning device during the exploratory movement; and, in response to the cleaning device colliding with the boundary of the working surface during the exploratory movement, determining the size information of the working surface in the at least one detection direction based on the pose detection data.

[0004] In one exemplary embodiment of this disclosure, the cleaning device is a bipedal cleaning device; controlling the cleaning device to perform exploratory movement along at least one detection direction on the work surface to be cleaned includes: controlling the bipedal cleaning device to alternately perform adsorption, rotation and detachment actions to perform step-by-step exploratory movement on the work surface.

[0005] In one exemplary embodiment of this disclosure, the pose detection data includes movement step parameters generated by the movement of any walking foot during the exploration movement; the movement step parameters include the rotation angle of a single step movement of the bipedal cleaning device and / or the front body posture angle of the bipedal cleaning device relative to a preset reference direction before the single step movement.

[0006] In one exemplary embodiment of this disclosure, the pose detection data further includes the instantaneous pose parameters of the bipedal cleaning device at the time of the collision; the instantaneous pose parameters include the body attitude angle of the bipedal cleaning device relative to a preset reference direction at the time of the collision and / or the relative collision angle of the collision point relative to the body.

[0007] In one exemplary embodiment of this disclosure, determining the dimensional information of the working surface in at least one detection direction based on the pose detection data includes: determining the single-step displacement generated by a single step movement of the bipedal cleaning device based on the rotation angle and the body attitude angle before stepping in the movement stepping parameters; determining the distance between the colliding walking foot and the collision boundary in the bipedal cleaning device based on the body attitude angle at the time of collision and the relative collision angle in the instantaneous pose parameters; and determining the side length of the working surface in at least one detection direction based on one or more single-step displacements during the current exploration movement and the distance between the colliding walking foot and the collision boundary.

[0008] In one exemplary embodiment of this disclosure, determining the single-step displacement generated by a single step movement of the bipedal cleaning device based on the rotation angle and the body posture angle before stepping in the movement stepping parameters includes: The single-step displacement is calculated based on the relationship between the rotation angle of a single step and the attitude angle of the fuselage before the step.

[0009] In one exemplary embodiment of this disclosure, determining the distance between the collision walking foot and the collision boundary in the bipedal cleaning device based on the body posture angle at the time of collision and the relative collision angle in the instantaneous pose parameters includes: calculating the distance between the collision walking foot and the collision boundary based on the distance between the collision walking foot and the collision point in the bipedal cleaning device, the body posture angle at the time of collision, and the relative collision angle.

[0010] In one exemplary embodiment of this disclosure, determining the side length of the working surface in the at least one detection direction based on one or more single-step displacements during the current exploration movement and the distance between the colliding walking foot and the collision boundary includes: accumulating all single-step displacements from the start of the current exploration movement to the occurrence of the collision to obtain a total displacement; and determining the side length based on the total displacement and the distance between the colliding walking foot and the collision boundary.

[0011] In one exemplary embodiment of this disclosure, the walking foot of the cleaning device is equipped with an adsorption component; determining the side length based on the total displacement and the distance between the colliding walking foot and the collision boundary includes: determining the side length based on the total displacement, the distance between the center of the adsorption component corresponding to the colliding walking foot and the collision boundary, and the distance between the center of the adsorption component corresponding to the colliding walking foot and the opposite side edge of the machine body's movement direction.

[0012] In one exemplary embodiment of this disclosure, controlling the cleaning device to perform exploratory movement along at least one detection direction on the work surface to be cleaned includes: controlling the cleaning device to perform at least two linear exploratory movements, wherein the directions of the at least two linear exploratory movements are different.

[0013] In one exemplary embodiment of this disclosure, the method further includes: generating map information of the working surface based on the size information in the at least one detection direction; and planning a cleaning path of the cleaning device on the working surface based on the map information of the working surface.

[0014] In a second aspect, this disclosure provides a cleaning device, comprising: a body; at least two walking legs; a controller disposed in the body for controlling the cleaning device to perform exploratory movement along at least one detection direction on a work surface to be cleaned; and, in response to the cleaning device colliding with the boundary of the work surface during the exploratory movement, determining the size information of the work surface in the at least one detection direction based on the pose detection data of the cleaning device during the exploratory movement.

[0015] In one exemplary embodiment of this disclosure, the cleaning device is a bipedal cleaning device; the controller is further configured to control the two walking legs to alternately perform adsorption, rotation and detachment actions to perform stepping exploration movement on the working surface.

[0016] In one exemplary embodiment of this disclosure, the pose detection data includes movement step parameters generated by the movement of any walking foot during the exploration movement; the movement step parameters include the rotation angle of a single step movement of the bipedal cleaning device and / or the front body posture angle of the bipedal cleaning device relative to a preset reference direction before the single step movement.

[0017] In one exemplary embodiment of this disclosure, the pose detection data further includes the instantaneous pose parameters of the bipedal cleaning device at the time of the collision; the instantaneous pose parameters include the body attitude angle of the bipedal cleaning device relative to a preset reference direction at the time of the collision and / or the relative collision angle of the collision point relative to the body.

[0018] In one exemplary embodiment of this disclosure, the controller is further configured to: determine the single-step displacement generated by a single step movement of the bipedal cleaning device based on the rotation angle and the body attitude angle before stepping in the movement stepping parameters; determine the distance between the colliding walking foot and the collision boundary in the bipedal cleaning device based on the body attitude angle at the time of collision and the relative collision angle in the instantaneous pose parameters; and determine the side length of the working surface in the at least one detection direction based on one or more single-step displacements during the current exploration movement and the distance between the colliding walking foot and the collision boundary.

[0019] In one exemplary embodiment of this disclosure, the controller is further configured to calculate the single-step displacement based on the relationship between the rotation angle of a single step movement and the attitude angle of the fuselage before the step.

[0020] In one exemplary embodiment of this disclosure, the controller is further configured to calculate the distance between the colliding walking foot and the collision boundary based on the distance between the colliding walking foot and the collision point in the bipedal cleaning device, the body posture angle at the time of the collision, and the relative collision angle.

[0021] In one exemplary embodiment of this disclosure, the controller is further configured to accumulate all single-step displacements from the start of the current exploration movement to the occurrence of the collision to obtain a total displacement; and determine the side length based on the total displacement and the distance between the colliding walking foot and the collision boundary.

[0022] In one exemplary embodiment of this disclosure, the walking foot of the cleaning device is equipped with an adsorption component; the controller is further configured to determine the side length based on the total displacement, the distance between the center of the adsorption component corresponding to the colliding walking foot and the collision boundary, and the distance between the center of the adsorption component corresponding to the colliding walking foot and the opposite side edge of the machine body moving direction.

[0023] In one exemplary embodiment of this disclosure, the controller is further configured to control the cleaning device to perform at least two linear exploration movements, wherein the directions of the at least two linear exploration movements are different.

[0024] In one exemplary embodiment of this disclosure, the directions of the at least two linear exploration movements are perpendicular to each other.

[0025] In one exemplary embodiment of this disclosure, the controller is further configured to generate map information of the working surface based on the size information in the at least one detection direction; and plan the cleaning path of the cleaning equipment on the working surface based on the map information of the working surface.

[0026] Thirdly, this disclosure provides a size detection device for a working surface, comprising: an exploration movement control module for controlling the cleaning device to perform exploration movement along at least one detection direction on the working surface to be cleaned; a detection data acquisition module for acquiring the pose detection data of the cleaning device during the exploration movement; and a size information determination module for determining the size information of the working surface in the at least one detection direction based on the pose detection data, in response to the cleaning device colliding with the boundary of the working surface during the exploration movement.

[0027] In one exemplary embodiment of this disclosure, the cleaning device is a bipedal cleaning device; the exploration and movement control module includes: a stepping exploration unit, used to control the bipedal cleaning device to alternately perform adsorption, rotation and detachment actions to perform stepping exploration movement on the working surface.

[0028] In one exemplary embodiment of this disclosure, the pose detection data includes movement step parameters generated by the movement of any walking foot during the exploration movement; the movement step parameters include the rotation angle of a single step movement of the bipedal cleaning device and / or the front body posture angle of the bipedal cleaning device relative to a preset reference direction before the single step movement.

