Control method and apparatus for automatic cleaning device, medium, automatic cleaning device

Abstract

This application discloses a control method and apparatus for an automatic cleaning device, a storage medium, and an automatic cleaning device. The method includes, during the operation of the automatic cleaning device, continuously acquiring operating positions that trigger the retractable mop module of the automatic cleaning device to perform an extension and retraction movement; determining, based on a plurality of acquired operating positions, whether the automatic cleaning device satisfies limiting conditions for extension and retraction; and, if the automatic cleaning device satisfies limiting conditions for extension and retraction, restricting the use of the retractable mop module to discontinue the ability of the retractable mop module to perform extension and retraction movements.

Description

Cross-Reference to Related Applications

[0001] The present application claims the priority of Chinese Patent Application No. 202311091134.4 filed on August 25, 2023, and the disclosure content of the aforementioned Chinese Patent Application is incorporated by reference in its entirety as a part of the present application. Technical Field

[0002] The present application relates to the technical field of smart home appliances, and in particular to a control method and apparatus for an automatic cleaning device, a storage medium, and an automatic cleaning device. Background Art

[0003] Currently, addressing the problem of corner cleaning, many manufacturers add a telescopic mop module to robot vacuum cleaners, which extends the mop when moving along obstacles to improve the coverage rate of corners.

[0004] However, in actual usage scenarios, for example, in areas with relatively many surrounding obstacles or in narrow spaces, frequent expansion and contraction of the mop leads to a reduction in the cleaning efficiency of the robot. Moreover, the frequent expansion and contraction of the mop also affects the service life of the telescopic mop module, and further affects the service life of the robot vacuum cleaner.

[0005] How to more reasonably control the telescopic mop module, thereby improving cleaning efficiency and extending the service life of the robot vacuum cleaner, is a problem to be studied in this field. Summary of the Invention

[0006] In view of this, the present application provides a control method and apparatus for an automatic cleaning device, a storage medium, and an automatic cleaning device. By identifying an obstacle-dense area and restricting the expansion and contraction operation of the telescopic mop module within the area, the present application solves the problems of reduced cleaning efficiency and reduced service life of the mop module caused by frequent expansion and contraction of the mop in areas with many obstacles or narrow spaces in conventional automatic cleaning devices.

[0007] According to one aspect of the present invention, a control method for an automatic cleaning device is provided, and this method is: The process of operating the automatic cleaning device includes the step of continuously acquiring the operating position that triggers the extension and retraction of the extendable mop module of the automatic cleaning device, A step of determining whether the automatic cleaning device satisfies the limiting conditions for extension and retraction based on the acquired multiple operating positions, The method includes the step of restricting the use of the retractable mop module and ceasing the ability of the retractable mop module to perform retractable movements if the automatic cleaning device satisfies the limiting conditions for the retractable movement.

[0008] To allow for selection, restrict the use of the telescopic mop module. This includes identifying a restricted area for the retractable movement corresponding to the automatic cleaning device, and restricting the use of the retractable mop module within the restricted area for the retractable movement.

[0009] Selectively, the limiting condition for the extension and retraction motion includes triggering a predetermined number of extension and retraction motions in succession within a predetermined range of size.

[0010] The step of determining whether the automatic cleaning device satisfies the limiting conditions for extension and retraction based on a selection of acquired operating positions is: The steps include: setting one of the acquired operating positions as the recognition start position, and identifying the pre-set size of the restricted area recognition range corresponding to the recognition start position; A step of counting the number of times that the operation positions acquired continuously from the recognition start position are within the restricted area recognition range, The process includes the step of determining that the automatic cleaning device satisfies the limiting conditions for the extension and retraction movement when the number of times reaches a predetermined number.

[0011] Selectively, to identify the pre-set size of the limiting region recognition range corresponding to the recognition start position, By setting the recognition start position as the center and the predetermined length as the radius, a circular recognition area is constructed, or, This includes constructing a rectangular area of ​​a predetermined size, centered on the recognition start position, as the restricted area recognition range.

[0012] Selectively, it is possible to identify the limiting region of the extension and retraction operation corresponding to the automatic cleaning device. This includes identifying the aforementioned restricted area recognition range as the restricted area for the expansion / contraction operation, After selectively restricting the use of the telescopic mop module, the method, If the automatic cleaning device moves outside the restricted area of ​​the retractable movement, the steps include: maintaining the usage restriction of the retractable mop module and determining, based on the operation data of the automatic cleaning device, whether the automatic cleaning device satisfies the conditions for restoring the retractable movement; The method further includes the step of releasing the restriction on the use of the retractable mop module when the automatic cleaning device satisfies the conditions for restoring the retractable movement, thereby restoring the ability of the retractable mop module to perform the retractable movement.

