Method, apparatus, electronic device and readable storage medium for controlling a cleaning device

Abstract

The present application provides a method, an apparatus, an electronic device and a readable storage medium for controlling a cleaning device, and relates to the field of intelligent household appliances. The method includes the steps of: determining a low-frequency passing area in a room to be cleaned and obtaining cleaning task information for the cleaning device; planning a passing path for the cleaning device in the low-frequency passing area and a cleaning path for the cleaning device outside the low-frequency passing area based on the cleaning task information; moving along the passing path and controlling the cleaning device to move along the cleaning path.

Description

[Technical Field]

[0001] (Related Applications) This application claims priority to a Chinese patent application filed with the China Patent Office on January 3, 2023, bearing application number 202310002808.2 and entitled "Method, device, electronic device and readable storage medium for controlling a cleaning device," the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the field of intelligent household appliances, and in particular to a method for controlling a cleaning device, a control device for a cleaning device, an electronic device and a computer-readable storage medium. [Background technology]

[0003] In the related art, the movement area of ​​the cleaning device is divided into a normal area and a no-cleaning area, where the normal area is accessible to the cleaning device when cleaning, and the no-cleaning area is inaccessible to the cleaning device under any circumstances or inaccessible when the cleaning device mops.

[0004] Apparently, the related art only divides into two absolute boundaries: "accessible for cleaning" and "inaccessible for cleaning." However, setting a prohibited area that is "inaccessible for cleaning" may block the optimal cleaning path of the cleaning device, causing the cleaning device to take a detour, which may result in reduced cleaning efficiency. Furthermore, because the part of the "accessible for cleaning" area is prone to clogging, repeated movement through this area to clean may cause clogging of the cleaning device, which also reduces cleaning efficiency. Summary of the Invention

[0005] In view of this, the present application provides a cleaning device control method, a cleaning device control device, an electronic device and a computer-readable storage medium to solve the problem of low cleaning efficiency in the related art.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a cleaning device, the method including the steps of determining a low-frequency passing area in a room to be cleaned and obtaining cleaning task information; planning a passing path of the cleaning device within the low-frequency passing area and planning a cleaning path of the cleaning device outside the low-frequency passing area based on the cleaning task information; moving along the passing path and controlling the cleaning device to move along the cleaning path.

[0007] According to the above method of the embodiment of the present application, it can have the following additional technical features:

[0008] In the above technical solution, the step of moving along the passing path selectively includes moving along the passing path without executing the cleaning logic, and the step of moving along the cleaning path selectively includes moving along the cleaning path and executing the cleaning logic.

[0009] In the above technical solution, the step of selectively planning a passing path of the cleaning device within the low-frequency passing area and planning a cleaning path of the cleaning device outside the low-frequency passing area based on cleaning task information includes, when the low-frequency passing area divides the area outside the low-frequency passing area into multiple different cleaning areas, planning a passing path within the low-frequency passing area based on cleaning task information and respectively planning cleaning paths within the multiple different cleaning areas.

[0010] In any of the above technical solutions, optionally, the step of determining the low-frequency pass area in the room to be cleaned includes obtaining the user's area setting information, and determining the low-frequency pass area in the room to be cleaned based on the area setting information.

[0011] In any of the above technical solutions, optionally, the step of determining a low-frequency pass area in the room to be cleaned includes identifying a threshold area in the room to be cleaned by an identification device of the cleaning device, and designating the threshold area as a low-frequency pass area.

[0012] In any of the above technical solutions, optionally, the identification device includes at least one of a laser sensor, a visual sensor, and an infrared sensor.

[0013] In any of the above technical solutions, selectively setting the threshold area as a low-frequency pass area specifically includes setting the threshold area as a low-frequency pass area in response to confirmation information from the user regarding the threshold area.

[0014] In any of the above technical solutions, after a low-frequency pass area in a room to be cleaned is selectively determined, the low-frequency pass area is adjusted in response to area reset information from a user for the low-frequency pass area.

[0015] In any of the above technical solutions, optionally, the length range of the low-frequency passing area is 0.4m to 3m, and the width range of the low-frequency passing area is 0.1m to 0.2m.

[0016] In any of the above technical solutions, optionally, the method further includes a step of controlling the cleaning device so that, when an unidentifiable object is present within the low-frequency passing area, the cleaning device does not perform obstacle avoidance operations on the unidentifiable object when the cleaning device moves into the low-frequency passing area, wherein the unidentifiable object is an object whose type cannot be identified by the cleaning device.

