Driving control method for cleaning equipment, apparatus, cleaning device and storage medium

Abstract

The invention relates to a cleaning equipment running control method and device, cleaning equipment and a storage medium. The method comprises the steps that in the process that the cleaning equipment runs on a running surface, if it is detected that a covering object exists on the running surface below the cleaning equipment, the cleaning equipment rotates towards the side, without the covering object, of the running surface, and keeps running forwards so as to run along the edge of the covering object; and when the cleaning equipment runs to the edge of the covering after running along the edge of the covering, the running path running along the edge of the covering serves as a historical running path, the credibility of the historical running path is determined, and the forward running speed of the cleaning equipment is adjusted according to the credibility. By means of the method, the appropriate running speed and mode can be flexibly used, the flexibility of the cleaning equipment is improved, and the cleaning equipment can accurately run along the edge of the covering.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511705208.8 (22) Application Date 2023.01.06 (62) Divisional Application Data 202310019651.4 2023.01.06 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Qiu Weinan, Yang Donghao, Gu Yixiu (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Cheng Hongxia (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 24 (2006.01) A47L 11 / 28 (2006.01) (54) Invention Title: Cleaning Equipment Driving Control Method, Apparatus, Cleaning Equipment, and Storage Medium (57) Abstract: This application relates to a cleaning equipment driving control method, apparatus, cleaning equipment, and storage medium. The method includes: during the driving of the cleaning equipment on a driving surface, if a covering on the driving surface is detected below the cleaning equipment, the equipment rotates to the side of the driving surface without a covering and continues to drive forward to drive along the edge of the covering; after driving along the edge of the covering, when the equipment reaches the edge of the covering again, the driving path along the edge of the covering is taken as a historical driving path, the reliability of the historical driving path is determined, and the speed of the cleaning equipment driving forward is adjusted according to the reliability. This method can flexibly use appropriate driving speeds and modes, improve the flexibility of the cleaning equipment, and drive accurately along the edge of the covering. Claims 2 pages, Description 11 pages, Drawings 3 pages, CN 121647566 A 2026.03.13 CN 1 21 64 75 66 A 1. A method for controlling the movement of a cleaning device, characterized in that the method includes: during the movement of the cleaning device on a driving surface, if a covering on the driving surface is detected below the cleaning device, the device rotates to the side of the driving surface without the covering and continues to move forward to move along the edge of the covering; after moving along the edge of the covering, when the device moves to the edge of the covering again, the driving path along the edge of the covering is taken as a historical driving path, the reliability of the historical driving path is determined, and the speed of the cleaning device moving forward is adjusted according to the reliability. 2. The method according to claim 1, characterized in that determining the reliability of the historical driving path includes: driving according to the historical driving path and determining the actual detection results at multiple driving positions initially reached and3. The method according to claim 2, wherein determining the reliability of the historical driving path based on the differences includes: determining the reliability of the historical driving path based on a first probability that the number of locations where the actual detection results and historical detection results are the same at multiple driving locations relative to the total number of driving locations. 4. The method according to claim 3, wherein the first probability is positively correlated with the reliability. 5. The method according to claim 2, wherein determining the reliability of the historical driving path based on the differences includes: determining the reliability of the historical driving path based on a second probability that the number of locations where the actual detection results and historical detection results are different at multiple driving locations relative to the total number of driving locations. 6. The method according to claim 5, wherein the second probability is negatively correlated with the reliability. 7. The method according to claim 1, characterized in that, when traveling along the edge of the cover and then traveling to the edge of the cover again, the method further includes: determining a tolerance distance based on the reliability of the historical driving path; performing a status detection below the cover while traveling along the historical driving path after determining the tolerance distance; if the actual detection result at the current driving position is different from the corresponding historical detection result, then after traveling the tolerance distance from the current driving position, switching to a trial mode to continue driving; wherein, the actual detection result at the current driving position is the status detection result of whether there is a cover under the cleaning equipment when traveling to the current driving position again; the corresponding historical detection result is the status detection result of whether there is a cover under the cleaning equipment when traveling to the current driving position last time; the trial mode is a mode of traveling along the edge of the cover by iteratively rotating in the opposite direction and continuing to travel forward. 8. The method according to claim 7, characterized in that the method further comprises: during the process of driving along the historical driving path after determining the tolerance distance, performing a lower state detection; if the actual detection result at the current driving position is different from the corresponding historical detection result, then after driving the tolerance distance from the current driving position, switching to a trial mode to continue driving comprises: after determining the tolerance distance, driving along the historical driving path at an adjusted forward driving speed, and performing a lower state detection at preset time intervals during the driving process; if the actual detection result at the current driving position is different from the corresponding historical detection result, then after driving the tolerance distance from the current driving position, switching to a trial mode to continue driving. 9. A cleaning equipment driving control device, characterized in that the device comprises:An iterative steering module is used to, during the process of the cleaning device traveling on a driving surface, if a covering is detected below the cleaning device on the driving surface, rotate to the side of the driving surface without the covering and continue to travel forward to travel along the edge of the covering; a fault-tolerant driving module is used to, after traveling along the edge of the covering, when traveling to the edge of the covering again, take the driving path along the edge of the covering as a historical driving path, determine the reliability of the historical driving path, and adjust the forward speed of the cleaning device according to the reliability. 10. A cleaning device, comprising a memory and a processor, the memory storing a computer program, characterized in that, when the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8. 11. A computer-readable storage medium storing a computer program thereon, characterized in that, when the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8. 12. A computer program product, comprising a computer program, characterized in that, when the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8. Claims 2 / 2 Page 3 CN 121647566 A Cleaning Equipment Driving Control Method, Apparatus, Cleaning Equipment and Storage Medium