[0013] Selectively, it is possible to determine whether the automatic cleaning device satisfies the recovery conditions for extension and retraction based on the operating data of the automatic cleaning device. This includes identifying that the automatic cleaning device satisfies the recovery conditions for the extension and retraction operation if the automatic cleaning device is hit in the direction of travel, or if the automatic cleaning device continues to travel along the edge of an obstacle for a predetermined time.

[0014] After selectively restricting the use of the telescopic mop module, the method, The further step includes ceasing the determination of whether the automatic cleaning device satisfies the limiting conditions for the extension and retraction movement. Accordingly, after removing the restriction on the use of the telescopic mop module, the method is as follows: The further step includes restoring the determination of whether the automatic cleaning device satisfies the limiting conditions for the extension and retraction movement.

[0015] Before restricting the use of the telescopic mop module, the method may be selected. The further step includes bringing the telescopic mop module into an extended or retracted state.

[0016] The step of selectively extending or retracting the telescopic mop module is: The steps include extending or retracting the telescopic mop module in accordance with a pre-configured usage restriction policy corresponding to the telescopic mop module, The pre-configured usage restriction policy includes one of a cleaning priority policy, a safety priority policy, and an operating surface adaptation policy, wherein the cleaning priority policy is used to instruct the telescopic mop module to be extended when the telescopic mop module is in a usage restriction state, the safety priority policy is used to instruct the telescopic mop module to be retracted when the telescopic mop module is in a usage restriction state, and the operating surface adaptation policy is used to instruct the system to specify whether to extend or retract the telescopic mop module based on the area type of the area in which the automatic cleaning device is located.

[0017] The step of extending or retracting the telescopic mop module, in accordance with a pre-configured usage restriction policy corresponding to the telescopic mop module, is as follows: If the pre-configured usage restriction policy corresponding to the telescopic mop module is the operating surface adaptation policy, the steps include: identifying the area type of the region where the automatic cleaning device is located based on the visual sensor data of the automatic cleaning device, and / or identifying the area type of the region where the automatic cleaning device is located based on the history map data of the automatic cleaning device; putting the telescopic mop module into an extended state or a retracted state based on the region type.

[0018] According to another aspect of the present application, a control device for an automatic cleaning apparatus is provided, the device comprising: an acquisition module, configured to continuously acquire operation positions that trigger the telescopic mop module of the automatic cleaning apparatus to perform a telescopic operation during the operation process of the automatic cleaning apparatus; a judgment module, configured to judge whether the automatic cleaning apparatus satisfies a restriction condition for the telescopic operation based on the plurality of acquired operation positions; and a control module, configured to restrict use of the telescopic mop module and disable the telescopic mop module from performing the telescopic operation when the automatic cleaning apparatus satisfies the restriction condition for the telescopic operation.

[0019] Optionally, the control module is configured to: identify a restriction region for the telescopic operation corresponding to the automatic cleaning apparatus, and restrict use of the telescopic mop module in the restriction region for the telescopic operation.

[0020] Optionally, the restriction condition for the telescopic operation comprises that the telescopic mop module continuously triggers the telescopic operation for a preset number of times within a preset size range.

[0021] Optionally, the judgment module is configured to: take any acquired operation position as a recognition start position, and determine a restriction region recognition range of the preset size corresponding to the recognition start position; count the number of operation positions continuously acquired from the recognition start position that fall within the restriction region recognition range; and determine that the automatic cleaning apparatus satisfies the restriction condition for the telescopic operation when the number reaches a preset number of times.

[0022] Selectable, the decision module, The recognition start position is defined as the center of the circle, and the predetermined length is defined as the radius to construct the circular restricted area recognition range, or, This is used to construct a rectangular area of ​​a predetermined size, centered on the aforementioned recognition start position, as the restricted area recognition range.

[0023] Selectively, the control module is The aforementioned restricted area recognition range is used to identify the restricted area of ​​the expansion / contraction operation.

[0024] Selectable, the decision module, When the automatic cleaning device moves outside the restricted area of ​​the retractable movement, the restrictions on the use of the retractable mop module are maintained, and the operation data of the automatic cleaning device is used to determine whether the conditions for restoring the retractable movement are met. Accordingly, the control module, When the automatic cleaning device satisfies the conditions for restoring the extension and retraction movement, it is used to release the restriction on the use of the extension and retraction mop module and restore the ability of the extension and retraction mop module to perform the extension and retraction movement.