[0017] In any of the above technical solutions, optionally, the method further comprises the step of raising the height of the target actuating member of the cleaning device when the cleaning device moves into the low frequency pass region.

[0018] In any of the above technical solutions, the target operating member optionally includes at least one of a floor brush, a mop plate, and a dust collection cartridge.

[0019] In any of the above technical solutions, optionally, the method further includes a step of increasing a detection trigger threshold of a detection device of the cleaning device when the cleaning device moves within a predetermined range near the low-frequency passing area.

[0020] In any of the above technical solutions, optionally, the detection device includes at least one of a carpet detection sensor, a collision sensor, and a cliff sensor.

[0021] In a second aspect, an embodiment of the present application provides a control device for a cleaning device, comprising: an area determination module used to determine a low-frequency passing area in a room to be cleaned; an information acquisition module used to acquire cleaning task information; a path planning module used to plan a passing path of the cleaning device within the low-frequency passing area and to plan a cleaning path of the cleaning device outside the low-frequency passing area based on the cleaning task information; and a control module used to move along the passing path and to control the cleaning device to move along the cleaning path.

[0022] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising a processor and a memory, the memory storing a program or instructions executable by the processor, the program or instructions, when executed by the processor, implementing the steps of the method of the first aspect.

[0023] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having stored thereon a program or instructions that, when executed by a processor, implements the steps of the method of the first aspect.

[0024] In a fifth aspect, an embodiment of the present application provides a chip, the chip comprising a processor and a communication interface, the communication interface coupled to the processor, the processor being used to implement the method of the first aspect by executing a program or instruction.

[0025] In a sixth aspect, an embodiment of the present application provides a computer program product, the program product being stored on a storage medium, the program product being executed by at least one processor to implement the method of the first aspect.

[0026] In an embodiment of the present application, a low-frequency passing area is set within the room to be cleaned. The low-frequency passing area is an area between the normal area and the no-cleaning area. This area is an area that is not necessarily passed through, i.e., passed through only when necessary, and can be understood as an area that is prone to clogging or an area that is not desired to be cleaned frequently by the cleaning device. Cleaning task information is obtained, i.e., specific locations that need to be cleaned by the cleaning device within the room to be cleaned. Based on the cleaning task information, an optimal movement path for the cleaning device is planned, the movement path including a passing path and a cleaning path. The passing path is a path that is passed through but not cleaned, and the cleaning path is a path that is passed through and cleaned. Specifically, a passing path is planned within the low-frequency passing area, and a cleaning path is planned outside the low-frequency passing area. Furthermore, the cleaning device is controlled to move along the passing path and the cleaning path.

[0027] In the embodiment of the present application, a low-frequency passing area is set where unnecessary passing is not required, and a passing path is planned within the low-frequency passing area, so that the cleaning device can pass through the low-frequency passing area when necessary to expand the movement coverage range, thereby reducing the probability of the cleaning device making a detour. By not planning a cleaning path within the low-frequency passing area, repeated movement in the area can be avoided, reducing the clogging problem of the cleaning device, and ultimately improving the cleaning efficiency of the cleaning device and the autonomous cleaning completion rate of the cleaning device.

[0028] The above description is only a summary of the technical solution of the present application, which is implemented in accordance with the content of the specification in order to more clearly understand the technical means of the present application, and in order to make the above and other objectives, features and advantages of the present application more obvious and easily understandable, specific embodiments of the present application are described below.

[0029] The accompanying drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application, and the illustrative embodiments and descriptions thereof are used only for interpreting the present application and are not to be construed as unduly limiting the present application. [Brief explanation of the drawings]

[0030] [Figure 1] 1 is a schematic flowchart of a control method for a cleaning device according to an embodiment of the present application; [Figure 2] Schematic diagram of a moving path of a cleaning device in the related art. [Figure 3] 1 is a schematic diagram of a movement path of a cleaning device according to an embodiment of the present application; [Figure 4] Schematic diagram of the low-pass region setting of an embodiment of the present application. [Figure 5] 1 is a structural block diagram of a control device of a cleaning device according to an embodiment of the present application; [Figure 6] 1 is a structural block diagram of an electronic device according to an embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0031] The technical solutions of the embodiments of the present application will be clearly described below in conjunction with the accompanying drawings of the embodiments of the present application, but obviously, the described embodiments are only some of the embodiments of the present application, not all of the embodiments, and other embodiments obtained by those skilled in the art based on the embodiments of the present application are all included in the protection scope of the present application.