[0029] In one exemplary embodiment of this disclosure, the pose detection data further includes the instantaneous pose parameters of the bipedal cleaning device at the time of the collision; the instantaneous pose parameters include the body attitude angle of the bipedal cleaning device relative to a preset reference direction at the time of the collision and / or the relative collision angle of the collision point relative to the body.

[0030] In one exemplary embodiment of this disclosure, the size information determination module includes: a single-step displacement determination unit, configured to determine the single-step displacement generated by a single step movement of the bipedal cleaning device based on the rotation angle and the body posture angle before stepping in the movement stepping parameters; a collision distance determination unit, configured to determine the distance between the collision walking foot and the collision boundary in the bipedal cleaning device based on the body posture angle at the time of collision and the relative collision angle in the instantaneous pose parameters; and a side length determination unit, configured to determine the side length of the working surface in the at least one detection direction based on one or more single-step displacements during the current exploration movement and the distance between the collision walking foot and the collision boundary.

[0031] In one exemplary embodiment of this disclosure, the single-step displacement determination unit includes: a size relationship determination subunit, used to calculate the single-step displacement based on the size relationship between the rotation angle of a single step movement and the attitude angle of the fuselage before the step.

[0032] In one exemplary embodiment of this disclosure, the collision distance determination unit includes a collision distance calculation subunit, used to calculate the distance between the collision walking foot and the collision point based on the distance between the collision walking foot and the collision point in the bipedal cleaning device, the body posture angle at the time of the collision, and the relative collision angle.

[0033] In one exemplary embodiment of this disclosure, the side length determination unit includes: a total displacement determination subunit, used to accumulate all single-step displacements from the start of the current exploration movement to the occurrence of the collision to obtain the total displacement; and a side length determination subunit, used to determine the side length based on the total displacement and the distance between the colliding walking foot and the collision boundary.

[0034] In one exemplary embodiment of this disclosure, the walking foot of the cleaning device is equipped with an adsorption component; the side length determination subunit is used to determine the side length based on the total displacement, the distance between the center of the adsorption component corresponding to the collision walking foot and the collision boundary, and the distance between the center of the adsorption component corresponding to the collision walking foot and the side edge opposite to the direction of movement of the machine body.

[0035] In one exemplary embodiment of this disclosure, the exploration movement control module includes: a linear exploration movement control unit, configured to control the cleaning device to perform at least two linear exploration movements, wherein the directions of the at least two linear exploration movements are different.

[0036] In one exemplary embodiment of this disclosure, the apparatus further includes: a map generation module, configured to generate map information of the working surface based on size information in the at least one detection direction; and a path planning module, configured to plan a cleaning path of the cleaning equipment on the working surface based on the map information of the working surface.

[0037] Fourthly, this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method.

[0038] Fifthly, this disclosure provides an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the above-described method by executing the executable instructions.

[0039] The exemplary embodiments disclosed herein have the following beneficial effects: The exemplary embodiment controls a cleaning device to perform exploratory movement along at least one detection direction on a work surface to be cleaned; acquires pose detection data of the cleaning device during the exploratory movement; and, in response to the cleaning device colliding with the boundary of the work surface during the exploratory movement, determines the size information of the work surface in the at least one detection direction based on the pose detection data. On one hand, this exemplary embodiment, by controlling the cleaning device to perform exploratory movement along the detection direction and combining the pose detection data at the boundary collision to determine the size of the work surface and generate a map, solves the problems of inaccurate and incomplete work surface size detection in the prior art, providing reliable work surface map support for the cleaning device. On the other hand, the process of this exemplary embodiment is based on the actual movement detection of the cleaning device and boundary collision feedback, requiring no complex additional configuration, exhibiting strong adaptability and simple operation, solving the problems of complex work surface size detection processes or limited adaptability in the prior art, and improving the practicality and efficiency of work surface size detection by the cleaning device.

[0040] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 This schematically illustrates a flowchart of a method for detecting the size of a working surface in this exemplary embodiment; Figure 2 This schematic diagram illustrates a cleaning device for determining a single-step displacement in this exemplary embodiment. Figure 3 This schematic diagram illustrates another cleaning device for determining a single-step displacement in this exemplary embodiment. Figure 4 This schematically illustrates another cleaning device for determining a single-step displacement in this exemplary embodiment; Figure 5 This schematic diagram illustrates a cleaning device colliding with a boundary in this exemplary embodiment. Figure 6 This schematically illustrates a flowchart of a method for detecting the size of a working surface in this exemplary embodiment; Figure 7 This schematic diagram illustrates a structural block diagram of a working surface dimension detection device in this exemplary embodiment. Figure 8An electronic device for implementing the above method is illustrated in this exemplary embodiment. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0043] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The singular forms “a,” “the,” and “the” as used in the embodiments of this disclosure and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0044] It should be understood that the term "and / or" used in this article 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 existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0045] It should be understood that although the terms first, second, third, etc., may be used to describe... in the embodiments of this disclosure, these... should not be limited to these terms. These terms are only used to distinguish... For example, first... may also be referred to as second... without departing from the scope of the embodiments of this disclosure, and similarly, second... may also be referred to as first...

[0046] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0047] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0048] This disclosure provides an exemplary embodiment of a method for detecting the dimensions of a working surface, applicable to a cleaning device that can implement the method via hardware and / or software. (Refer to...) Figure 1 The flowchart illustrates a method for detecting the size of a working surface provided by an exemplary embodiment of this disclosure. The method may include the following steps S110-S130: Step S110: Control the cleaning device to perform exploratory movement along at least one detection direction on the work surface to be cleaned.

[0049] Cleaning equipment refers to devices with automatic cleaning functions that can move on work surfaces and perform cleaning operations, such as bipedal window cleaning robots, wheeled sweeping robots, and magnetic cleaning robots. The work surface to be cleaned refers to a flat or nearly flat surface on which the cleaning equipment will perform its cleaning operations, such as window glass surfaces, tiled floors, wooden door panels, or metal curtain walls.

[0050] At least one detection direction refers to the movement direction set by the cleaning equipment to detect the boundary and size of the working surface. This direction can be one or more, such as two directions: horizontal to the right and vertical downwards; a single direction at a 45° angle; three directions: horizontal to the left, vertical upwards, and diagonally at a 30° angle; or along the diagonal of the wall surface, etc. Exploratory movement refers to the purposeful movement of the cleaning equipment to obtain information about the position and size of the working surface boundary. During the movement, it continuously detects whether it collides with the boundary, such as bipedal walking movement; continuous wheeled rolling movement; and intermittent magnetic movement.

[0051] Before controlling the cleaning equipment to perform exploratory movement along at least one detection direction on the work surface to be cleaned, the detection direction to be performed can be determined according to user preferences, setting information, angle detection, or system randomization. For example, exploratory movement can be prioritized to the left or to the right. Specifically, it can be combined with the body angle detection results. For example, the body angle can be detected by a gyroscope. If 270°≤body angle θ<90°, then exploratory movement to the left can be selected. If 90°≤body angle θ<270°, then exploratory movement to the right can be selected.

[0052] In one exemplary embodiment, before controlling the cleaning device to perform exploratory movement along at least one detection direction on the work surface to be cleaned, the cleaning device can be controlled to move to any boundary of the work surface, and then perform exploratory movement according to the target detection direction. For example, if the user initially places the two-foot window cleaner at a non-boundary location such as the center of the glass, after detecting that it is in a non-boundary position, the cleaning device can first move to any boundary, such as the nearest boundary or the default initial boundary, and then begin exploratory movement upward or downward.

[0053] In an exemplary embodiment, if the body of the cleaning device is detected to be at a preset angle, such as 90° or 270°, it means that the body is facing a certain direction, and the cleaning device can be directly controlled to explore along the target detection direction on the work surface to be cleaned.

[0054] In this exemplary embodiment, controlling the cleaning device to perform exploratory movement along at least one detection direction on the work surface to be cleaned can be achieved by sending drive commands through a controller (such as an MCU or processor) built into the cleaning device, causing the device to move along one or more preset detection directions. The movement process aims to collide with the boundary of the work surface to complete the exploratory action. For example, controlling a bipedal window cleaning robot to perform stepping exploratory movement on the glass surface in a horizontal rightward direction by alternating adsorption, rotation, and detachment actions of its two legs; or controlling a wheeled sweeping robot to perform continuous rolling exploratory movement on the floor in a vertical forward direction at a constant speed, etc.