[0025] Selectable, the decision module, This is used to determine if the automatic cleaning device is hit in the direction of travel, or if the automatic cleaning device continues to travel along the edge of an obstacle for a predetermined time, and if the automatic cleaning device satisfies the recovery conditions for the extension and retraction operation.

[0026] Selectable, the decision module, The automatic cleaning device will cease determining whether or not it satisfies the limiting conditions for the extension and retraction movement. Furthermore, it is used to restore the determination of whether or not the automatic cleaning device satisfies the limiting conditions for the extension and retraction movement.

[0027] Selectively, the control module further This is used to extend or retract the aforementioned retractable mop module.

[0028] Selectively, the control module is Used to extend or retract the telescopic mop module in accordance with a pre-configured usage restriction policy corresponding to the telescopic mop module. The pre-configured usage restriction policy includes one of a cleaning priority policy, a safety priority policy, and an operating surface adaptation policy, wherein the cleaning priority policy is used to instruct the telescopic mop module to be extended when the telescopic mop module is in a usage restriction state, the safety priority policy is used to instruct the telescopic mop module to be retracted when the telescopic mop module is in a usage restriction state, and the operating surface adaptation policy is used to instruct the system to specify whether to extend or retract the telescopic mop module based on the area type of the area in which the automatic cleaning device is located.

[0029] Selectively, the control module is If the pre-configured usage restriction policy corresponding to the telescopic mop module is the operating surface adaptation policy, then the area type of the region where the automatic cleaning device is located is identified based on the visual sensor data of the automatic cleaning device, and / or the area type of the region where the automatic cleaning device is located is identified based on the history map data of the automatic cleaning device. Based on the aforementioned region type, the telescopic mop module is used to extend or retract.

[0030] A further aspect of the present invention provides a storage medium that stores a computer program, when executed by a processor, which implements a method for controlling the automatic cleaning device.

[0031] According to yet another aspect of the present invention, an automatic cleaning device is provided which includes a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, wherein the processor implements a control method for the automatic cleaning device when executing the computer program.

[0032] According to the aforementioned technical proposal, the present invention acquires the operating position when the telescopic mop module of an automatic cleaning device triggers its telescopic movement, and based on the acquired operating position, determines the spatial environment in which the automatic cleaning device is currently located, such as a corner or a narrow space, and further determines whether or not its telescopic movement can be restricted. If it is determined that the conditions for restricting the telescopic movement are met, the telescopic movement of the telescopic mop module is restricted, thereby avoiding the impact on the lifespan of the telescopic mop module due to excessive telescopic movement, and simultaneously avoiding problems such as a decrease in cleaning efficiency due to frequent telescopic movement of the mop module.

[0033] The above description is merely an outline of the technical proposal of the present application. In order to better understand the technical means of the present application and to enable implementation in accordance with the contents of the specification, and to make the aforementioned and other purposes, features, and advantages of the present application clearer and easier to understand, the following are specific examples of forms for carrying out the present invention. [Brief explanation of the drawing]

[0034] The drawings described herein are used to provide a further understanding of the present application and constitute part of the present application. Schematic embodiments and descriptions thereof are used for interpretation of the present application and do not unduly limit the present application. In the drawings, [Figure 1] A flowchart of the control method for the automatic cleaning device provided by the embodiment of the present invention is shown. [Figure 2] A flowchart of the control method for the automatic cleaning device provided by the embodiment of the present invention is shown. [Figure 3] A schematic diagram of the restricted area recognition range of the control method for the automatic cleaning device provided by the embodiment of the present invention is shown. [Figure 4] A schematic diagram is shown showing the control method of the automatic cleaning device provided by the embodiment of the present application, away from the restricted area recognition range. [Figure 5] A flowchart of the control method for the automatic cleaning device provided by the embodiment of the present invention is shown. [Figure 6] This shows a structural block diagram of the control device for the automatic cleaning device provided by the embodiment of the present invention. [Modes for carrying out the invention]

[0035] The present application will be described in detail below in conjunction with the drawings and embodiments. To the extent that there is no contradiction, the embodiments and features described herein can be combined with each other.

[0036] In this embodiment, a control method for an automatic cleaning device is provided, and as shown in Figure 1, the method includes the following: Step 101: During the operation of the automatic cleaning device, the operating position that triggers the extension mop module of the automatic cleaning device to perform an extension movement is continuously acquired.