[0001] This application is a divisional application of application number 202310019651.4, filed on January 6, 2023, entitled "Cleaning Equipment Driving Control Method, Apparatus, Cleaning Equipment and Storage Medium". Technical Field

[0002] This application relates to the field of cleaning equipment technology, and in particular to a cleaning equipment driving control method, apparatus, cleaning equipment and storage medium. Background Art

[0003] With the development of science and technology, cleaning equipment is becoming more and more popular, providing convenience for people's lives. In the case of carpets or other coverings in the cleaning environment of the cleaning equipment, the cleaning equipment needs to avoid the coverings. The cleaning equipment generally uses sensors at the bottom to detect whether there are coverings on the ground below, thereby avoiding the coverings.

[0004] In conventional methods, a portion of the cleaning equipment has already traveled onto the covering before it reverses away from the covering and continues normal travel. When a portion of the cleaning equipment travels onto the covering again, the cleaning equipment reverses away from the covering again and continues normal travel, repeating this cycle. Therefore, this travel method causes the cleaning equipment to repeatedly move up and down the covering, resulting in very low cleaning efficiency. Summary of the Invention

[0005] Based on this, it is necessary to address the above-mentioned technical problems by providing a cleaning equipment travel control method, apparatus, cleaning equipment, computer-readable storage medium, and computer program product that can improve cleaning efficiency.

[0006] In a first aspect, this application provides a method for controlling the movement of a cleaning device. The method includes: during the movement of the cleaning device on a driving surface, if a covering on the driving surface is detected below the cleaning device, rotating the device towards the side of the driving surface without the covering; after rotating towards the side of the driving surface without the covering, and each time the cleaning device is detected to switch between two states below it, rotating in the opposite direction and continuing to move forward to travel along the edge of the covering; the two states refer to the state where the covering is present below and the state where the covering is not present below.

[0007] In a second aspect, this application also provides a device for controlling the movement of a cleaning device. The device includes: an iterative steering module, used to, during the movement of the cleaning device on a driving surface, if a covering on the driving surface is detected below the cleaning device, rotating the device towards the side of the driving surface without the covering; after rotating towards the side of the driving surface without the covering, and each time the cleaning device is detected to switch between two states below it, rotating in the opposite direction and continuing to move forward to travel along the edge of the covering; the two states refer to the state where the covering is present below and the state where the covering is not present below.

[0008] In one embodiment, the iterative steering module is further configured to, if a covering is detected below the cleaning device on the driving surface, rotate towards the side of the driving surface without the covering and reduce the forward speed of the cleaning device.

[0009] In one embodiment, the iterative steering module is further configured to, if a covering is detected below the cleaning device on the driving surface, rotate towards the side of the driving surface without the covering and reduce the forward speed of the cleaning device to a target speed value.

[0010] In one embodiment, the target speed value is the minimum speed value of the cleaning device.

[0011] In one embodiment, the target speed value is zero.

[0012] In one embodiment, the iterative steering module is further configured to, after rotating towards the side of the driving surface without the covering, if it detects that the cleaning equipment's lower surface has switched from a state where there is a covering to a state where there is no covering, then rotate towards the side of the driving surface with the covering and continue moving forward; during the rotation towards the side of the driving surface with the covering, if it detects that the cleaning equipment's lower surface has switched from a state where there is no covering to a state where there is a covering, then rotate towards the side of the driving surface without the covering.Rotate and continue moving forward, then return to the side of the driving surface without the cover. If it is detected that the cleaning device has switched from a state where there is a cover to a state where there is no cover below, then rotate to the side of the driving surface with the cover, and continue moving forward and subsequent steps to drive along the edge of the cover.

[0013] In one embodiment, the iterative steering module is also used to detect the state below the cleaning device through a sensor during the driving of the cleaning device on the driving surface. If it is detected that there is a cover on the driving surface below the cleaning device, then rotate to the side of the driving surface without the cover. The sensor may be set at the bottom of the cleaning device body near the edge.

[0014] In one embodiment, the cleaning device driving control device further includes: a cover position determination module, used to determine the position of the edge of the cover according to the driving path along the edge of the cover; the position of the edge of the cover is used to locate and display the cover on a map of the cleaning environment.

[0015] In one embodiment, the cleaning equipment driving control device further includes: a fault-tolerant driving module, used to, when driving to the edge of the cover again, take the driving path along the edge of the cover as the historical driving path, determine the reliability of the historical driving path, and determine a fault-tolerant distance based on the reliability of the historical driving path; during the process of driving along the historical driving path after determining the fault-tolerant distance, perform a downward state detection; if the actual detection result at the current driving position is different from the corresponding historical detection result, then after driving the fault-tolerant distance from the current driving position, switch to the trial mode to continue driving; wherein, the actual detection result at the current driving position is the state detection result of whether there is a cover under the cleaning equipment when driving to the current driving position again; the corresponding historical detection result is the state detection result of whether there is a cover under the cleaning equipment when driving to the current driving position last time; the trial mode is a mode of driving along the edge of the cover by iteratively rotating in the opposite direction and keeping driving forward.

[0016] In one embodiment, the fault-tolerant driving module is further configured to drive along the historical driving path and determine the difference between the actual detection results and the historical detection results at multiple initial driving positions; and determine the reliability of the historical driving path based on the difference.