[0055] Step S120: Obtain the pose detection data of the cleaning equipment during the exploration and movement process.

[0056] The pose detection data of the cleaning equipment during the exploration and movement process can be the pose detection data of the cleaning equipment from the start of this exploration and movement to the occurrence of the collision. It can be acquired when it collides with the boundary, or it can be acquired in real time during the movement process.

[0057] In this exemplary embodiment, a collision detection component can be configured on the cleaning equipment, such as a mechanical bumper, a capacitive contact sensor, an infrared ranging sensor, etc. When the component detects the collision boundary of the equipment, it triggers a data acquisition command to acquire the pose detection data from the start of the exploration movement to the occurrence of the collision, or continuously acquires pose detection data during the exploration movement, and obtains the pose detection data for the entire process when the collision occurs at the boundary of the working surface. For example, when the right collision bumper of a bipedal window cleaning robot collides with the window frame, the controller can acquire data such as the rotation angle of each step, the body posture angle before the step, and the body posture angle at the time of the collision during this exploration movement.

[0058] It should be noted that the exploration movement process obtained above can be the actual exploration movement process. In one embodiment, if the window cleaning machine is not initially placed at the boundary (e.g., placed at the center of the window), the window cleaning machine will move to any boundary before starting the exploration movement. In this case, the process of moving to any boundary will not be considered part of the period from the start of the current exploration movement to the collision. Afterward, the pose detection data will be acquired based on the process from that boundary to the collision with another boundary, and the dimensions corresponding to the movement process will be calculated. In another embodiment, if the window cleaning machine is not initially placed at the boundary but starts the exploration movement directly, the process from the start of the exploration movement to the collision with the boundary can also be considered as the period from the start of the current exploration movement to the collision. However, it may involve exploring only a part of one side of the window. In this case, the window cleaning machine can combine sensors to explore that side multiple times to correct the exploration results and determine the size of that side.

[0059] Step S130: In response to the cleaning device colliding with the boundary of the working surface during exploration movement, determine the size information of the working surface in at least one detection direction based on the pose detection data.

[0060] The boundary of the working surface can be the dividing edge between the area to be cleaned and the area not to be cleaned, such as the aluminum alloy window frame of glass, the junction of the floor and the wall, the metal frame of photovoltaic panels, or the edge of the sealing strip of a curtain wall. Position detection data refers to structured data that can reflect the position, attitude, and movement state of the cleaning equipment during its movement. In this exemplary embodiment, position detection data may include the rotation angle, body attitude angle, and relative collision angle of the cleaning equipment, and may also include movement speed, cumulative distance, heading angle, acceleration, angular velocity, relative displacement, number of foot rotations, and body tilt angle.

[0061] Dimensional information refers to data that reflects the dimensional attributes of the working surface. It can be the geometric length or width parameters of the working surface in a specific detection direction, such as the horizontal width and vertical height of glass; the length and width of the floor; the lateral span of the wall; or the side length of the photovoltaic panel, etc.

[0062] In this exemplary embodiment, determining the dimensional information of the working surface in at least one detection direction based on pose detection data can be achieved by analyzing and calculating the collected pose detection data using a preset algorithm to derive the geometric dimensional parameters of the working surface covered by the cleaning equipment in the detection direction. For example, the single-step displacement of a bipedal window cleaning robot and the distance between its collision-prone walking foot and the boundary are accumulated and compensated to determine the horizontal width of the glass; the moving speed and moving time of a wheeled sweeping robot are multiplied and combined with the collision position compensation to determine the vertical length of the floor, etc.

[0063] Based on the above description, the cleaning device is controlled to perform exploratory movement along at least one detection direction on the work surface to be cleaned; pose detection data of the cleaning device during the exploratory movement is acquired; and in response to the cleaning device colliding with the boundary of the work surface during the exploratory movement, the size information of the work surface in the at least one detection direction is determined based on the pose detection data. On the one hand, this exemplary embodiment solves the problem of inaccurate and incomplete work surface size detection in the prior art by controlling the cleaning device to perform exploratory movement along the detection direction and combining the pose detection data at the collision boundary to determine the size of the work surface and generate a map, thus providing reliable work surface map support for the cleaning device. On the other hand, the process of this exemplary embodiment is based on the actual movement detection and boundary collision feedback of the cleaning device, requiring no complex additional configuration, with strong adaptability and simple operation, solving the problem of complex work surface size detection process or limited applicable scenarios in the prior art, and improving the practicality and efficiency of work surface size detection of the cleaning device.

[0064] In one exemplary embodiment, the cleaning device is a bipedal cleaning device; controlling the cleaning device to perform exploratory movement along at least one detection direction on the work surface to be cleaned may include: The bipedal cleaning device controls the two feet to alternately perform adsorption, rotation, and detachment actions to perform stepping exploration movements on the work surface.

[0065] Bipedal cleaning equipment refers to cleaning devices with two independently movable legs that move by coordinating their movements. Examples include bipedal window cleaning robots, bipedal floor cleaning robots, and bipedal curtain wall cleaning devices. Bipedal cleaning devices can alternately perform adsorption, rotation, and detachment actions. Specifically, the two legs can sequentially cycle through the action of "adsorption and fixation - rotation around the adsorption point - detachment," with a time difference between the movements of the two legs to prevent simultaneous detachment and potential equipment instability. For example, the device might perform left-leg adsorption - left-leg rotation - left-leg detachment, and then right-leg adsorption - right-leg rotation - right-leg detachment.

[0066] Stepping exploration movement refers to moving a distance by performing a single complete movement of the walking foot, such as adsorption-rotation-detachment. The movement process is intermittent and progressive. After each step, posture adjustment or data collection can be performed, such as alternating stepping with both feet, or continuous stepping with one foot plus the other foot for support.

[0067] This exemplary embodiment can achieve intermittent stepping movement by alternating adsorption, rotation, and detachment of the two walking legs, ensuring the stability of the device during movement and facilitating the collection of pose data for each step. For example, when controlling a bipedal window cleaning robot to explore and move horizontally to the right, the left foot first adsorbs onto the glass surface, rotates around the adsorption point by a preset angle, and then detaches. Subsequently, the right foot adsorbs onto the glass surface, rotates around the adsorption point by the same angle, and then detaches. The two legs alternately cycle to complete the stepping exploration movement.

[0068] In an exemplary embodiment, the pose detection data includes movement step parameters generated by the movement of any walking foot during the exploration movement; the movement step parameters include the rotation angle of a single step movement of the bipedal cleaning device and / or the front body posture angle of the bipedal cleaning device relative to a preset reference direction before a single step movement.

[0069] Among them, the movement stepping parameters can be key parameters used to characterize the walking foot movements and body posture during a single stepping movement of the bipedal cleaning equipment, such as rotation angle, body posture angle before stepping; number of foot rotations, body tilt angle; stepping time, rotation angular velocity, etc.

[0070] The rotation angle of a single step movement refers to the angle value of a single walking foot of a bipedal cleaning device rotating around the adsorption point during one step movement (such as adsorption-rotation-detachment, or adsorption-rotation).

[0071] The preset reference direction refers to the fixed reference reference direction set for measuring the attitude angle of the fuselage. It can be preset according to the application scenario. For example, it can be the vertical direction (Y-axis direction); the edge tangent direction of the working surface; the gravity direction; the fuselage axis direction when the equipment is initially started, etc.

[0072] The pre-stepping body attitude angle refers to the angle between the axis of the bipedal cleaning device and a preset reference direction before a single step begins. For example, the pre-stepping body angle of a bipedal window cleaning machine is the angle between the body and the Y-axis. The pre-stepping body attitude angle of the cleaning device can be different for different single-stepping processes.

[0073] In this exemplary embodiment, the movement stepping parameters may include the rotation angle of a single step movement of the bipedal cleaning device and / or the body posture angle of the bipedal cleaning device relative to a preset reference direction before a single step movement. These two parameters can be collected individually or simultaneously for subsequent calculation of single-step displacement. For example, when a bipedal window cleaning robot is exploring, it collects the rotation angle of the left foot in a single step movement using a gyroscope built into the body, and simultaneously collects the posture angle of the body relative to the Y-axis (preset reference direction) before the step, both of which are used as movement stepping parameters; when a bipedal floor cleaning robot is exploring, it collects the rotation angle of the right foot in a single step movement using a rotary encoder, and uses this parameter as the movement stepping parameter; when a bipedal curtain wall cleaning device is exploring, it collects the posture angle of the body relative to the edge tangent direction (preset reference direction) before the step movement using an tilt sensor, and uses this parameter as the movement stepping parameter, etc.