[0032] Terms such as "first" and "second" in the specification and claims of this application are used to distinguish between similar objects and are not used to describe a particular order or priority. Data used in this manner may be appropriately interchanged so that the embodiments of this application may be implemented in an order other than that illustrated or described herein. Objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited; for example, the first object may be one or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the related objects before and after are in an "or" relationship.

[0033] Hereinafter, the cleaning device control method, cleaning device control device, electronic device and computer-readable storage medium provided by the embodiments of the present application will be described in detail in accordance with specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0034] An embodiment of the present application provides a method for controlling a cleaning device, and as shown in FIG. 1, the method includes the following steps:

[0035] Step 101: Determine the low-pass area in the room to be cleaned.

[0036] In this step, one or more low-frequency passing areas are set in the room to be cleaned, and the low-frequency passing areas are areas between the normal area and the no-cleaning area, and these areas are areas that are not passed through unless necessary, i.e., areas that are passed through only when necessary, and can be understood as areas that are prone to clogging, such as room thresholds and carpeted areas at bathroom entrances and exits, or areas that are not desired to be cleaned frequently by the cleaning device.

[0037] Step 102: Obtain cleaning task information of the cleaning device.

[0038] In this step, cleaning task information is obtained, i.e., the specific locations that need to be cleaned by the cleaning device in the room to be cleaned are obtained, and the cleaning task information may be set by the user on the cleaning device or on the terminal device, or may be a cleaning task downloaded from the network.

[0039] Step 103: Plan a passing path of the cleaning device within the low-frequency passing area based on the cleaning task information, and plan a cleaning path of the cleaning device outside the low-frequency passing area.

[0040] Step 104, controlling the cleaning device to move along the passage path and along the cleaning path.

[0041] In this step, an optimal movement path of the cleaning device is planned based on the cleaning task information, and the movement path includes a passing path and a cleaning path, i.e., the movement path of the cleaning device is divided into a passing path and a cleaning path. Here, a passing path is a path that passes without cleaning, and a cleaning path is a path that passes and cleans. Specifically, a passing path is planned within a low-frequency passing area, and a cleaning path is planned outside the low-frequency passing area. Furthermore, the cleaning device is controlled to move along the passing path and the cleaning path.

[0042] The cleaning device is a mobile device including a sweeping robot, a mopping robot, a sweeping and mopping machine, a dust collector, and the like.

[0043] The cleaning device control method can be applied to the cleaning device or a user's terminal device, and when applied to a user's terminal device, the terminal device determines a low-frequency passing area in a room to be cleaned, plans a passing path within the low-frequency passing area, plans a cleaning path outside the low-frequency passing area, and sends a control signal including the passing path and the cleaning path to the cleaning device, and the cleaning device moves within the room to be cleaned based on the control signal.

[0044] In the embodiment of the present application, a low-frequency passing area can be set where unnecessary passing is not required, and a passing path can be planned within the low-frequency passing area, so that the cleaning device passes through the low-frequency passing area as needed, expanding the movement coverage range and reducing the probability of the cleaning device detouring. By not planning a cleaning path within the low-frequency passing area, repeated movement in the area can be avoided, thereby reducing the clogging problem of the cleaning device, and ultimately improving the cleaning efficiency of the cleaning device and the autonomous cleaning completion rate of the cleaning device.

[0045] In a possible embodiment, the step of moving the cleaning device along the passage path includes moving along the passage path but not executing the cleaning logic, and the step of moving the cleaning device along the cleaning path includes moving along the cleaning path and executing the cleaning logic, in which when controlling the cleaning device to move according to the movement path, the cleaning device is allowed to pass through a low-frequency passage area according to the passage path, but in the low-frequency passage area, the cleaning device is controlled to not execute the cleaning logic, and the cleaning device is controlled to execute the cleaning logic only when moving according to the cleaning path, wherein the cleaning logic includes logic for walls, zigzag running, etc.

[0046] That is, for a set low-frequency passing area, when the cleaning device moves, the cleaning logic is not executed within the low-frequency passing area, but if there is a task that must pass through the low-frequency passing area (e.g., an interzone, charging, cleaning task, etc.), the cleaning device passes through the low-frequency passing area normally but does not clean the low-frequency passing area. For example, if a low-frequency passing area is not set in the threshold area between the bathroom and the living room, the cleaning device's cleaning path will be as shown in Figure 2, where the cleaning device will repeatedly clean the threshold area and cause clogging. If a low-frequency passing area is set in the threshold area, the cleaning device will pass only through the low-frequency passing area according to the path, and will clean areas outside the low-frequency passing area according to the cleaning path, without repeatedly cleaning it, as shown in Figure 3.