[0017] In one embodiment, the fault-tolerant driving module is further configured to adjust the forward speed of the cleaning equipment based on the reliability; during the process of driving along the historical driving path after determining the fault tolerance distance, a downward state detection is performed; if the actual detection result at the current driving position is different from the corresponding historical detection result, then the system will adjust the forward speed of the cleaning equipment based on the reliability.After traveling the tolerance distance at the current driving position, switching to trial mode to continue driving includes: after determining the tolerance distance, driving along the historical driving path at the adjusted forward driving speed, and performing lower status detection at preset time intervals during driving. If the actual detection result at the current driving position is different from the corresponding historical detection result, then after traveling the tolerance distance from the current driving position, switching to trial mode to continue driving.

[0018] In a third aspect, this application also provides a cleaning device. The cleaning device includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor performs the steps in the cleaning device driving control method described in the embodiments of this application.

[0019] In a fourth aspect, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon. When the computer program is executed by a processor, the processor performs the steps in the cleaning device driving control method described in the embodiments of this application.

[0020] In a fifth aspect, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, causes the processor to perform the steps in the cleaning equipment driving control method described in the embodiments of this application.

[0021] The above-described cleaning equipment driving control method, device, cleaning equipment, storage medium, and computer program product, during the process of the cleaning equipment driving on the driving surface, if it is detected that there is a cover on the driving surface below the cleaning equipment, it rotates to the side of the driving surface without a cover. After rotating to the side of the driving surface without a cover, each time the cleaning equipment is detected to switch between the state of having a cover below and the state of not having a cover below, it rotates in the opposite direction and continues to drive forward, realizing that the cleaning equipment drives along the edge of the cover, avoiding the problem of the cleaning equipment repeatedly going up and down the cover, thereby improving cleaning efficiency.

[0022] Figure 1 is an application environment diagram of the cleaning equipment driving control method in one embodiment; Figure 2 is a flowchart of the cleaning equipment driving control method in one embodiment; Figure 3 is a schematic diagram of the path of the cleaning equipment traveling along the edge of the cover in one embodiment; Figure 4 is a structural block diagram of the cleaning equipment driving control device in one embodiment; Figure 5 is a structural block diagram of the cleaning equipment driving control device in another embodiment; Figure 6 is a structural block diagram of the cleaning equipment driving control device in yet another embodiment; Figure 7 is an internal structure diagram of the cleaning equipment in one embodiment. Detailed Description

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the following description, in conjunction with the accompanying drawings and embodiments, will...This application provides a further detailed description. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0024] The cleaning equipment driving control method provided in this application embodiment can be applied to the application environment shown in FIG1. ​​The cleaning equipment 102 drives in the cleaning environment to perform cleaning work, and a covering 104 exists on the driving surface in the cleaning environment. During the driving process of the cleaning equipment 102 on the driving surface in the cleaning environment, if a covering 104 is detected below the cleaning equipment, it rotates to the side of the driving surface without a covering 104. After rotating to the side of the driving surface without a covering 104, each time the cleaning equipment 102 is detected to switch between two states below it, it rotates in the opposite direction and continues to drive forward, so that the cleaning equipment 102 drives along the edge of the covering 104. The cleaning equipment 102 may be, but is not limited to, a sweeping robot, a mopping robot, or a sweeping and mopping robot. The covering 104 may be, but is not limited to, a carpet or a floor mat.

[0025] In one embodiment, as shown in FIG2, a method for controlling the movement of a cleaning device is provided. Taking the cleaning device 102 in FIG1 as an example, as described in the method application specification page 3 / 11 6 CN 121647566 A, the method includes the following steps: Step 202, during the movement of the cleaning device on the driving surface, if a covering on the driving surface is detected below the cleaning device, the device rotates to the side of the driving surface without a covering.

[0026] Wherein, the driving surface refers to the plane on which the cleaning device moves. For example, the driving surface can be the ground.

[0027] The covering can be a blanket-like object covering the driving surface. The side of the driving surface without a covering is the opposite direction to the direction in which the covering is detected.

[0028] In one embodiment, during the movement of the cleaning device on the driving surface, the cleaning device can perform a bottom state detection. If a covering on the driving surface is detected below the cleaning device, the cleaning device can rotate to the side of the driving surface without a covering. If no covering is detected below, the device maintains normal driving state. Wherein, the bottom state detection is the process of detecting whether a covering exists below the cleaning device.

[0029] In one embodiment, if a covering on the driving surface is detected below the cleaning device while it is traveling on the driving surface, the cleaning device can rotate to the side of the driving surface without a covering and continue moving forward. In another embodiment, if a covering on the driving surface is detected below the cleaning device while it is traveling on the driving surface, the cleaning device can rotate to the side of the driving surface without a covering and decelerate while moving forward.

[0030] Step 204: After rotating to the side of the driving surface without a covering, each time a covering on the cleaning device is detected below...When switching between two states, the cleaning device rotates in the opposite direction and continues to move forward to travel along the edge of the cover; the two states refer to the state where there is a cover below and the state where there is no cover below.

[0031] In one embodiment, after rotating to the side of the driving surface without a cover, the cleaning device can rotate in the opposite direction and continue to move forward to travel along the edge of the cover each time it detects that the bottom of the cleaning device is switching between the two states.

[0032] It can be understood that in the step of rotating in the opposite direction and continuing to move forward each time it detects that the bottom of the cleaning device is switching between the two states, the reverse rotation is performed at a high frequency, so the driving path of the cleaning device is close to a straight line in human perception. For example: at 10 milliseconds, the cleaning device rotates 0.1 degrees to the right, detects that there is a cover below, and then rotates to the side without a cover; at 20 milliseconds, the cleaning device rotates 0.1 degrees to the left, detects that there is no cover below, and then rotates to the side with a cover again, and so on iteratively, performing the reverse rotation at a high frequency.