[0037] The control method for an automatic cleaning device provided by the embodiment of the present invention is used in automatic cleaning devices such as robotic vacuum cleaners. The automatic cleaning device is equipped with an extendable mop module, and during the cleaning process of the automatic cleaning device, the mop module can be extended to clean narrow spaces such as corners or locations that are difficult to move due to many obstacles. In wide spaces, the mop module can be retracted and the normal cleaning mode can be adopted. Next, frequent extension and retraction operations affect the lifespan of the extendable mop module and simultaneously reduce cleaning efficiency. Based on this, the extension and retraction operations can be limited according to the spatial environment in which the automatic cleaning device is located, so that extension and retraction operations are performed only in scenes where they are necessary, and the number of times extension and retraction operations are performed in other scenes is reduced.

[0038] In this step, the environment in which the automatic cleaning device is currently located can be determined based on the extension and retraction movement of the retractable mop module and its position when the movement occurs. As can be understood, after the automatic cleaning device extends the retractable mop module, it can maintain the extended state for a certain period of time and then retract it until cleaning is completed. During this time, the automatic cleaning device may move, i.e., its position may change. Based on this, the position that triggers the retractable mop module to perform an extension and retraction movement is defined as the operating position, and it is continuously determined whether the retractable mop module of the automatic cleaning device is triggered to perform an extension and retraction operation. When it is detected that the extension and retraction operation has been triggered, the corresponding operating position is obtained, and based on the operating position, it is determined whether the limiting conditions for the extension and retraction operation are met.

[0039] Step 102: Based on the acquired multiple operating positions, it is determined whether the automatic cleaning device satisfies the limiting conditions for extension and retraction.

[0040] If multiple operating positions are obtained in this step, it indicates that the telescopic mop module has been triggered to perform telescopic movement multiple times, meaning the telescopic mop module has telescopic movement multiple times, and the excessive number of telescopic movements may lead to a reduction in the lifespan of the device. Therefore, it is determined whether the automatic cleaning device meets the limiting conditions for telescopic movement, such as whether the number of telescopic movements or the frequency of telescopic movements has reached a certain requirement.

[0041] Step 103, if the automatic cleaning device satisfies the limiting conditions for the retractable movement, the use of the retractable mop module is restricted, and the ability of the retractable mop module to perform the retractable movement is discontinued.

[0042] In this step, if the automatic cleaning device meets the limitations on its retraction and extension movement, it restricts that movement, for example, by limiting the frequency of the movement or by directly refusing to allow the retractable mop module to continue moving within a certain area for a certain period of time. This step reduces the number of retractions and extensions the automatic cleaning device performs during its operation, thereby extending its service life.

[0043] In this embodiment, the operating position of the telescopic mop module of the automatic cleaning device is acquired when it triggers the telescopic movement, and based on the acquired operating position, the spatial environment in which the automatic cleaning device is currently located, such as a corner or a narrow space, is determined, and it is further determined whether or not the telescopic movement can be restricted. If it is determined that the conditions for restricting the telescopic movement are met, the telescopic movement of the telescopic mop module is restricted to avoid the telescopic mop module being affected by excessive telescopic movement, and at the same time avoid problems such as a decrease in cleaning efficiency due to frequent telescopic movement of the mop module.

[0044] Furthermore, as a detailed and extended version of the above embodiment, and in order to fully explain the specific implementation process in the embodiment, we provide another control method for an automatic cleaning device, as shown in Figure 2, which includes the following: Step 201: During the operation of the automatic cleaning device, the operating position that triggers the extension mop module of the automatic cleaning device to perform an extension movement is continuously acquired.

[0045] Step 202, based on the acquired operating positions, it is determined whether the automatic cleaning device satisfies the constraints for extension and retraction, wherein the constraints for extension and retraction include the extension mop module continuously triggering a predetermined number of extension and retraction movements within a predetermined range of size.

[0046] In step 202, it is determined whether the limiting condition for the retractable mop module is met, based on the number of times the retractable mop module continuously triggers the retractable motion within a preset size range. Specifically, if the number of times the retractable motion is continuously triggered reaches the preset number, it is considered that the retractable mop module is retracting too many times, and the automatic cleaning device determines that the limiting condition for the retractable motion is met in order to restrict the retractable motion.