[0047] In an embodiment of the present application, the cleaning device is allowed to pass through the low-frequency passing area as needed, reducing the probability of the cleaning device detouring, and by not planning a cleaning path within the low-frequency passing area, i.e., passing through the area without cleaning it, repeated movements through the area can be avoided, and clogging problems of the cleaning device can be reduced.

[0048] In one embodiment of the present application, in step 103, the step of planning a passing path of the cleaning device within the low-frequency passing area and planning a cleaning path of the cleaning device outside the low-frequency passing area based on the cleaning task information specifically includes, when the low-frequency passing area divides the area outside the low-frequency passing area into multiple different cleaning areas, planning a passing path within the low-frequency passing area based on the cleaning task information and planning cleaning paths respectively in the multiple different cleaning areas.

[0049] In this embodiment, the cleaning area that needs to be cleaned by the cleaning device within the room to be cleaned is determined based on the cleaning task information. If the low-frequency passing area divides the area outside the low-frequency passing area into multiple different cleaning areas, the cleaning device needs to perform inter-area cleaning and must pass through the low-frequency passing area. In this case, a passing path is planned within the low-frequency passing area, and a cleaning path is planned for each of the multiple different cleaning areas, so that cleaning within the cleaning area is achieved, and the low-frequency passing area is only passed through without cleaning.

[0050] The method described above can reduce the probability of the cleaning device detouring, while avoiding repeated movements in the area, thereby improving the cleaning efficiency of the cleaning device.

[0051] In addition, in planning the passage path within the low-frequency passing area, the number of times the cleaning device passes through the low-frequency passing area should be reduced as much as possible, i.e., the cleaning device should pass through the area as infrequently as possible. For example, the cleaning device may be controlled so that it first completes the cleaning task on one side of the low-frequency passing area, then passes through the low-frequency passing area to complete the cleaning task on the other side, thereby passing through the low-frequency passing area only once. In the embodiment of the present application, by reducing the number of times the cleaning device passes through the low-frequency passing area, the cleaning device can avoid repeatedly passing through the low-frequency passing area and reduce the risk of the cleaning device getting stuck or slipping.

[0052] The present application has two possible implementations for determining the low-frequency pass area in the room to be cleaned. The first possible implementation is to obtain area setting information of the user and determine the low-frequency pass area in the room to be cleaned based on the area setting information.

[0053] In this embodiment, the user may manually set the area, and the cleaning device determines the low-frequency pass area in the room to be cleaned based on the user's area setting information.

[0054] For example, the cleaning device is provided with a touch screen, which displays a room map of the room to be cleaned, allowing the user to understand the room layout. The user can add a low-frequency pass area by inputting a specific area name through the touch screen or by checking an area in the room map.

[0055] Alternatively, the user can add a low-frequency pass area within the app on the terminal device. As shown in Figure 4, the user can add a low-frequency pass area by checking the low-frequency pass area at the bathroom entrance / exit. Furthermore, the user can also reset, zoom in, or delete the checked low-frequency pass area. A room map is stored in both the cleaning device and the terminal device, and the terminal device can send information about the low-frequency pass area added by the user to the cleaning device, so that the cleaning device can determine the low-frequency pass area based on the information.

[0056] In the embodiment of the present application, the low frequency pass area can be self-selected by the user as needed to meet the user's cleaning needs.

[0057] In a second possible embodiment of determining the low-frequency passing area, an identification device of the cleaning device identifies a threshold area in the room to be cleaned and sets the threshold area as the low-frequency passing area, where the identification device includes at least one of an LDS (Laser Docking Sensor), a visual sensor, and an infrared sensor.

[0058] In this embodiment, the cleaning device uses its own identification device to identify the threshold area using methods such as laser, visual, or infrared, and since the threshold area is an area that is prone to clogging, it can be set as a low-frequency passing area that is not necessary to pass through.

[0059] In addition to identifying the threshold area using the cleaning device's own hardware device, the threshold area can also be identified using a hardware device attached to another home appliance (e.g., a portable AI (Artificial Intelligence) device for home use) that is communicatively connected to the cleaning device, and information about the identified threshold area can be sent to the cleaning device.After receiving the information about the threshold area, the cleaning device can set the threshold area as a low-frequency passage area.

[0060] In addition to the identification by a hardware device, the identification may also be performed by software, i.e., a room map is stored in the cleaning device, and the threshold area is determined from the room map. In some embodiments, the threshold area may be determined from the room map by another home appliance or terminal device communicably connected to the cleaning device, and information about the determined threshold area may be transmitted to the cleaning device. After the cleaning device receives the information about the threshold area, the threshold area may be set as a low-frequency pass area.