[0074] In one exemplary embodiment, the pose detection data further includes the instantaneous pose parameters of the bipedal cleaning device at the time of the collision; the instantaneous pose parameters include the body attitude angle of the bipedal cleaning device relative to a preset reference direction at the time of the collision and / or the relative collision angle of the collision point relative to the body.

[0075] Among them, the instantaneous pose parameters refer to the parameters that characterize the real-time position and attitude of the bipedal cleaning device at the moment of collision with the boundary of the working surface. They can be used to calculate the relevant distances of the collision point, such as the body attitude angle and relative collision angle at the time of collision; the coordinates of the collision point and the tilt angle of the body; the foot adsorption position and the body deflection angle at the time of collision, etc.

[0076] The body attitude angle at the moment of collision refers to the angle between the body axis and the preset reference direction at the instant the cleaning equipment collides with the boundary. For example, the angle between the bipedal window cleaning robot and the Y-axis when colliding; the angle between the bipedal floor cleaning robot and the direction of gravity when colliding; or the angle between the bipedal curtain wall cleaning equipment and the tangent direction of the edge when colliding.

[0077] The relative collision angle between the collision point and the machine body refers to the angle between the line connecting the collision point of the cleaning equipment's collision boundary and the machine body's reference point (such as the machine body center or the center of the suction component), and the machine body's axis. Examples include the angle between the line connecting the collision point of a bipedal window cleaning robot and the center of the left suction cup, and the machine body's axis; the angle between the line connecting the collision point of a bipedal floor cleaning robot and the center of the machine body, and the machine body's axis; or the angle between the line connecting the collision point of a bipedal curtain wall cleaning device and the center of the right foot's suction, and the machine body's axis, etc.

[0078] In this exemplary embodiment, real-time pose parameters, such as the body's attitude angle at the time of collision and the relative collision angle, can be collected individually or simultaneously to calculate the distance between the device and the boundary at the time of collision. For example, when a bipedal window cleaning robot collides with a window frame, the body's attitude angle relative to the Y-axis (preset reference direction) at the time of collision can be collected in real time using a gyroscope, while the relative collision angle between the collision point and the center of the left suction cup can be collected using an angle sensor built into the collision bumper. Both are used as real-time pose parameters, etc.

[0079] In an exemplary embodiment, determining the dimensional information of the working surface in at least one detection direction based on the pose detection data may include: Based on the rotation angle and the body attitude angle before stepping in the moving stepping parameters, the single-step displacement generated by a single stepping movement of the bipedal cleaning device is determined. Based on the body attitude angle and relative collision angle in the instantaneous pose parameters, the distance between the colliding walking foot and the collision boundary in the bipedal cleaning device is determined. Based on one or more single-step displacements during the current exploration movement, and the distance between the colliding walking foot and the collision boundary, determine the side length of the working surface in at least one detection direction.

[0080] Single-step displacement refers to the displacement of the entire bipedal cleaning device in the detection direction after a single walking leg completes one "adhesion-rotation-detachment" or "adhesion-rotation" action. Examples include the single-step horizontal displacement of a bipedal window cleaning robot and the single-step vertical displacement of a bipedal floor cleaning robot.

[0081] The distance between the collision walking foot and the collision boundary refers to the distance from the reference point of the walking foot directly related to the collision (such as the center of the adsorption component) to the collision boundary when the cleaning equipment collides with the boundary. For example, the distance from the center of the suction cup of the left foot (collision walking foot) of a bipedal window cleaning robot to the collision boundary; the distance from the adsorption center of the right foot (collision walking foot) of a bipedal floor cleaning robot to the collision boundary, etc.

[0082] The side length of the working surface in at least one detection direction refers to the geometric length of the working surface in the detection direction. It can be the actual distance from the starting position of the cleaning equipment to the boundary, such as the horizontal side length of glass or the vertical side length of the floor.

[0083] It should be noted that the current exploration and movement process can be the process from the start of the current exploration and movement to the occurrence of a collision. If a collision occurs at a certain boundary, the current exploration and movement ends, and a new round of exploration and movement will begin next time. If the cleaning device explores from the first boundary to the second boundary and collides, then the side length in at least one detection direction is the side length from the first boundary to the second boundary. If the cleaning device starts exploring from any position on the working surface and collides with the second boundary, then the side length in at least one detection direction is the length from the detection start position to the second boundary.

[0084] This exemplary embodiment first calculates the single-step displacement using movement step parameters. Then, it calculates the distance between the collision-prone walking foot and the boundary using instantaneous pose parameters. Finally, it integrates the single-step displacement and distance to obtain the side length in the detection direction. For example, a bipedal window cleaning machine calculates the horizontal displacement of each single step using geometric formulas based on the left foot rotation angle and the body attitude angle before each single step movement. Then, based on the body attitude angle at the time of collision and the relative collision angle, the bipedal window cleaning machine calculates the distance between the collision-prone walking foot and the boundary from the center of the left suction cup to the collision point using a sine function. Finally, the bipedal window cleaning machine accumulates 10 single-step displacements and adds the distance between the collision-prone walking foot and the boundary to obtain the horizontal side length of the glass.

[0085] In an exemplary embodiment, determining the single-step displacement generated by a single step movement of the bipedal cleaning device based on the rotation angle and the body attitude angle before stepping in the movement stepping parameters may include: The single-step displacement is calculated based on the relationship between the rotation angle of a single step and the attitude angle of the fuselage before the step.

[0086] The relationship between the rotation angle of a single step movement and the attitude angle of the fuselage before the step refers to the numerical comparison of these two angular parameters, including three cases: the rotation angle is less than twice the attitude angle of the fuselage before the step; the rotation angle is equal to twice the attitude angle of the fuselage before the step; and the rotation angle is greater than twice the attitude angle of the fuselage before the step. This exemplary embodiment can use the relationship between the rotation angle and twice the attitude angle of the fuselage before the step as the basis for judgment, combined with the foot rotation radius of the bipedal cleaning device, to select the corresponding calculation method (such as different geometric formulas or models) to ensure the accuracy of single-step displacement calculation and adapt to different stepping action scenarios. For example, when a bipedal window cleaning robot is exploring and moving, the controller obtains the left foot rotation angle (30°) and the body posture angle (20°) before stepping in real time, determines that 30° < 2 × 20° (40°), and selects the corresponding geometric relationship formula to calculate the single-step displacement; a bipedal floor cleaning robot obtains the right foot rotation angle (40°) and the body posture angle (20°) before stepping, determines that 40° = 2 × 20°, and selects a simplified geometric formula to calculate the single-step displacement; a bipedal curtain wall cleaning device obtains the single foot rotation angle (50°) and the body posture angle (20°) before stepping, determines that 50° > 2 × 20°, and selects another geometric relationship formula to calculate the single-step displacement, etc.

[0087] In an exemplary embodiment, calculating the single-step displacement based on the relationship between the rotation angle of a single step movement and the attitude angle of the fuselage before the step may include: Obtain the foot rotation radius of the bipedal cleaning device; If the rotation angle of a single step is less than twice the forward fuselage attitude angle, the single-step displacement is determined by the following formula:

[0088] in, Indicates single-step displacement. Indicates the radius of foot rotation. This represents the rotation angle of a single step movement. This indicates the attitude angle of the fuselage before the stepping.

[0089] The foot rotation radius can be the distance from the rotation center to the reference point of the bipedal cleaning device when it rotates. In this exemplary embodiment, the rotation center can be on one of the walking feet, such as the center of the suction cup, and the reference point can be on the other walking foot, such as the center of the other suction cup or the edge of the walking foot. In one embodiment, the foot rotation radius can be the distance from the center of the adsorption component corresponding to one walking foot to the center of the adsorption component corresponding to the other walking foot.