[0047] Furthermore, in step 202, determining whether the automatic cleaning device satisfies the limiting conditions for extension and retraction based on the acquired operating positions includes the following steps: Step 2021: Using the acquired arbitrary operating position as the recognition start position, identify the limited area recognition range of the preset size corresponding to the recognition start position, count the number of times the operating positions acquired continuously from the recognition start position are within the limited area recognition range, and if the count reaches the preset number, determine that the automatic cleaning device satisfies the limiting conditions for the extension and retraction operation.

[0048] In step 2021, the restricted area recognition range is defined based on the operating position that triggers the extension and retraction of the retractable mop module, and it is determined whether the extension and retraction operation is frequently triggered within that range. Based on the determination result, it is determined whether the restriction conditions for the extension and retraction operation are met.

[0049] Specifically, one acquired operating position is designated as the recognition start position, and a region of a pre-set shape and size is constructed around this recognition start position as the restricted area recognition range. Here, the restricted area recognition range may be a circle, rectangle, equilateral triangle, regular octagon, or other shape. For example, the recognition start position may be the center of a triangle, and an equilateral triangle region may be constructed as the restricted area recognition range according to the pre-set side lengths. After identifying the restricted area recognition range, the number of operating positions acquired continuously within that restricted area recognition range is counted, that is, the number of times the retractable mop module triggers retraction and extension within that restricted area recognition range is counted. When the counted number reaches a pre-set number, the automatic cleaning device determines that the restriction conditions for retraction and extension are met, and further restricts that retraction and extension operation.

[0050] Here, in step 2021, determining the pre-set size of the restricted area recognition range corresponding to the recognition start position includes the following steps: Step 20211: Construct a circular restricted area recognition range with the recognition start position as the center and a predetermined length as the radius, or construct a rectangular area of ​​a predetermined size with the recognition start position as the center as the restricted area recognition range.

[0051] In step 20211, the restricted area recognition range may be circular or rectangular. Specifically, if the restricted area recognition range is circular, the recognition start position is set as the center of the circle, and a predetermined length is set as the radius to construct a circular area, where the predetermined length may be set according to the size of the self-cleaning robot or according to the extendable length of the telescopic mop module. For example, the predetermined length can be set to 2.5 times the radius of the self-cleaning device body. Similarly, if the restricted area recognition range is rectangular, the recognition start position is set as the center of the rectangle, and a predetermined length is set as the side length to construct a rectangular area of ​​a predetermined size, where both the predetermined side length and the predetermined size may be set based on the size of the self-cleaning robot or the extendable length of the telescopic mop module.

[0052] As shown in Figure 3, a rectangular restricted area recognition range is established with the automatic cleaning device as the center and side length x. Within this range, the retractable mop module of the automatic cleaning device is triggered to perform three consecutive retraction movements, and it is determined that the restriction conditions for retraction movement are met. Therefore, the ability to perform retraction movements is restricted, and the retractable mop module does not perform retraction movements within this range.

[0053] Step 203, if the automatic cleaning device satisfies the limitations on the extension and retraction movement, identify the extension and retraction limitation area corresponding to the automatic cleaning device, extend or retract the extension mop module, restrict the use of the extension mop module within the extension and retraction limitation area, and discontinue the ability of the extension mop module to perform extension and retraction movements.

[0054] In step 203, if the automatic cleaning device determines that it has met the conditions for restricting the extension and retraction movement, it restricts the extension and retraction movement of the extendable mop module. As can be understood, since the automatic cleaning device is a movable device, the spatial environment in which it is located changes as the automatic cleaning device moves during the cleaning process. For example, if the automatic cleaning device moves to a new corner, restricting the extension and retraction movement would prevent the extendable mop module from extending, preventing it from cleaning that corner properly and affecting the cleaning effect. Based on this, the extension and retraction movement of the extendable mop module can be restricted only within a certain area, and the restriction on the extension and retraction movement is released when the automatic cleaning device moves out of that area. In the actual application process, the restricted area recognition range can be directly identified as the extension and retraction restriction area, and the state of the extendable mop module can be set to an extended or retracted state, maintaining the state of the extendable mop module so that it does not change within the extension and retraction restriction area, thereby achieving the effect of stopping the extension and retraction movement of the extendable mop module.

[0055] As shown in Figure 4, after constructing a restricted area recognition range based on x, this range is identified as the restricted area for extension and retraction, the state of the extension and retraction mop module is set to the contracted state, and thereafter, within this area, the extension and retraction mop module always maintains the contracted state and does not extend further, continuing until it moves outside the restricted area for extension and retraction.