[0061] The above method identifies that the automatic identification and setting of low-frequency passing areas does not need to be manually set by the user, and improves the degree of automation.

[0062] In one embodiment of the present application, setting the threshold area as a low-frequency pass area specifically includes setting the threshold area as a low-frequency pass area in response to confirmation information from a user regarding the threshold area.

[0063] In this embodiment, after the threshold area is identified, to ensure accuracy, the user confirms twice, and after receiving the user's confirmation information, the threshold area is set as a low-frequency passing area.

[0064] The identified threshold area may be displayed on the touch screen of the cleaning device, and the user may check or adjust it on the touch screen, or the identified threshold area may be sent by the cleaning device to the user's terminal device, and the user may check or adjust it on the terminal device.

[0065] In the embodiment of the present application, the user confirms the threshold area identified by the cleaning device twice, thereby improving the accuracy of setting the low-frequency passing area and further improving the cleaning efficiency of the cleaning device.

[0066] In one possible embodiment of the present application, after determining the low-frequency pass area in the room to be cleaned, the method further includes a step of adjusting the low-frequency pass area in response to area reset information from the user regarding the low-frequency pass area.

[0067] That is, after the low-frequency passing area is set, the low-frequency passing area may be adjusted, and such adjustment operations include deletion, modification, etc. For example, after the low-frequency passing area is set, a room map of the room to be cleaned is displayed on a touch screen with a display function of the cleaning device, and the room map includes the set low-frequency passing area. If the user is not satisfied with the setting of the low-frequency passing area, the user may adjust it. The operation for adjusting the low-frequency passing area is the same as the operation for setting the low-frequency passing area, so it will not be repeated here.

[0068] By using the above method, the set low-frequency passing area can be adjusted so that the low-frequency passing area meets the needs of the user, and the cleaning effect of the cleaning device can be improved.

[0069] In one embodiment of the present application, the length range of the low frequency passing region is 0.4 m to 3 m, and the width range of the low frequency passing region is 0.1 m to 0.2 m.

[0070] In this embodiment, the length and width of the set low-frequency passing area are limited to a certain extent. That is, the low-frequency passing area is not set to a large area, and its length is limited to a range of 0.4 m to 3 m, and its width is limited to a range of 0.1 m to 0.2 m.

[0071] In the embodiment of the present application, there is a certain limit on the length and width of the low frequency passing area, which prevents the user from setting an unconventional area and affecting the normal cleaning of the cleaning device.

[0072] In one embodiment of the present application, the method controls the cleaning device so that when an unidentifiable object exists within the low-frequency passing area, the cleaning device does not perform obstacle avoidance operations against the unidentifiable object when the cleaning device moves into the low-frequency passing area, where the unidentifiable object is an object whose type cannot be identified by the cleaning device.

[0073] In this embodiment, the cleaning device performs obstacle avoidance detection during the movement process, which first identifies the type of object in the area, and then determines whether to perform an obstacle avoidance operation on the object according to the object type, i.e., whether to detour around the edge of the object or to slow down and make a light contact with it.

[0074] When the cleaning device identifies an object in the low-frequency passing area, if there is an object (e.g., a threshold) within the low-frequency passing area whose type cannot be identified by the cleaning device, the cleaning device ignores the obstacle avoidance for the object whose type cannot be identified, and continues to avoid the obstacle for the object whose type can be identified.

[0075] In the embodiments of the present application, if an unidentifiable type of object is present within the low-frequency passing area, the object is ignored and no obstacle avoidance operation is performed, thereby reducing the possibility of misidentifying a threshold as an obstacle, allowing the cleaning device to pass through the threshold area smoothly as necessary, improving cleaning efficiency.

[0076] In one embodiment of the present application, the method further comprises the step of raising the height of the target actuation member of the cleaning device when the cleaning device moves into the low frequency pass region.

[0077] Here, the target operating member includes at least one of a floor brush, a mop plate, and a dust collection cartridge.

[0078] In this embodiment, the low-frequency passing area is usually an area that is easily clogged (e.g., a room threshold) or an area that is not desired to be cleaned frequently by the cleaning device (e.g., the carpeted area at the bathroom entrance / exit), so when the cleaning device passes through the low-frequency passing area, the target operating member is controlled to be raised so that there is a certain height difference between the target operating member and the low-frequency passing area.