[0090] In this exemplary embodiment, for scenarios where the rotation angle is less than twice the forward fuselage attitude angle, such as... Figure 2As shown, the inherent structural parameters of the equipment, such as the foot rotation radius, can be obtained first. Then rotate the angle Stepping forward fuselage attitude angle Radius of rotation Substituting the preset geometric formula, the single-step displacement is obtained through trigonometric function calculation. For example, when the bipedal window cleaning machine is exploring and moving, the controller reads the pre-stored left foot rotation radius (8cm) and detects that the left foot rotation angle is 30° < 2 × stepping forward posture angle 20° (40°). Substituting the data into the formula: x = 2 × 8 × sin(30° / 2) × sin(90° + 30° / 2 - 20°), the single-step displacement of 5cm is calculated.

[0091] In an exemplary embodiment, calculating the single-step displacement based on the relationship between the rotation angle of a single step movement and the attitude angle of the fuselage before the step may include: Obtain the foot rotation radius of the bipedal cleaning device; If the rotation angle of a single step movement is equal to twice the forward fuselage attitude angle, then the single-step displacement is determined by the following formula:

[0092] in, Indicates single-step displacement. Indicates the radius of foot rotation. This represents the rotation angle of a single step movement. This indicates the attitude angle of the fuselage before the stepping.

[0093] like Figure 3 As shown, for scenarios where the rotation angle is equal to twice the forward fuselage attitude angle, the foot rotation radius can be obtained. Then, compare it with the rotation angle of a single step movement. By substituting the simplified geometric formula (some parameters are offset due to angle relationships), the single-step displacement is obtained through trigonometric function calculations, simplifying the calculation logic while ensuring accuracy. For example, when a bipedal window cleaning machine is exploring and moving, it reads the pre-stored left foot rotation radius (8cm) and detects the left foot rotation angle 40° = 2 × stepping posture angle 20°. Substituting the data into the formula: x = 2 × 8 × sin(40° / 2), the single-step displacement is calculated to be 5.4cm.

[0094] In an exemplary embodiment, calculating the single-step displacement based on the relationship between the rotation angle of a single step movement and the attitude angle of the fuselage before the step may include: Obtain the foot rotation radius of the bipedal cleaning device; If the rotation angle of a single step is greater than twice the forward fuselage attitude angle, the single-step displacement is determined by the following formula:

[0095] in, Indicates single-step displacement. Indicates the radius of foot rotation. This represents the rotation angle of a single step movement. This indicates the attitude angle of the fuselage before the stepping.

[0096] like Figure 4 As shown, for scenarios where the rotation angle is greater than twice the forward fuselage attitude angle, the foot rotation radius can be obtained after calculating the foot rotation radius. Rotation angle of a single step movement and the forward fuselage attitude angle Substituting the corresponding geometric formula, the single-step displacement is obtained through trigonometric function calculations, which is adapted to the stepping scenario of large-angle rotation of the equipment. For example, when the bipedal window cleaning machine is exploring and moving, it reads the pre-stored left foot rotation radius (8cm) and detects that the left foot rotation angle 50° > 2 × stepping front posture angle 20° (40°). Substituting the data into the formula: x = 2 × 8 × sin(50° / 2) × sin(90° - 50° / 2 + 20°), the single-step displacement is calculated to be 6.1cm.

[0097] In an exemplary embodiment, determining the distance between the colliding walking foot and the collision boundary in the bipedal cleaning device based on the body attitude angle and relative collision angle in the instantaneous pose parameters may include: Based on the distance between the colliding walking foot and the collision point in a bipedal cleaning device, the body attitude angle at the time of collision, and the relative collision angle, the distance between the colliding walking foot and the collision boundary is calculated.

[0098] Among them, the collision walking foot refers to the walking foot that collides with the boundary, the collision point refers to the contact point where the cleaning equipment collides with the boundary, and the distance between the collision walking foot and the collision point can be the distance between a reference point on the walking foot that collides and the collision point, such as the distance between the center of the suction cup and the collision point, or the distance between the edge of the suction cup and the collision point, etc.

[0099] This exemplary embodiment can use the distance between the collision walking foot and the collision point, combined with two angle data in the instantaneous pose parameters, to calculate the distance between the collision walking foot and the collision boundary through geometric operations (such as trigonometric functions and projection calculations), thus making up for the residual distance at the moment of collision not covered by "cumulative single-step displacement". For example, when a bipedal window cleaning machine collides with a window frame, the distance between the collision walking foot and the collision point is obtained, and combined with the body posture angle and relative collision angle at the time of collision, the distance from the center of the left suction cup to the collision boundary is calculated through a preset formula.

[0100] In one exemplary embodiment, the walking leg of the cleaning device is equipped with an adsorption component; the instantaneous pose parameters also include collision side information indicating whether the collision occurred on the left or right side of the device body. The above calculation of the distance between the colliding walking foot and the collision boundary based on the distance between the colliding walking foot and the collision point, the body attitude angle at the time of collision, and the relative collision angle in a bipedal cleaning device can include: In response to the collision side information indicating a left-side collision, the first distance between the center of the left adsorption component and the collision boundary is calculated using the following formula:

[0101] in, The first distance between the center of the left adsorption component and the collision boundary. The relative collision angle between the point of impact and the fuselage. For the body attitude angle at the time of collision, The distance between the collision point and the center of the left adsorption component; or

[0102] In response to the collision side information indicating a right-side collision, the second distance between the center of the right adsorption component and the collision boundary is calculated using the following formula:

[0103] in, This is the second distance between the center of the right adsorption component and the collision boundary. The relative collision angle between the point of impact and the fuselage. For the body attitude angle at the time of collision, The distance between the collision point and the center of the right adsorption component.

[0104] Collision side information refers to the identification information indicating whether the collision boundary of the cleaning equipment is located on the left or right side of the machine body. It can be a binary signal or a level signal, such as left collision (high level signal), right collision (low level signal); or left collision (binary 1), right collision (binary 0), etc.

[0105] The adsorption component can be a part on the walking legs of a bipedal cleaning device used to adsorb and fix it to the working surface, ensuring that the device is stable and does not fall off when moving. Examples include vacuum suction cups, magnetic adsorption blocks, or negative pressure adsorption plates configured on the walking legs. In this exemplary embodiment, the walking legs of the cleaning device can be configured with adsorption components, such as suction cups. Therefore, the walking legs can be characterized by adsorption components. The colliding walking leg can be the adsorption component associated with the walking leg that collides. The first distance can be the distance from the center of the left adsorption component to the collision boundary when colliding on the left, and the second distance can be the distance from the center of the right adsorption component to the collision boundary when colliding on the right.

[0106] In this exemplary embodiment, the collision position (left / right) can be determined first through collision side information. Then, a corresponding formula is selected for different collision sides, and the distance from the collision point to the center of the corresponding adsorption component and two angle parameters are substituted to accurately calculate the distance from the left / right adsorption component to the boundary, adapting to different collision scenarios. For example, the walking legs of a bipedal window cleaning machine are equipped with vacuum suction cups (adsorption components). During a collision, the collision side information is detected through the left and right contact points built into the bumper. Figure 5 As shown, if the left contact is triggered (indicating a left collision), the distance m = 5cm from the collision point to the center 510 of the left adsorption component is retrieved, and substituted into the formula L = 5sin(30° + 25°), the first distance of 2cm is calculated; if the right contact is triggered (indicating a right collision), the distance n = 5.2cm from the collision point to the center of the right adsorption component is retrieved, and substituted into the formula R = 5.2sin(32° + 28°), the second distance of 4.5cm is calculated.

[0107] In an exemplary embodiment, determining the side length of the working surface in at least one detection direction based on one or more single-step displacements during the current exploration movement and the distance between the colliding walking foot and the collision boundary may include: The total displacement is obtained by summing all single-step displacements from the start of this exploration movement to the occurrence of the collision. The side length is determined based on the total displacement and the distance between the colliding walking foot and the collision boundary.

[0108] The total displacement refers to the sum of the single-step displacements of all individual steps of the cleaning equipment during the period from the start of this exploration movement to the collision boundary, that is, the cumulative distance the equipment moves from its starting position to the instant before the collision.