[0033] Figure 3 is a schematic diagram of the path of the cleaning device traveling along the edge of the cover when the cleaning device travel control method in the various embodiments of this application is adopted. The solid line is the path of the cleaning device, and the dashed line is the path of the sensor on the cleaning device. It can be seen that the cleaning device can travel accurately along the edge of the cover, and the travel path is close to a straight line, without going up and down the cover back and forth.

[0034] In the above-mentioned cleaning device travel control method, if a cover is detected below the cleaning device during the travel of the cleaning device on the travel surface, the device rotates to the side of the travel surface without a cover. After rotating to the side of the travel surface without a cover, the device rotates in the opposite direction and continues to travel forward each time it is detected that there is a cover below the cleaning device and there is no cover below the cleaning device. This realizes that the cleaning device travels along the edge of the cover, avoids the problem of the cleaning device going up and down the cover back and forth, thereby improving cleaning efficiency, and the travel action of the cleaning device is more continuous and intelligent.

[0035] In one embodiment, if a cover on the driving surface is detected below the cleaning device, rotating towards the side of the driving surface without a cover includes: if a cover on the driving surface is detected below the cleaning device, rotating towards the side of the driving surface without a cover, and reducing the forward speed of the cleaning device. Specification 4 / 11 pages 7 CN 121647566 A

[0036] In one embodiment, if a cover on the driving surface is detected below the cleaning device, rotating towards the side of the driving surface without a cover, and reducing the forward speed of the cleaning device to reduce the forward speed value of the cleaning device to a target speed value. In another embodiment, if a cover on the driving surface is detected below the cleaning device...If a cover is detected on the driving surface, the device rotates towards the side without a cover and reduces its forward speed to gradually reduce the forward speed to various target speed values.

[0037] In the above embodiment, if a cover is detected on the driving surface below the cleaning device, the device rotates towards the side without a cover and reduces its forward speed, thereby preventing a large area of ​​the cleaning device from traveling over the cover, improving cleaning efficiency, and making the cleaning device's movement more continuous and intelligent.

[0038] In one embodiment, if a cover is detected on the driving surface below the cleaning device, rotating towards the side without a cover and reducing its forward speed includes: if a cover is detected on the driving surface below the cleaning device, rotating towards the side without a cover and reducing its forward speed to reduce the forward speed to a target speed value.

[0039] In one embodiment, the target speed value can be preset.

[0040] In one embodiment, the target speed value can be a speed lower than the normal driving speed of the cleaning device.

[0041] In the above embodiments, if a covering on the driving surface is detected below the cleaning device, the device rotates to the side of the driving surface without a covering and reduces its forward speed to a target speed value. This prevents a large area of ​​the cleaning device from traveling over the covering, improving cleaning efficiency and making the device's movement more continuous and intelligent.

[0042] In one embodiment, the target speed value is the minimum speed value of the cleaning device.

[0043] In one embodiment, the minimum speed value can be 50 mm / s.

[0044] In one embodiment, if a covering on the driving surface is detected below the cleaning device, the device rotates to the side of the driving surface without a covering and reduces its forward speed to a minimum speed value.

[0045] In the above embodiments, reducing the forward speed of the cleaning device to its minimum speed value quickly lowers the device's speed, greatly preventing a large area of ​​the cleaning device from traveling over the covering, improving cleaning efficiency, and making the device's movement more continuous and intelligent.

[0046] In one embodiment, the target speed value is zero.

[0047] In one embodiment, if a covering on the driving surface is detected below the cleaning device, the device rotates to the side of the driving surface without a covering and reduces its forward speed to stop the cleaning device from moving forward (i.e., reduces the forward speed of the cleaning device to zero).

[0048] It is understood that when the forward speed of the cleaning device is reduced to zero, it will stop moving forward, but it will not stop rotating. When the rotation ensures that there is no cover under the cleaning device, step 204 can be triggered to move along the edge of the cover.

[0049] In the above embodiment, reducing the forward speed of the cleaning device to zero can quickly reduce the speed of the cleaning device, which can greatly prevent a large area of ​​the cleaning device from moving onto the cover, improve cleaning efficiency, and make the movement of the cleaning device more continuous and intelligent.

[0050] In one embodiment, after rotating to the side of the driving surface without a cover, if it is detected that the bottom of the cleaning device switches between two states each time, rotating in the opposite direction and continuing to drive forward to travel along the edge of the cover includes: after rotating to the side of the driving surface without a cover, if it is detected that the bottom of the cleaning device switches from a state with a cover to a state without a cover, then rotating to the side of the driving surface with a cover and continuing to drive forward; during the rotation to the side of the driving surface with a cover, if it is detected that the bottom of the cleaning device switches from a state without a cover to a state with a cover, then rotating to the side of the driving surface without a cover and continuing to drive forward, returning to the previous step of rotating to the side of the driving surface without a cover, if it is detected that the bottom of the cleaning device switches from a state with a cover to a state without a cover, then rotating to the side of the driving surface with a cover and continuing to drive forward, and subsequent steps to travel along the edge of the cover.