[0079] The method described above makes it possible, on the one hand, to avoid clogging of the cleaning device, and on the other hand, to reduce noise and prevent dirt and limescale from adhering to the threshold or carpet.

[0080] In one embodiment of the present application, the method further includes increasing a detection trigger threshold of a detection device of the cleaning device when the cleaning device moves within a predetermined range near the low-frequency passage area, where the detection device includes at least one of a carpet detection sensor, a collision sensor, and a cliff sensor.

[0081] In this embodiment, the cleaning device may bump or tilt in and near low-frequency pass areas, and to avoid false triggering of monitoring devices such as carpet detection sensors, collision sensors, and cliff sensors, the detection trigger thresholds of these detection devices are increased to reduce the possibility of triggering.

[0082] Here, the carpet detection sensor is used to detect whether the cleaning device is on a carpet, and may specifically be an optical flow image sensor, a pressure sensor, etc., the collision sensor is used to detect a collision that the cleaning device receives and the approximate location of the collision using a photoelectric switch, and the cliff sensor is used to detect a high drop and prevent the cleaning device from falling from a high place.

[0083] For example, in the case of a cliff sensor, if a detection signal is acquired by the cliff sensor in an area other than the low-frequency passing area and the value of the detection signal is determined to be greater than the first threshold, it is determined that there is a large drop in front of the cleaning device, and the value of the first threshold is increased in the low-frequency passing area, and only when the value of the detection signal is greater is it determined that there is a large drop in front of the cleaning device.

[0084] In the embodiments of the present application, by increasing the trigger threshold of the associated detector within a certain range in and around the low frequency pass region, the probability of false triggering of the detector can be reduced and cleaning accuracy can be improved.

[0085] As a specific embodiment of the cleaning device control method, an embodiment of the present application provides a cleaning device control device. As shown in Figure 5, the cleaning device control device 500 includes an area determination module 501, an information acquisition module 502, a path planning module 503, and a control module 504.

[0086] Here, the area determination module 501 is used to determine a low-frequency passing area in the room to be cleaned, the information acquisition module 502 is used to acquire cleaning task information, the path planning module 503 is used to plan a passing path of the cleaning device within the low-frequency passing area and plan a cleaning path of the cleaning device outside the low-frequency passing area based on the cleaning task information, and the control module 504 is used to move along the passing path and control the cleaning device to move along the cleaning path.

[0087] In this embodiment, a low-frequency passing area is set within the room to be cleaned. The low-frequency passing area is an area between the normal area and the prohibited cleaning area. This area is not necessarily passed through, i.e., it is passed through only when necessary, and can be understood as an area prone to clogging or an area that should not be frequently cleaned by the cleaning device. Cleaning task information is obtained, i.e., specific locations that need to be cleaned by the cleaning device within the room to be cleaned. Based on the cleaning task information, an optimal movement path for the cleaning device is planned, including a passing path and a cleaning path. The passing path is a path that is passed through without cleaning, and the cleaning path is a path that is passed through and cleaned. Specifically, a passing path is planned within the low-frequency passing area, and a cleaning path is planned outside the low-frequency passing area. Furthermore, the cleaning device is controlled to move along the passing path and the cleaning path.

[0088] In the embodiment of the present application, a low-frequency passing area can be set where unnecessary passing is not required, and a passing path can be planned within the low-frequency passing area, and the cleaning device is allowed to pass through the low-frequency passing area as needed, thereby expanding the movement coverage range and reducing the probability of the cleaning device detouring. By not planning a cleaning path within the low-frequency passing area, repeated movement in the area can be avoided, reducing the clogging problem of the cleaning device, and ultimately improving the cleaning efficiency of the cleaning device and the autonomous cleaning completion rate of the cleaning device.

[0089] Furthermore, the step of moving along the passage path includes moving along the passage path but not executing the cleaning logic, and the step of moving along the cleaning path includes moving along the cleaning path and executing the cleaning logic.

[0090] Furthermore, the path planning module 503 is specifically used to plan a passing path within the low-frequency passing area based on the cleaning task information when the low-frequency passing area divides the area outside the low-frequency passing area into multiple different cleaning areas, and to plan cleaning paths respectively within the multiple different cleaning areas.

[0091] Furthermore, the area determination module 501 specifically acquires the user's area setting information, and determines the low-frequency passing area in the room to be cleaned based on the area setting information.

[0092] Furthermore, the area determination module 501 is specifically used to identify a threshold area in the room to be cleaned by the identification device of the cleaning device, and make the threshold area a low-frequency passing area.