[0109] In this exemplary embodiment, when determining the side length, all single-step displacements can be accumulated to obtain the total displacement. Then, the total displacement is integrated with the distance between the colliding walking foot and the collision boundary (the residual distance before the collision) (such as by addition, compensation correction, etc.) to obtain the complete side length of the working surface in the detection direction, ensuring that the size calculation is complete. For example, when a bipedal window cleaning machine is exploring and moving, the controller accumulates the single-step displacement in real time. When a collision occurs, the total displacement of 50cm is obtained. The total displacement of 50cm is added to the distance of 2cm on the left side to obtain the horizontal side length of the glass of 52cm.

[0110] In an exemplary embodiment, the walking foot of the cleaning device is equipped with an adsorption component; determining the side length based on the total displacement and the distance between the colliding walking foot and the collision boundary may include: The side length is determined based on the total displacement, the distance between the center of the adsorption component corresponding to the collision walking foot and the collision boundary, and the distance between the center of the adsorption component corresponding to the collision walking foot and the side edge opposite to the direction of movement of the fuselage.

[0111] Among them, the distance from the center of the adsorption component corresponding to the collision walking foot to the opposite side edge of the machine's movement direction refers to the horizontal distance from the center of the adsorption component (such as a suction cup) of the bipedal cleaning device to the rear side edge of the machine. This is an inherent structural parameter of the device, for example, in... Figure 5 In the schematic diagram shown, if the left walking foot of the dual-leg window cleaning machine collides, the distance k from the center of the left suction cup corresponding to the left walking foot to the rear edge of the machine is the distance k from the center of the adsorption component corresponding to the colliding walking foot to the opposite side edge of the machine's movement direction.

[0112] Since the calculation benchmark for the total displacement is the center of the adsorption component, while the benchmark for the starting position of the device may be the rear edge of the machine, this exemplary embodiment can add the "distance from the center of the adsorption component to the rear edge of the machine" as a correction term. After integrating the three, a more accurate side length is obtained, avoiding dimensional errors caused by differences in structural benchmarks. For example, the walking feet of a bipedal window cleaning machine are equipped with vacuum suction cups. The distance from the center of the left suction cup to the rear edge of the machine is pre-stored as k=3cm. When there is a collision, the total displacement is 50cm and the left side distance is 2cm. By using the formula C=total displacement+first distance (or second distance)+distance from the center of the adsorption component corresponding to the collision walking foot to the opposite side edge of the machine's movement direction k=50+2+3=55cm, the horizontal side length of the glass is obtained as 55cm.

[0113] In an exemplary embodiment, controlling the cleaning device to perform exploratory movement along at least one detection direction on the work surface to be cleaned may include: The cleaning equipment is controlled to perform at least two linear exploration moves, and the directions of the at least two linear exploration moves are different.

[0114] Linear exploration movement refers to the exploration movement of the cleaning equipment along a straight line, with a straight trajectory, facilitating the calculation of dimensions in a single direction, such as horizontal or vertical linear movement. "At least two" means that the exploration movement is performed at least twice to obtain dimensional information about the working surface in different directions. "Different directions" means that the straight lines of at least two linear exploration movements do not coincide, ensuring that the obtained dimensional information can construct a complete map, such as horizontal to the right and vertical downwards.

[0115] This exemplary embodiment can obtain dimensional information (such as length and width) of two or more dimensions of the working surface through at least two linear movements in different directions, providing data support for building a complete two-dimensional map and avoiding incomplete maps caused by single-direction detection. For example, the bipedal window cleaning machine can be controlled to first perform a linear exploration movement in the horizontal right direction (colliding with the right window frame), and then adjust the body angle to perform a linear exploration movement in the vertical downward direction (colliding with the lower window frame), with the two directions being different.

[0116] In one exemplary embodiment, the directions of at least two linear exploration movements are perpendicular to each other.

[0117] Mutually perpendicular means that the angle between the straight lines of at least two linear exploration movements is 90° (or close to 90°). This is the optimal scenario for "different directions," facilitating the construction of maps with regular shapes such as rectangles and squares. A 90° angle between the directions of two linear exploration movements can adapt to most regular-shaped work surfaces, such as glass, floors, and photovoltaic panels, which are mostly rectangular. This simplifies map construction logic while ensuring the orthogonality of size information and improving map accuracy.

[0118] In one exemplary embodiment, the method may further include: Based on the dimensional information in at least one detection direction, generate map information of the working surface; Based on the map information of the working surface, plan the cleaning path of the cleaning equipment on the working surface.

[0119] Map information can be a digital geometric contour model built based on the size information of the working surface, such as a rectangular glass contour map; a polygonal room floor map; a rectangular wall area map; or an irregularly shaped photovoltaic panel array map, etc.

[0120] In this exemplary embodiment, generating map information of the working surface based on dimensional information in at least one detection direction can involve integrating dimensional information from multiple detection directions to construct a digital geometric contour of the working surface, forming map data that can be used for subsequent cleaning path planning. For example, integrating the width data in the horizontal direction and the height data in the vertical direction of a bipedal window cleaning robot to generate a rectangular glass contour map; or integrating the dimensional data of a wheeled sweeping robot in the horizontal left and vertical forward directions to generate a rectangular floor map, etc.

[0121] The cleaning path refers to the movement trajectory of the cleaning equipment on the working surface to perform cleaning operations. It needs to cover the entire area to be cleaned and minimize repetition. For example, it can be a zigzag non-repetitive path, a spiral path, or a path that progresses inward along the edge.

[0122] This exemplary embodiment can use the generated work surface map information (such as size, shape, and boundary position) as a basis to design the movement trajectory of the cleaning equipment through a path planning algorithm to ensure that cleaning is thorough and without repetition, thereby improving cleaning efficiency. For example, based on the rectangular glass map (55cm wide and 120cm high) generated by the bipedal window cleaning machine, a Z-shaped non-repetitive cleaning path can be planned, starting from the upper left corner, moving horizontally to clean, then moving vertically downwards a certain distance, and then moving horizontally in the opposite direction to cover the entire glass surface in sequence.

[0123] Figure 6 A flowchart illustrating another mapping method based on cleaning equipment in this exemplary embodiment is shown, which may specifically include the following steps: Step S602: Determine the detection direction of the bipedal cleaning device's exploratory movement on the work surface to be cleaned; This exemplary embodiment may preferentially move to the left or right. Specifically, the body angle of the cleaning device may be detected, moving to the left when in a first angle range (e.g., 270 ≤ θ < 90 degrees), and moving to the left when in a second angle range (e.g., 90 ≤ 270°). Step S604: Control the bipedal cleaning device to alternately perform adsorption, rotation and detachment actions to move in a stepping exploration direction on the working surface and acquire pose detection data during the exploration movement. Step S606: Obtain the foot rotation radius of the bipedal cleaning device and determine the correspondence between the foot rotation radius and the attitude angle of the body before stepping. Step S608: If the rotation angle of a single step movement is less than twice the forward fuselage attitude angle, then the single-step displacement is determined by the first formula; the first formula is:

[0124] Step S610: If the rotation angle of a single step movement is equal to twice the fuselage attitude angle before the step, then the single-step displacement is determined by the second formula; the second formula is:

[0125] Step S612: If the rotation angle of a single step movement is greater than twice the fuselage attitude angle before the step, then the single-step displacement is determined by the third formula; the third formula is:

[0126] Step S614: Detect whether the bipedal cleaning device collides with the boundary of the work surface during exploration and movement; If the boundary of the working surface is not hit, proceed to step S616, continue exploring the movement, record the single-step displacement, and return to step S604. If a collision occurs with the boundary of the working surface, step S618 is executed to stop the stepping and determine the distance between the collision walking foot and the boundary of the working surface in the bipedal cleaning device. Step S620: Accumulate all single-step displacements from the start of this exploration movement to the occurrence of the collision to obtain the total displacement; Step S622: Determine the side length in the current detection direction based on the total displacement, the distance between the collision walking foot and the boundary of the working surface, and the distance between the center of the adsorption component and the rear edge of the machine. After completing the detection movement in the current detection direction, a turning operation is performed to determine a new detection direction, and step S604 is executed. Step S624: Generate map information of the working surface based on the side lengths in multiple detection directions.