[0051] In one embodiment, during the process of the cleaning device traveling on the driving surface, if it is detected that there is a cover on the driving surface below the cleaning device, the cleaning device rotates towards the side of the driving surface without a cover and decelerates. After rotating towards the side of the driving surface without a cover, if it is detected that the bottom of the cleaning device changes from a state where there is a cover to a state where there is no cover, then it rotates towards the side of the driving surface with a cover and continues to travel forward. During the process of rotating towards the side of the driving surface with a cover, if it is detected that the bottom of the cleaning device changes from a state where there is no cover to a state where there is a cover, then it rotates towards the side of the driving surface without a cover and continues to travel forward. Then it returns to the process of rotating towards the side of the driving surface without a cover, if it is detected that the bottom of the cleaning device changes from a state where there is a cover to a state where there is no cover, then it rotates towards the side of the driving surface with a cover and continues to travel forward, and so on, to travel along the edge of the cover.

[0052] In the above embodiment, by iteratively rotating in the opposite direction when the bottom of the cleaning device switches between two states,And keep moving forward, so that the cleaning equipment moves along the edge of the cover, avoiding the problem of the cleaning equipment going up and down the cover, thereby improving cleaning efficiency, and the movement of the cleaning equipment is more continuous and intelligent.

[0053] In one embodiment, if a cover is detected on the driving surface when the cleaning equipment is moving on the driving surface, rotating to the side of the driving surface without a cover includes: During the movement of the cleaning equipment on the driving surface, the lower state is detected by a sensor. If a cover is detected on the driving surface when the cleaning equipment is moving on the driving surface, the equipment rotates to the side of the driving surface without a cover. The sensor can be set at the bottom of the cleaning equipment body near the edge.

[0054] As shown in FIG3, the sensor is set at the bottom of the cleaning equipment near the edge.

[0055] It can be understood that when the cleaning equipment detects that there is a cover below, it does not mean that the entire body of the cleaning equipment is covered on the cover. Rather, it means that there is a cover below the sensor at the bottom edge of the cleaning equipment. That is, a small part of the body of the cleaning equipment is above the cover. By rotating, the cover below the sensor can be eliminated, thereby switching to the state where there is no cover below the cleaning equipment, and continuing to execute step 204.

[0056] In the above embodiments, a sensor located near the edge of the bottom of the cleaning device body is used to detect the state below, so that when the cleaning device detects that there is a covering below, a large area of ​​the body will not cover the covering, thus improving cleaning efficiency.

[0057] In one embodiment, after traveling along the edge of the covering, the method further includes: determining the position of the edge of the covering based on the travel path along the edge of the covering; the position of the edge of the covering is used to locate and display the covering in a map of the cleaning environment.

[0058] Wherein, the cleaning environment is the environment in which the cleaning device performs cleaning work. The covering exists in the cleaning environment.

[0059] In one embodiment, after the cleaning device has finished traveling along the edge of the covering, the cleaning device can determine the position of the edge of the covering based on the travel path along the edge of the covering, and send the position of the edge of the covering to the terminal, and the terminal can locate and display the covering in a map of the cleaning environment based on the position of the edge of the covering. Instruction manual, page 6 / 11, CN 121647566 A

[0060] In one embodiment, the terminal may be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices may include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. Portable wearable devices may include smartwatches, smart bracelets, head-mounted devices, etc.

[0061] In one embodiment, the terminal displays a map of the clean environment in the application tool, and...The covering is located and displayed in the center. In one embodiment, the application tool can be an application (app) or a mini-program in the terminal.

[0062] In the above embodiment, after driving along the edge of the covering, the position of the edge of the covering is determined according to the driving path along the edge of the covering, and then the covering is located and displayed in the map of the cleaning environment through the terminal, which improves the interactivity of the cleaning equipment and makes it more visual and intelligent.

[0063] In one embodiment, after traveling along the edge of the cover, the method further includes: when traveling to the edge of the cover again, taking the travel path along the edge of the cover as the historical travel path, determining the reliability of the historical travel path, and determining the fault tolerance distance based on the reliability of the historical travel path; during the process of traveling along the historical travel path after determining the fault tolerance distance, performing a bottom state detection; if the actual detection result at the current travel position is different from the corresponding historical detection result, then after traveling the fault tolerance distance from the current travel position, switching to the trial mode to continue traveling; wherein, the actual detection result at the current travel position is the state detection result of whether there is a cover under the cleaning equipment when traveling to the current travel position again; the corresponding historical detection result is the state detection result of whether there is a cover under the cleaning equipment when traveling to the current travel position last time; the trial mode is a mode of traveling along the edge of the cover by iteratively rotating in the opposite direction and keeping moving forward.

[0064] Wherein, bottom state detection is the process of detecting whether there is a cover under the cleaning equipment.

[0065] In one embodiment, after the cleaning device has completed its journey along the edge of the cover, when it travels to the edge of the cover again, the cleaning device can use the completed journey path as a historical journey path, determine the reliability of the historical journey path, and determine the fault tolerance distance based on the reliability of the historical journey path.

[0066] In one embodiment, the length of the fault tolerance distance can be positively correlated with the reliability of the historical journey path. That is, the higher the reliability, the longer the fault tolerance distance; the lower the reliability, the shorter the fault tolerance distance.

[0067] For example: assuming the reliability of the historical journey path is 90%, the fault tolerance distance can be 5 cm. If the actual detection result at the current driving position is different from the corresponding historical detection result, then after traveling 5 cm from the current driving position, it switches to trial mode to continue driving. For example: assuming the reliability of the historical journey path is 50%, the fault tolerance distance can be 2 cm. If the actual detection result at the current driving position is different from the corresponding historical detection result, then after traveling 2 cm from the current driving position, it switches to trial mode to continue driving.