[0093] Furthermore, the identification device includes at least one of a laser sensor, a visual sensor, and an infrared sensor.

[0094] Furthermore, the area determination module 501 is specifically used to set the threshold area as a low-frequency passing area in response to confirmation information from the user for the threshold area.

[0095] Furthermore, the region determination module 501 is further used to adjust the low-frequency pass region in response to region reset information from the user for the low-frequency pass region.

[0096] Furthermore, the length range of the low frequency passing region is 0.4 m to 3 m, and the width range of the low frequency passing region is 0.1 m to 0.2 m.

[0097] Furthermore, the control module 504 further controls the cleaning device such that if an unidentifiable object is present within the low-frequency passing area, the cleaning device does not perform obstacle avoidance maneuvers on the unidentifiable object when the cleaning device moves into the low-frequency passing area, where the unidentifiable object is an object whose type cannot be identified by the cleaning device.

[0098] Additionally, the control module 504 is further used to raise the height of the target actuation member of the cleaning device when the cleaning device moves into a low frequency pass region.

[0099] Additionally, the target actuation member includes at least one of a floor brush, a mop plate, and a dirt collection cartridge.

[0100] Additionally, the control module 504 is further adapted to increase the detection trigger threshold of the detector of the cleaning device when the cleaning device moves within a predetermined range near the low frequency pass area.

[0101] Further, the detection device includes at least one of a carpet detection sensor, a collision sensor, and a cliff sensor.

[0102] The controller of the cleaning device in the embodiments of the present application may be an electronic device or may be a component in an electronic device such as an integrated circuit or chip.

[0103] The cleaning device control device 500 provided in the embodiment of the present application can implement each step of the cleaning device control method embodiment of FIG. 1, so that redundant description will be omitted here to avoid repetition.

[0104] An embodiment of the present application further provides an electronic device, and as shown in FIG. 6, the electronic device 600 includes a processor 601 and a memory 602, and the memory 602 stores programs or instructions executable by the processor 601. When the programs or instructions are executed by the processor 601, the steps of the above-mentioned embodiment of the method for controlling a cleaning device are realized and the same technical effects can be achieved. Therefore, to avoid repetition, the redundant description will be omitted here.

[0105] For example, the electronic device may be a mobile phone, a tablet computer, a laptop computer, a handheld computer, an in-vehicle electronic device, a mobile internet device (MID), a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), or may be a server, a network attached storage (NAS), a personal computer (PC), or the like, and although the embodiment of the present application is not particularly limited, the robot may be a cleaning device.

[0106] The memory 602 is used to store software programs and various data. The memory 602 may be mainly composed of a first storage area for storing programs or instructions and a second storage area for storing data, where the first storage area may store an operating system, an application program or instructions required for at least one function (such as an audio playback function or an image playback function). Furthermore, the memory 602 may include volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. Here, the nonvolatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory may be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synch link dynamic random access memory (SLDRAM), and direct Rambus random access memory (DRRAM). Memory 602 in embodiments of the present application includes, but is not limited to, these and any other memory of a suitable type.

[0107] The processor 601 may include one or more processing units, and optionally, the processor 601 integrates an application processor and a modem processor, where the application processor mainly processes operations related to an operating system, a user interface, and application programs, etc., and the modem processor mainly processes wireless communication signals, such as a baseband processor. It should be understood that the modem processor may not be integrated into the processor 601.

[0108] The embodiments of the present application further provide a computer-readable storage medium, in which a program or instruction is stored, and when the program or instruction is executed by a processor, each process of the above-mentioned cleaning device control method embodiment can be realized and the same technical effect can be achieved, and detailed description thereof will be omitted here to avoid repetition.

[0109] The embodiments of the present application further provide a chip, which includes a processor and a communication interface, and the communication interface is coupled to the processor, and the processor executes a program or instruction to realize each process of the above-mentioned cleaning device control method embodiment, which can achieve the same technical effect, and detailed description will be omitted here to avoid repetition.

[0110] It should be understood that the chips referred to in the examples of this application may be referred to as system level chips, system chips, chip systems, or systems on chips.

[0111] The embodiments of the present application further provide a computer program product, which is stored in a storage medium, and which can be executed by at least one processor to realize each step of the above-mentioned cleaning device control method embodiment, thereby achieving the same technical effects, and detailed descriptions thereof will be omitted here to avoid repetition.