[0127] In an exemplary embodiment of this disclosure, a cleaning device is also provided, comprising: Organism; At least two walking feet; A controller installed in the body controls the cleaning device to perform exploratory movement along at least one detection direction on the work surface to be cleaned; in response to the cleaning device colliding with the boundary of the work surface during the exploratory movement, the controller determines the dimensional information of the work surface in at least one detection direction based on the pose detection data of the cleaning device during the exploratory movement.

[0128] In one exemplary embodiment of this disclosure, the cleaning device is a bipedal cleaning device; the controller is further configured to control the two walking legs to alternately perform adsorption, rotation and detachment actions to perform stepping exploration movement on the work surface.

[0129] In one exemplary embodiment of this disclosure, the pose detection data includes movement step parameters generated by the movement of any walking foot during the exploration movement; the movement step parameters include the rotation angle of a single step movement of the bipedal cleaning device and / or the front body posture angle of the bipedal cleaning device relative to a preset reference direction before a single step movement.

[0130] In one exemplary embodiment of this disclosure, the pose detection data further includes the instantaneous pose parameters of the bipedal cleaning device at the time of the collision; the instantaneous pose parameters include the body attitude angle of the bipedal cleaning device relative to a preset reference direction and / or the relative collision angle of the collision point to the body.

[0131] In one exemplary embodiment of this disclosure, the controller is further configured to determine the single-step displacement generated by a single step movement of the bipedal cleaning device based on the rotation angle and the body attitude angle before stepping in the movement stepping parameters. Based on the body attitude angle and relative collision angle in the instantaneous pose parameters, the distance between the colliding walking foot and the collision boundary in the bipedal cleaning device is determined. Based on one or more single-step displacements during the current exploration movement, and the distance between the colliding walking foot and the collision boundary, determine the side length of the working surface in at least one detection direction.

[0132] In one exemplary embodiment of this disclosure, the controller is further configured to calculate the single-step displacement based on the relationship between the rotation angle of a single step movement and the attitude angle of the fuselage before the step.

[0133] In one exemplary embodiment of this disclosure, the controller is further configured to calculate the distance between the colliding walking foot and the collision boundary based on the distance between the colliding walking foot and the collision point in the bipedal cleaning device, the body attitude angle at the time of collision, and the relative collision angle.

[0134] In one exemplary embodiment of this disclosure, the controller is further configured to accumulate all single-step displacements from the start of the current exploration movement to the occurrence of a collision, to obtain the total displacement; The side length is determined based on the total displacement and the distance between the colliding walking foot and the collision boundary.

[0135] In one exemplary embodiment of this disclosure, the walking foot of the cleaning device is equipped with an adsorption component; the controller is further configured to determine the side length based on the total displacement, the distance between the center of the adsorption component corresponding to the collision walking foot and the collision boundary, and the distance between the center of the adsorption component corresponding to the collision walking foot and the side edge in the opposite direction of the movement direction of the machine body.

[0136] In one exemplary embodiment of this disclosure, the controller is further configured to control the cleaning device to perform at least two linear exploratory movements, wherein the directions of the at least two linear exploratory movements are different.

[0137] In one exemplary embodiment of this disclosure, the controller is further configured to generate map information of the working surface based on size information in at least one detection direction; Based on the map information of the working surface, plan the cleaning path of the cleaning equipment on the working surface.

[0138] The specific details of the cleaning equipment mentioned above have been described in detail in the corresponding method for measuring the size of the working surface, so they will not be repeated here.

[0139] In an exemplary embodiment of this disclosure, a device for detecting the size of a working surface is also provided, such as... Figure 7 As shown, the device 700 may include: an exploration movement control module 710, used to control the cleaning device to perform exploration movement along at least one detection direction on the work surface to be cleaned; a detection data acquisition module 720, used to acquire the pose detection data of the cleaning device during the exploration movement; and a size information determination module 730, used to determine the size information of the work surface in at least one detection direction based on the pose detection data in response to the cleaning device colliding with the boundary of the work surface during the exploration movement.

[0140] In one exemplary embodiment of this disclosure, the cleaning device is a bipedal cleaning device; the exploration and movement control module includes: a stepping exploration unit, used to control the bipedal cleaning device to alternately perform adsorption, rotation and detachment actions to perform stepping exploration movement on the working surface.

[0141] In one exemplary embodiment of this disclosure, the pose detection data includes movement step parameters generated by the movement of any walking foot during the exploration movement; the movement step parameters include the rotation angle of a single step movement of the bipedal cleaning device and / or the front body posture angle of the bipedal cleaning device relative to a preset reference direction before a single step movement.

[0142] In one exemplary embodiment of this disclosure, the pose detection data further includes the instantaneous pose parameters of the bipedal cleaning device at the time of the collision; the instantaneous pose parameters include the body attitude angle of the bipedal cleaning device relative to a preset reference direction and / or the relative collision angle of the collision point to the body.

[0143] In one exemplary embodiment of this disclosure, the size information determination module includes: a single-step displacement determination unit, used to determine the single-step displacement generated by a single step movement of the bipedal cleaning device based on the rotation angle and the body attitude angle before stepping in the movement stepping parameters; a collision distance determination unit, used to determine the distance between the collision walking foot and the collision boundary in the bipedal cleaning device based on the body attitude angle at the time of collision and the relative collision angle in the instantaneous pose parameters; and a side length determination unit, used to determine the side length of the working surface in at least one detection direction based on one or more single-step displacements during the current exploration movement and the distance between the collision walking foot and the collision boundary.

[0144] In one exemplary embodiment of this disclosure, the single-step displacement determination unit includes: a size relationship determination subunit, used to calculate the single-step displacement based on the size relationship between the rotation angle of a single step movement and the attitude angle of the fuselage before the step.

[0145] In one exemplary embodiment of this disclosure, the collision distance determination unit includes a collision distance calculation subunit, used to calculate the distance between the collision walking foot and the collision boundary based on the distance between the collision walking foot and the collision point in the bipedal cleaning device, the body posture angle at the time of the collision, and the relative collision angle.

[0146] In one exemplary embodiment of this disclosure, the side length determination unit includes: a total displacement determination subunit, used to accumulate all single-step displacements from the start of the current exploration movement to the occurrence of the collision to obtain the total displacement; and a side length determination subunit, used to determine the side length based on the total displacement and the distance between the colliding walking foot and the collision boundary.

[0147] In one exemplary embodiment of this disclosure, the walking foot of the cleaning device is equipped with an adsorption component; the side length determination subunit is used to determine the side length based on the total displacement, the distance between the center of the adsorption component corresponding to the collision walking foot and the collision boundary, and the distance between the center of the adsorption component corresponding to the collision walking foot and the side edge in the opposite direction of the machine body's movement direction.

[0148] In one exemplary embodiment of this disclosure, the exploration movement control module includes: a linear exploration movement control unit for controlling the cleaning device to perform at least two linear exploration movements, wherein the directions of the at least two linear exploration movements are different.

[0149] In one exemplary embodiment of this disclosure, the apparatus further includes: a map generation module for generating map information of the working surface based on size information in at least one detection direction; and a path planning module for planning a cleaning path for the cleaning equipment on the working surface based on the map information of the working surface.

[0150] The specific details of the dimension detection device modules for each working surface mentioned above have been described in detail in the corresponding dimension detection methods for the working surfaces, so they will not be repeated here.

[0151] It should be noted that although several modules or units for the execution device have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0152] In an exemplary embodiment of this disclosure, an electronic device capable of implementing the above-described method is also provided. For example, the electronic device may be a cleaning device capable of implementing the above-described method.

[0153] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0154] The following reference Figure 8 To describe an electronic device 800 according to such an exemplary embodiment of the present disclosure. Figure 8 The electronic device 800 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0155] like Figure 8 As shown, the electronic device 800 is presented in the form of a general-purpose computing device. The components of the electronic device 800 may include, but are not limited to: at least one processing unit 810, at least one storage unit 820, a bus 830 connecting different system components (including storage unit 820 and processing unit 810), and a display unit 840.

[0156] The storage unit stores program code, which can be executed by the processing unit 810 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processing unit 810 can execute... Figure 1 or Figure 6 The steps shown are as follows.

[0157] Storage unit 820 may include readable media in the form of volatile storage units, such as random access memory (RAM) 821 and / or cache memory 822, and may further include read-only memory (ROM) 823.