[0056] Here, step 203, in which the telescopic mop module is extended or retracted, includes the following steps: 2031, in accordance with a pre-configured usage restriction policy corresponding to the telescopic mop module, the telescopic mop module is extended or retracted, wherein the pre-configured usage restriction policy includes one of a cleaning priority policy, a safety priority policy, and a working surface adaptation policy, the cleaning priority policy is used to instruct the telescopic mop module to be extended in the usage restriction state, the safety priority policy is used to instruct the telescopic mop module to be retracted in the usage restriction state, and the working surface adaptation policy is used to instruct the system to determine whether the telescopic mop module should be extended or retracted based on the area type of the area in which the automatic cleaning device is located.

[0057] In step 2031, before restricting the extension and retraction of the telescopic mop module, the telescopic mop module is installed and held in a certain extended or retracted state. Specifically, this extended or retracted state can be determined based on a pre-configured usage restriction policy. Pre-configured usage restriction policies include cleaning priority policies, safety priority policies, and operating surface adaptation policies. For example, if the pre-configured usage restriction policy is a cleaning priority policy, the main objective is considered to be the current cleaning effect and cleaning efficiency, and therefore the telescopic mop module can be installed in an extended state and held in that state. If the pre-configured usage policy is a safety priority policy, the main objective is considered to be ensuring the safety of the current cleaning and avoiding collisions during the cleaning process, and the telescopic mop module can be installed in a retracted state and held in that state. If the pre-configured usage policy is an operating surface adaptation policy, the state of the telescopic mop module is adapted to the current operating environment by intentionally determining whether to install it in an extended or retracted state based on the current operating surface environment in which the automatic cleaning device is located, thereby achieving both cleaning effect and safety during the cleaning process.

[0058] Here, step 2031, in which the extendable mop module is extended or retracted according to a pre-configured usage restriction policy corresponding to the extendable mop module, includes the following steps: 20311, if the pre-configured usage restriction policy corresponding to the telescopic mop module is the operating surface adaptation policy, the area type of the region in which the automatic cleaning device is located is determined based on the visual sensor data of the automatic cleaning device, and / or the area type of the region in which the automatic cleaning device is located is determined based on the history map data of the automatic cleaning device.

[0059] 20312, based on the area type, the telescopic mop module is extended or retracted.

[0060] In steps 20311-20312, if the pre-configured usage policy is an operating surface adaptation policy, the operating surface environment of the current location of the automatic cleaning device is determined, and the state of the retractable mop assembly is intentionally set and locked. Specifically, a visual sensor device such as a camera or radar can be attached to the automatic cleaning device. During the operation of the automatic cleaning device, the visual sensor device can capture environmental image information of the area where the automatic cleaning device is located in real time and transmit it to the processor. Based on the environmental image information, the processor determines the area type of the area where the automatic cleaning device is located, and then sets the state of the retractable mop module based on the area type. For example, if a camera attached to the automatic cleaning device takes an environmental image of the current location, and the processor determines that the area where the automatic cleaning device is located is a corner of a wall based on the environmental image, and the retractable mop module is retracted, the corner of the wall cannot be effectively cleaned, so the state of the retractable mop module can be set to the extended state. Furthermore, for example, if a camera attached to the automatic cleaning device captures an environmental image of its current location, and a processor analyzes this image, it may discover that valuable or fragile items, such as floor lamps or vases, are placed around the automatic cleaning device. In such cases, extending the telescopic mop module poses a risk of colliding with and damaging these valuable or fragile items, so the telescopic mop module can be set to a retracted state.

[0061] Furthermore, the type of area in which the automatic cleaning device is located can be determined based on the history map data of the automatic cleaning device. The automatic cleaning device can pre-store map data of the area to be cleaned and modify the map data based on image information acquired during operation, thereby ensuring the validity of the history map data. If the pre-configured usage restriction policy is an operational surface adaptation policy, the device reads the history map data and, in combination with the history map data and current position estimation, determines the current environment in which the automatic cleaning device is located, and consequently sets the status of the retractable mop module.

[0062] Step 204: The determination of whether the automatic cleaning device satisfies the limiting conditions for the extension and retraction movement is stopped.

[0063] In step 204, as can be understood, after restricting the use of the telescopic mop module's telescopic capability, the telescopic mop module can no longer perform telescopic movements, so there is no need to determine whether or not to restrict its telescopic capability. Based on this, after restricting the use of the telescopic mop module's telescopic capability, the determination of the restriction conditions for telescopic movement is temporarily suspended, and the determination is resumed after the telescopic mop module's telescopic capability is restored. In the automatic cleaning device shown in Figure 3, after the device telescopically extends and retracts three times consecutively within the restricted area recognition range, satisfying the restriction conditions for telescopic movement and restricting the ability of the telescopic mop module to perform telescopic movements, the determination of the restriction conditions for telescopic movement is not performed within that range. After the automatic cleaning device moves outside the restricted area recognition range (as shown in Figure 4) and the ability to perform telescopic movements is restored, the determination of the restriction conditions for telescopic movement is resumed.