[0112] It should be noted that, in this specification, the terms "comprises," "has," or any other variant thereof is intended to cover a non-exclusive inclusion, and a process, method, article, or apparatus comprising a set of elements includes not only those elements but also other elements not expressly recited or elements inherent in the process, method, article, or apparatus. Unless more specific, an element defined with the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element. Furthermore, the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may include performing functions substantially simultaneously or in the reverse order depending on such functionality. For example, a described method may be performed in a different order than described, or various steps may be added, omitted, or combined. Furthermore, features described with reference to some examples may be combined with other examples.

[0113] Although examples of the present application have been described in conjunction with the accompanying drawings, the present application is not limited to the specific embodiments described above, and the specific embodiments described above are not limiting but merely illustrative. Many other forms that can be obtained by a person skilled in the art under the teachings of the present application without departing from the spirit and scope of the claims of the present application are all intended to be included in the scope of protection of the present application.

Claims

1. 1. A method for controlling a cleaning device, comprising: determining low-frequency passage areas in the room to be cleaned and obtaining cleaning task information for the cleaning device; Planning a passage path of the cleaning device within the low-frequency passage area and a cleaning path of the cleaning device outside the low-frequency passage area based on the cleaning task information; moving along the passage path and controlling a cleaning device to move along the cleaning path.

2. 2. The method of claim 1, wherein moving along the passage path comprises moving along the passage path without executing cleaning logic, and wherein moving along the cleaning path comprises moving along the cleaning path and executing cleaning logic.

3. The step of planning a passage path of the cleaning device within the low-frequency passage area and planning a cleaning path of the cleaning device outside the low-frequency passage area based on the cleaning task information includes: The method of claim 1, further comprising: when the low-frequency passing area divides an area outside the low-frequency passing area into a plurality of different cleaning areas, planning the passing path within the low-frequency passing area based on the cleaning task information; and planning the cleaning path within each of the plurality of different cleaning areas.

4. The step of determining a low-pass area in a room to be cleaned includes: The method according to claim 1 , further comprising: acquiring area setting information of a user; and determining a low-frequency passage area in the room to be cleaned based on the area setting information.

5. The step of determining a low-pass area in a room to be cleaned includes:

2. The method of claim 1, further comprising identifying a threshold area in the room to be cleaned by an identification device of the cleaning device, and designating the threshold area as the low-frequency pass area.

6. The method of claim 5 , wherein the identification device includes at least one of a laser sensor, a visual sensor, and an infrared sensor.

7. The step of setting the threshold region as the low-frequency passing region includes:

6. The method of claim 5, further comprising designating the threshold area as the low-pass area in response to confirmation information from a user for the threshold area.

8. After determining the low frequency pass area in the room to be cleaned, The method of claim 1 , further comprising adjusting the low-pass region in response to region reset information from a user for the low-pass region.

9. 2. The method of claim 1, wherein the low frequency passing region has a length ranging from 0.4 m to 3 m and a width ranging from 0.1 m to 0.2 m.

10. A method according to any one of claims 1 to 9, wherein when an unidentifiable object is present within the low frequency passing area, the cleaning device is controlled so as not to perform obstacle avoidance operations against the unidentifiable object when the cleaning device moves into the low frequency passing area, and the unidentifiable object is an object whose type cannot be identified by the cleaning device.

11. The method of any one of claims 1 to 9, further comprising the step of raising the height of a target actuating member of the cleaning device when the cleaning device moves into the low frequency pass region.

12. The method of claim 11 , wherein the target actuation member comprises at least one of a floor brush, a mop plate, and a dirt collection cartridge.

13. The method of any one of claims 1 to 9, further comprising the step of increasing a detection trigger threshold of a detection device of the cleaning device when the cleaning device moves within a predetermined range near the low frequency passage area.

14. The method of claim 13 , wherein the detection device includes at least one of a carpet detection sensor, a collision sensor, and a cliff sensor.

15. 1. An apparatus for controlling a cleaning device, comprising: an area determination module used to determine low-pass areas within a room to be cleaned; an information acquisition module used to acquire cleaning task information of the cleaning device; a path planning module used to plan a path for the cleaning device within the low-frequency passing area and to plan a cleaning path for the cleaning device outside the low-frequency passing area based on the cleaning task information; a control module adapted to move along the path of travel and adapted to control a cleaning device to move along the cleaning path.

16. An electronic device comprising a processor and a memory, wherein the memory stores a program or instructions to be executed by the processor, and when the program or instructions are executed by the processor, the electronic device realizes the steps of the cleaning device control method described in any one of claims 1 to 14.

17. A readable storage medium having a program or instructions stored thereon, the program or instructions implementing the steps of the cleaning device control method of any one of claims 1 to 14 when executed by a processor.

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