[0068] In one embodiment, when the cleaning device travels along the historical travel path again to the edge of the cover, it performs a status detection below. If the actual detection result at the current travel position does not match the corresponding historical detection result...If the distance traveled from the current driving position is the same, then the device switches to the trial mode to continue driving.

[0069] In one embodiment, the trial mode is the mode for executing steps 202 and 204.

[0070] In the above embodiment, when driving to the edge of the cover again, the reliability of the historical driving path is determined, and the fault tolerance distance is determined according to the reliability of the historical driving path. The device first drives along the historical driving path. If the actual detection result at the current driving position is different from the corresponding historical detection result, then the device switches to the trial mode to continue driving after traveling the fault tolerance distance from the current driving position. This allows for flexible adjustment of the fault tolerance distance according to the reliability of the historical driving path. When the historical driving path is reliable, the device drives along the historical driving path as much as possible to improve cleaning efficiency. When the historical driving path is unreliable, the device switches to the trial mode as soon as possible to ensure that the cleaning equipment can flexibly adjust the appropriate mode and accurately drive along the edge of the cover as described on page 7 / 11 of the specification, 10 CN 121647566 A.

[0071] In one embodiment, determining the reliability of a historical driving path includes: driving along the historical driving path and determining the difference between the actual detection results and historical detection results at multiple driving positions initially reached; and determining the reliability of the historical driving path based on the difference.

[0072] In one embodiment, when driving to the edge of the cover again, the cleaning device can drive along the historical driving path and determine the difference between the actual detection results and historical detection results at multiple driving positions initially reached, determine the reliability of the historical driving path based on the difference, and determine the tolerance distance based on the reliability of the historical driving path. During the process of driving along the historical driving path after determining the tolerance distance, a lower state detection is performed. If the actual detection result at the current driving position is different from the corresponding historical detection result, the device drives the tolerance distance from the current driving position and then switches to trial mode to continue driving.

[0073] In one embodiment, the cleaning device can determine the reliability of the historical driving path based on the frequency of the difference between the actual detection results and historical detection results at multiple driving positions initially reached.

[0074] In one embodiment, the reliability of a historical driving path is determined by the first probability of the number of locations where the actual detection results and historical detection results are the same relative to the total number of driving locations.

[0075] The first probability is positively correlated with reliability. That is, the higher the first probability, the higher the reliability; the lower the first probability, the lower the reliability. In another embodiment, the reliability of a historical driving path is determined by the second probability of the number of locations where the actual detection results and historical detection results are different relative to the total number of driving locations. The second probability is negatively correlated with reliability. That is, the higher the second probability, the lower the reliability; the lower the second probability, the higher the reliability. For example: 10If the actual detection results at 9 out of 10 driving positions are the same as the historical detection results, then the reliability can be 90%.

[0076] In the above embodiment, the historical driving path is followed, and the difference between the actual detection results and the historical detection results at the initial driving positions is determined. The reliability of the historical driving path is determined based on the difference, so that the reliability of the historical driving path can be determined accurately and efficiently.

[0077] In one embodiment, the method further includes: adjusting the forward speed of the cleaning equipment according to the reliability; and performing a downward state detection during the process of driving along the historical driving path after determining the fault tolerance distance. If the actual detection result at the current driving position is different from the corresponding historical detection result, then after driving the fault tolerance distance from the current driving position, switching to the trial mode to continue driving includes: after determining the fault tolerance distance, driving along the historical driving path at the adjusted forward speed, and performing a downward state detection at a preset time interval during the driving process. If the actual detection result at the current driving position is different from the corresponding historical detection result, then after driving the fault tolerance distance from the current driving position, switching to the trial mode to continue driving.

[0078] In one embodiment, the forward speed of the cleaning device after adjustment can be positively correlated with the reliability. That is, the higher the reliability, the greater the forward speed of the cleaning device after adjustment, and the lower the reliability, the smaller the forward speed of the cleaning device after adjustment.

[0079] In one embodiment, when the cleaning device travels to the edge of the cover again, it can travel along the historical travel path and determine the difference between the actual detection results and the historical detection results at the initial travel positions. Based on the difference, the reliability of the historical travel path is determined, and the fault tolerance distance is determined based on the reliability of the historical travel path. The forward speed of the cleaning device is adjusted according to the reliability, and the cleaning device travels along the historical travel path at the adjusted forward speed. If the actual detection result at the current travel position is different from the corresponding historical detection result, the device travels the fault tolerance distance from the current travel position and then switches to the trial mode to continue traveling.

[0080] In the above embodiment, the forward speed of the cleaning equipment is adjusted according to the confidence level. The equipment travels along the historical travel path at the adjusted forward speed as per the instruction manual (page 8 / 11, CN 121647566 A). During travel, the equipment performs lower status detection at preset time intervals. If the actual detection result at the current travel position differs from the corresponding historical detection result, the equipment travels a tolerance distance from the current travel position and then switches to trial mode to continue traveling. This allows the equipment to quickly travel along the edge of the cover along the historical travel path when the confidence level is high, and to travel at a slower speed when the confidence level is low. This results in more lower status detection locations, enabling more accurate switching to trial mode. This improves the flexibility of the cleaning equipment, allowing for more flexible...Use appropriate driving speed and mode to drive accurately along the edge of the cover.

[0081] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows.