[0064] Step 205, if the automatic cleaning device moves outside the restricted area of ​​the retractable movement, the restrictions on the use of the retractable mop module are maintained, and based on the operation data of the automatic cleaning device, it is determined whether the conditions for restoring the retractable movement are met.

[0065] Step 206, if the automatic cleaning device satisfies the conditions for restoring the retractable movement, the restriction on the use of the retractable mop module is released to restore the ability of the retractable mop module to perform the retractable movement.

[0066] In steps 205-206, if the automatic cleaning device moves outside the restricted area for its retractable movement, it is possible that the current environment in which the automatic cleaning device is located may change. For example, if the automatic cleaning device always maintains the retracted state of the retractable mop module within the restricted area for its retractable movement, and the device continues to maintain this state even when moving to a new corner, it will be difficult to clean narrow corners, leaving hygienic blind spots and affecting the cleaning effect. Therefore, if the automatic cleaning device moves outside the restricted area for its retractable movement, it is possible to re-evaluate whether the ability of the retractable mop module to perform retractable movement can be restored. Specifically, conditions for restoring retractable movement can be set in advance, and it can be determined whether these conditions are met based on the operation data of the automatic cleaning device. For example, it can be determined whether the conditions for restoring retractable movement are met based on ambient environmental information acquired by cameras or radar, or it can be determined whether the conditions for restoring retractable movement are met based on the distance between the current position of the automatic cleaning device and the restricted area for its retractable movement. If the conditions are met, the restriction on the use of the retractable mop module's retractable movement is lifted, and its ability to perform retractable movement is restored.

[0067] In step 205, determining whether the automatic cleaning device satisfies the recovery conditions for extension and retraction based on the operating data of the automatic cleaning device includes the following steps: Step 2051, if the automatic cleaning device is hit in the direction of travel, or if the automatic cleaning device continues to travel along the edge of an obstacle for a predetermined time, it is determined that the automatic cleaning device satisfies the conditions for recovery of the extension and retraction movement.

[0068] In step 2051, it is determined whether the recovery conditions for the retractable motion are met based on the collision data of the automatic cleaning device. Specifically, if the automatic cleaning device collides in the direction of travel, it is considered that the automatic cleaning device has encountered a wall or other obstacle. Obstacles tend to cause sanitary blind spots, and therefore the cleaning method near obstacles differs from the cleaning method on open ground. Based on this, it is determined that the recovery conditions for the retractable motion are met, and the restriction on the ability to perform the retractable motion can be lifted. At this point, the retractable mop module can perform the retractable motion. Subsequently, the operating position that triggers the retractable mop module of the automatic cleaning device to perform the retractable motion is continuously acquired, and it is re-determined whether the restriction conditions for the retractable motion are met. If they are met, the ability to perform the retractable motion is restricted again. Furthermore, if the automatic cleaning device continues to travel along the edge of an obstacle for a predetermined time, for example, if an automatic cleaning device in a narrow corner travels along the wall for a certain period of time, it can be considered that the automatic cleaning device has moved away from the narrow corner. Based on this, it can be determined that the recovery conditions for the retractable motion are met.

[0069] Step 207: The determination of whether the automatic cleaning device satisfies the limiting conditions for the extension and retraction movement is restored.

[0070] Figure 5 shows a flowchart of a control method for another automatic cleaning device. As shown in the figure, the location of the robot, i.e., the automatic cleaning device, is comprehensively determined based on LDS location information or historical map information. The automatic cleaning device, i.e., the robot, is considered the center of a circle, and the x-distance is extended to obtain a small spatial area, i.e., a restricted area recognition range, where the small spatial area may be circular or rectangular. Next, the number of times the retractable mop module of the automatic cleaning device triggers the retraction movement continuously within this small spatial area is detected. If the number of triggers exceeds a preset threshold, it is considered that the retraction is frequent and careful retraction is necessary, and therefore the retraction movement is restricted. Here, because the retraction movement is triggered multiple times in a row, it is considered that obstacles around the robot are densely packed or the space is narrow. Based on this, the retractable mop module is set to an extended state and kept in the extended state, allowing for more effective cleaning of densely packed obstacle areas and narrow spaces. After moving away from this area and colliding with a wall or remaining stable along a wall for n seconds, the restriction on the retraction movement is released, and the robot can resume the retractable mop movement.