[0158] The storage unit 820 may also include a program / utility 824 having a set (at least one) of program modules 825, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0159] Bus 830 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0160] Electronic device 800 can also communicate with one or more external devices 900 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 800, and / or with any device that enables electronic device 800 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 850. Furthermore, electronic device 800 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 860. As shown, network adapter 860 communicates with other modules of electronic device 800 via bus 830. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0161] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0162] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible implementations, various aspects of this disclosure may also be implemented as a program product including program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of this disclosure described in the "Exemplary Methods" section above.

[0163] The program product for implementing the above-described method according to embodiments of the present disclosure may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0164] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0165] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0166] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0167] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0168] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this disclosure and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0169] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0170] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is defined only by the appended claims.

Claims

1. A method of measuring the dimensions of a work surface, characterized by, The method includes: The cleaning equipment is controlled to perform exploratory movement along at least one detection direction on the work surface to be cleaned; Acquire the pose detection data of the cleaning equipment during the exploration and movement process; In response to the cleaning device colliding with the boundary of the working surface during exploration and movement, the size information of the working surface in at least one detection direction is determined based on the pose detection data.

2. The method of claim 1, wherein, The cleaning device is a bipedal cleaning device; the control of the cleaning device to perform exploratory movement along at least one detection direction on the work surface to be cleaned includes: The bipedal cleaning device is controlled to alternately perform adsorption, rotation, and detachment actions on its two feet to perform step-by-step exploratory movement on the work surface.

3. The method of claim 2, wherein, The pose detection data includes the movement step parameters generated by the movement of any walking foot during the exploration movement; the movement step parameters include the rotation angle of a single step movement of the bipedal cleaning device and / or the body posture angle of the bipedal cleaning device relative to a preset reference direction before the single step movement.

4. The method of claim 3, wherein, The pose detection data also includes the instantaneous pose parameters of the bipedal cleaning device at the time of the collision; the instantaneous pose parameters include the body attitude angle of the bipedal cleaning device relative to the preset reference direction and / or the relative collision angle of the collision point to the body.

5. The method of claim 4, wherein, Determining the dimensional information of the working surface in at least one detection direction based on the pose detection data includes: Based on the rotation angle and the body posture angle before stepping in the moving stepping parameters, the single-step displacement generated by the single stepping movement of the bipedal cleaning device is determined. Based on the body posture angle at the time of collision and the relative collision angle in the instantaneous pose parameters, the distance between the walking foot and the collision boundary in the bipedal cleaning device is determined. Based on one or more single-step displacements during the current exploration movement, and the distance between the colliding walking foot and the collision boundary, the side length of the working surface in the at least one detection direction is determined.

6. The method of claim 5, wherein, The determination of the single-step displacement generated by a single step movement of the bipedal cleaning device based on the rotation angle and the body attitude angle before stepping in the moving stepping parameters includes: The single-step displacement is calculated based on the relationship between the rotation angle of a single step and the attitude angle of the fuselage before the step.

7. The method of claim 5, wherein, The determination of the distance between the colliding walking foot and the collision boundary in the bipedal cleaning device, based on the body attitude angle at the time of collision and the relative collision angle in the instantaneous pose parameters, includes: Based on the distance between the colliding walking foot and the collision point in the bipedal cleaning device, the body posture angle at the time of the collision, and the relative collision angle, the distance between the colliding walking foot and the collision boundary is calculated.

8. The method of claim 5, wherein, Determining the side length of the working surface in the at least one detection direction based on one or more single-step displacements during the current exploration movement and the distance between the colliding walking foot and the collision boundary includes: The total displacement is obtained by summing all single-step displacements from the start of this exploration movement to the occurrence of the collision. The side length is determined based on the total displacement and the distance between the colliding walking foot and the collision boundary.

9. The method according to claim 8, characterized in that, The walking foot of the cleaning device is equipped with an adsorption component; determining the side length based on the total displacement and the distance between the colliding walking foot and the collision boundary includes: The side length is determined based on the total displacement, the distance between the center of the adsorption component corresponding to the collision walking foot and the collision boundary, and the distance between the center of the adsorption component corresponding to the collision walking foot and the side edge opposite to the direction of movement of the fuselage.

10. The method according to claim 1, characterized in that, The control of the cleaning device to perform exploratory movement along at least one detection direction on the work surface to be cleaned includes: The cleaning device is controlled to perform at least two linear exploration movements, and the directions of the at least two linear exploration movements are different.

11. The method of claim 1, wherein, The method further includes: Based on the size information in at least one detection direction, map information of the working surface is generated; Based on the map information of the working surface, the cleaning path of the cleaning equipment on the working surface is planned.

12. A cleaning apparatus, characterized by include: Organism; At least two walking feet; A controller installed in the body controls the cleaning device to perform exploratory movement along at least one detection direction on the work surface to be cleaned; in response to the cleaning device colliding with the boundary of the work surface during the exploratory movement, the controller determines the size information of the work surface in the at least one detection direction based on the pose detection data of the cleaning device during the exploratory movement.

13. The cleaning apparatus of claim 12, wherein, The cleaning equipment is a bipedal cleaning device; The controller is also used to control the two walking legs to alternately perform adsorption, rotation and detachment actions to perform step-by-step exploratory movement on the working surface.

14. The cleaning apparatus of claim 13, wherein, The pose detection data includes the movement step parameters generated by the movement of any walking foot during the exploration movement; the movement step parameters include the rotation angle of a single step movement of the bipedal cleaning device and / or the body posture angle of the bipedal cleaning device relative to a preset reference direction before the single step movement.

15. The cleaning apparatus of claim 14, wherein, The pose detection data also includes the instantaneous pose parameters of the bipedal cleaning device at the time of the collision; the instantaneous pose parameters include the body attitude angle of the bipedal cleaning device relative to the preset reference direction and / or the relative collision angle of the collision point to the body.

16. The cleaning apparatus of claim 15, wherein, The controller is also used to determine the single-step displacement generated by a single step movement of the bipedal cleaning device based on the rotation angle and the body posture angle before stepping in the movement stepping parameters. Based on the body posture angle at the time of collision and the relative collision angle in the instantaneous pose parameters, the distance between the walking foot and the collision boundary in the bipedal cleaning device is determined. Based on one or more single-step displacements during the current exploration movement, and the distance between the colliding walking foot and the collision boundary, the side length of the working surface in the at least one detection direction is determined.

17. The cleaning apparatus of claim 16, wherein, The controller is also used to calculate the single-step displacement based on the relationship between the rotation angle of a single step movement and the attitude angle of the fuselage before the step.

18. The cleaning apparatus of claim 16, wherein, The controller is also used to calculate the distance between the collision walking foot and the collision boundary based on the distance between the collision walking foot and the collision point in the bipedal cleaning device, the body posture angle at the time of the collision, and the relative collision angle.

19. The cleaning apparatus of claim 16, wherein, The controller is also used to accumulate all single-step displacements from the start of the current exploration movement to the occurrence of the collision, to obtain the total displacement; The side length is determined based on the total displacement and the distance between the colliding walking foot and the collision boundary.

20. The cleaning apparatus of claim 19, wherein, The walking legs of the cleaning device are equipped with adsorption components; the controller is also used to determine the side length based on the total displacement, the distance between the center of the adsorption component corresponding to the collision walking leg and the collision boundary, and the distance between the center of the adsorption component corresponding to the collision walking leg and the side edge in the opposite direction of the movement direction of the machine body.

21. The cleaning apparatus of claim 12, wherein, The controller is also configured to control the cleaning device to perform at least two linear exploration movements, wherein the directions of the at least two linear exploration movements are different.

22. The cleaning apparatus of claim 12, wherein, The controller is also configured to generate map information of the working surface based on the size information in the at least one detection direction; Based on the map information of the working surface, the cleaning path of the cleaning equipment on the working surface is planned.

23. A device for detecting the dimensions of a working surface, characterized in that, The device includes: The exploration movement control module is used to control the cleaning equipment to perform exploration movement along at least one detection direction on the work surface to be cleaned; The detection data acquisition module is used to acquire the pose detection data of the cleaning equipment during the exploration and movement process; A size information determination module is used to determine the size information of the working surface in at least one detection direction based on the pose detection data, in response to the cleaning device colliding with the boundary of the working surface during exploration and movement.

24. A computer readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1-11.

Images