[0082] Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, which are not necessarily completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0083] Based on the same inventive concept, the embodiments of this application also provide a cleaning equipment driving control device for implementing the cleaning equipment driving control method mentioned above. The solution to the problem provided by this device is similar to the solution described in the above method, so the specific limitations of one or more cleaning equipment driving control device embodiments provided below can be found in the limitations of the cleaning equipment driving control method above, and will not be repeated here.

[0084] In one embodiment, as shown in FIG4, a cleaning equipment driving control device 400 is provided, including: an iterative steering module 402, wherein: the iterative steering module 402 is used to, during the process of the cleaning equipment driving on the driving surface, if a covering on the driving surface is detected below the cleaning equipment, rotate towards the side of the driving surface without a covering; after rotating towards the side of the driving surface without a covering, if the cleaning equipment is detected to switch between two states below each time, rotate in the opposite direction and continue driving forward to drive along the edge of the covering; the two states refer to the state where a covering exists below and the state where no covering exists below.

[0085] In one embodiment, the iterative steering module 402 is further used to, if a covering on the driving surface is detected below the cleaning equipment, rotate towards the side of the driving surface without a covering and reduce the forward speed of the cleaning equipment.

[0086] In one embodiment, the iterative steering module 402 is further used to, if a covering on the driving surface is detected below the cleaning equipment, rotate towards the side of the driving surface without a covering and reduce the forward speed of the cleaning equipment to reduce the forward speed value of the cleaning equipment to a target speed value.

[0087] In one embodiment, the target speed value is the minimum speed value of the cleaning equipment.

[0088] In one embodiment, the target speed value is zero.

[0089] In one embodiment, the iterative steering module 402 is also used to rotate towards the side of the driving surface without cover.Subsequently, if it is detected that the cleaning device changes from a state where there is a cover underneath to a state where there is no cover underneath, it rotates towards the side of the driving surface with a cover and continues to move forward; during the rotation towards the side of the driving surface with a cover, if it is detected that the cleaning device changes from a state where there is no cover underneath to a state where there is a cover underneath, it rotates towards the side of the driving surface without a cover and continues to move forward, and returns to execute the subsequent steps, such as rotating towards the side of the driving surface without a cover and then rotating towards the side of the driving surface with a cover, continuing to move forward, and moving along the edge of the cover.

[0090] In one embodiment, the iterative steering module 402 is also used to detect the state below the cleaning device by means of a sensor during the process of the cleaning device moving on the driving surface. If it is detected that there is a cover on the driving surface below the cleaning device, it rotates towards the side of the driving surface without a cover; the sensor can be set at the bottom of the cleaning device body near the edge.

[0091] In one embodiment, as shown in FIG5, the cleaning equipment driving control device 400 further includes: a cover position determination module 404, used to determine the position of the edge of the cover according to the driving path along the edge of the cover; the position of the edge of the cover is used to locate and display the cover in a map of the cleaning environment.

[0092] In one embodiment, as shown in FIG6, the cleaning equipment driving control device 400 further includes: a fault-tolerant driving module 406, used to, when driving to the edge of the cover again, take the driving path along the edge of the cover as the historical driving path, determine the reliability of the historical driving path, and determine the fault-tolerant distance based on the reliability of the historical driving path; after determining the fault-tolerant distance, during the process of driving along the historical driving path, perform the lower state detection; if the actual detection result at the current driving position is different from the corresponding historical detection result, then after driving the fault-tolerant distance from the current driving position, switch to the trial mode to continue driving; wherein, the actual detection result at the current driving position is the state detection result of whether there is a cover under the cleaning equipment when driving to the current driving position again; the corresponding historical detection result is the state detection result of whether there is a cover under the cleaning equipment when driving to the current driving position last time; the trial mode is a mode of driving along the edge of the cover by iteratively rotating in the opposite direction and keeping driving forward.

[0093] In one embodiment, the fault-tolerant driving module 406 is further configured to drive according to a historical driving path and determine the differences between the actual detection results and historical detection results at multiple initial driving locations; and determine the reliability of the historical driving path based on the differences.

[0094] In one embodiment, the fault-tolerant driving module 406 is further configured to adjust the forward speed of the cleaning equipment according to the confidence level; during the process of driving along the historical driving path after determining the fault tolerance distance, the lower state detection is performed. If the actual detection result at the current driving position is different from the corresponding historical detection result, then after driving the fault tolerance distance from the current driving position, the system switches to the trial mode to continue driving. This includes: after determining the fault tolerance distance, driving along the historical driving path at the adjusted forward speed, and performing the lower state detection at preset time intervals during the driving process. If the actual detection result at the current driving position is different from the corresponding historical detection result, then after driving the fault tolerance distance from the current driving position, the system switches to the trial mode to continue driving.

[0095] In the above-mentioned cleaning equipment driving control device, if a covering on the driving surface is detected below the cleaning equipment during the cleaning equipment's travel on the driving surface, the device rotates towards the side of the driving surface without a covering. After rotating towards the side of the driving surface without a covering, the device rotates in the opposite direction and continues to travel forward each time it detects a switch between the state where a covering exists below the cleaning equipment and the state where no covering exists below it. This enables the cleaning equipment to travel along the edge of the covering, avoiding the problem of the cleaning equipment repeatedly lifting and lowering the covering, thereby improving cleaning efficiency. Moreover, the driving action of the cleaning equipment is more continuous and intelligent.

[0096] Each module in the above-mentioned cleaning equipment driving control device can be implemented entirely or partially through software, hardware, or a combination thereof. Each module can be embedded in the processor of the cleaning equipment in hardware form or independent of it, or it can be stored in the memory of the cleaning equipment in software form, so that the processor can call and execute the operations corresponding to each module.

[0097] In one embodiment, a cleaning equipment is provided, the internal structure of which can be shown in Figure 7. The cleaning equipment includes a processor, a memory, and a network interface connected through a system bus. The processor of the cleaning equipment is used to provide computing and control capabilities. The cleaning device's memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs.

[0098] The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The cleaning device's network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a cleaning device driving control method.

[0099] Those skilled in the art will understand that the structure shown in FIG7 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the cleaning device to which the present application is applied. Specific cleaning devices may be...This includes more or fewer components than shown in the figures, or combinations of certain components, or different component arrangements.

[0100] In one embodiment, a cleaning device is provided, including a memory and a processor, the memory storing a computer program, which, when executed by the processor, implements the steps in the above method embodiments.

[0101] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps in the above method embodiments.

[0102] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps in the above method embodiments.

[0103] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0104] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include...This includes at least one relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0105] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0106] The above embodiments only illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application's patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims. Instruction Manual 11 / 11 Page 14 CN 121647566 A Figure 1 Figure 2 Instruction Manual Appendix 1 / 3 Page 15 CN 121647566 A Figure 3 Figure 4 Figure 5 Instruction Manual Appendix 2 / 3 Page 16 CN 121647566 A Figure 6 Figure 7 Instruction Manual Appendix 3 / 3 Page 17 CN 121647566 A DRIVING CONTROL METHOD FOR CLEANING EQUIPMENT, APPARATUS, CLEANING DEVICE AND STORAGE MEDIUM Abstract The present application relates to a driving control method for cleaning equipment, an apparatus, a cleaning device and a storage medium. The method includes: during the driving process of the cleaning equipment on a driving surface, if it is detected that a covering object on the driving surface exists below the cleaning equipment, rotating toward theside without the covering object on the driving surface and keeping moving forward to travel along the edge of the covering object; after traveling along the edge of the covering object, when reaching the edge of the covering object again, taking the driving path traveling along the edge of the covering object as a historical driving path, determining the credibility of the historical driving path, and adjusting the forward driving speed of the cleaning equipment according to the credibility. The present method enables the cleaning equipment to flexibly adopt appropriate driving speeds and operation modes, improves the flexibility of the cleaning equipment, and realizes accurate driving along the edge of the covering object.

Claims

1. A method for controlling the operation of cleaning equipment, characterized in that, The method includes: If a covering on the driving surface is detected below the cleaning equipment while it is traveling on the driving surface, the equipment rotates to the side of the driving surface without the covering and continues to travel forward to travel along the edge of the covering. After traveling along the edge of the cover, when traveling to the edge of the cover again, the travel path along the edge of the cover is taken as the historical travel path, the reliability of the historical travel path is determined, and the forward speed of the cleaning equipment is adjusted according to the reliability.

2. The method according to claim 1, characterized in that, The reliability of determining the historical driving path includes: The vehicle was driven along the historical driving route, and the differences between the actual detection results and the historical detection results at several initial driving locations were determined. The reliability of the historical driving path is determined based on the differences.

3. The method according to claim 2, characterized in that, The determination of the reliability of the historical driving path based on the difference includes: The reliability of historical driving paths is determined by the probability that the number of locations where the actual detection results and historical detection results are the same among multiple driving locations.

4. The method according to claim 3, characterized in that, The first probability is positively correlated with the credibility.

5. The method according to claim 2, characterized in that, The determination of the reliability of the historical driving path based on the difference includes: The reliability of historical driving paths is determined by the second probability of the number of locations where the actual detection results differ from the historical detection results among multiple driving locations.

6. The method according to claim 5, characterized in that, The second probability is negatively correlated with the credibility.

7. The method according to claim 1, characterized in that, After traveling along the edge of the cover, when traveling to the edge of the cover again, the method further includes: The tolerance distance is determined based on the reliability of the historical driving path. After determining the fault tolerance distance, during the process of driving along the historical driving path, the following state detection is performed. If the actual detection result at the current driving position is different from the corresponding historical detection result, then after driving the fault tolerance distance from the current driving position, the system switches to trial mode to continue driving. The actual detection result at the current driving position is the state detection result of whether there is a cover under the cleaning equipment when driving to the current driving position again; the corresponding historical detection result is the state detection result of whether there is a cover under the cleaning equipment when driving to the current driving position last time; the trial mode is a mode of driving along the edge of the cover by iteratively rotating in the opposite direction and keeping driving forward.

8. The method according to claim 7, characterized in that, The method further includes: The step of performing a status check while driving along the historical driving path after determining the tolerance distance, and if the actual detection result at the current driving position is different from the corresponding historical detection result, then switching to trial mode to continue driving after driving the tolerance distance from the current driving position includes: After determining the tolerance distance, the vehicle travels along the historical travel path at the adjusted forward speed, and performs a status check at preset time intervals during the travel. If the actual detection result at the current travel position is different from the corresponding historical detection result, the vehicle travels the tolerance distance from the current travel position and then switches to the trial mode to continue traveling.

9. A cleaning equipment driving control device, characterized in that, The device includes: An iterative steering module is used to rotate to the side of the driving surface without the cover if a cover is detected below the cleaning equipment while it is traveling on the driving surface, and continue to travel forward to travel along the edge of the cover. The fault-tolerant driving module is used to determine the reliability of the driving path along the edge of the cover when the device travels to the edge of the cover again after traveling along the edge of the cover, and adjusts the forward speed of the cleaning device according to the reliability of the historical driving path.

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

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

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

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