[0071] In the embodiments of this invention, the telescopic mop module of the automatic cleaning device is detected to determine whether or not it triggers telescopic movement, and consequently, if telescopic movement is performed frequently, its telescopic capacity is limited, thereby reducing the number of telescopic movements. This design reduces wear on the telescopic mechanism, lowers maintenance costs, and extends the service life of the automatic cleaning device. Furthermore, since the telescopic movement of the telescopic mop module needs to be driven by a motor, the embodiments of this invention can reduce the energy consumption of the automatic cleaning device by limiting the number of telescopic movements in a specific area of ​​the telescopic mop module, thereby avoiding excessive power consumption due to frequent telescopic movement. When the automatic cleaning device moves away from the area where telescopic movement is limited, it is determined based on the operation data whether or not to restore the ability to perform telescopic movement, thereby avoiding a decrease in cleaning efficiency and effectiveness due to continued limited telescopic movement when the automatic cleaning device cleans other areas. Based on this, the invention sets up multiple different pre-configured usage restriction policies and intentionally sets the state of the telescopic mop module based on the policies, thereby achieving personalized restriction of the telescopic function.

[0072] It should be understood that the numbering of each step in the above embodiments does not indicate the order of execution, and the execution order of each process should be determined by its function and internal logic, and does not limit the execution process of the embodiments of this disclosure.

[0073] Furthermore, as a concrete realization of the control method for the automatic cleaning device, the embodiment of the present application provides a control device for the automatic cleaning device, which, as shown in Figure 6, includes an acquisition module, a decision module, and a control module.

[0074] This is an acquisition module used to continuously acquire the operating position that triggers the extension and retraction of the extendable mop module of the automatic cleaning device during its operation.

[0075] This is a decision module used to determine whether the automatic cleaning device meets the limitations on its extension and retraction movement, based on a plurality of acquired operating positions.

[0076] This is a control module used to restrict the use of the retractable mop module and to stop the retractable mop module from performing retractable movements when the automatic cleaning device meets the limiting conditions for the retractable movement.

[0077] In specific application scenarios, the control module can be selected as follows: This is used to identify a restricted area for the extension and retraction movement corresponding to the automatic cleaning device, and to restrict the use of the extension and retraction mop module within that restricted area.

[0078] In a specific application scenario, the limiting condition for the extension and retraction motion may be selectable to include the continuous triggering of an extension and retraction motion of a predetermined number of times within a predetermined range of size for the extension and retraction mop module.

[0079] In specific application scenarios, the aforementioned decision module can be selected as follows: The acquired operating position is designated as the recognition start position, and the recognition range of the pre-set size corresponding to the recognition start position is identified. The number of times that the operation position acquired continuously from the recognition start position falls within the restricted area recognition range is counted. When the number of times reaches a preset number, it is used to determine that the automatic cleaning device has met the limiting conditions for the extension and retraction movement.

[0080] In specific application scenarios, the aforementioned decision module can be selected as follows: The recognition start position is defined as the center of the circle, and the predetermined length is defined as the radius to construct the circular restricted area recognition range, or, This is used to construct a rectangular area of ​​a predetermined size, centered on the aforementioned recognition start position, as the restricted area recognition range.

[0081] In specific application scenarios, the control module can be selected as follows: The aforementioned restricted area recognition range is used to identify the restricted area of ​​the expansion / contraction operation.

[0082] In specific application scenarios, the aforementioned decision module can be selected as follows: When the automatic cleaning device moves outside the restricted area of ​​the retractable movement, the restrictions on the use of the retractable mop module are maintained, and the operation data of the automatic cleaning device is used to determine whether the conditions for restoring the retractable movement are met. Accordingly, the control module, When the automatic cleaning device satisfies the conditions for restoring the extension and retraction movement, it is used to release the restriction on the use of the extension and retraction mop module and restore the ability of the extension and retraction mop module to perform the extension and retraction movement.

[0083] In specific application scenarios, the aforementioned decision module can be selected as follows: This is used to determine if the automatic cleaning device is hit in the direction of travel, or if the automatic cleaning device continues to travel along the edge of an obstacle for a predetermined time, and if the automatic cleaning device satisfies the recovery conditions for the extension and retraction operation.

[0084] In specific application scenarios, the aforementioned decision module can be selected as follows: The automatic cleaning device will cease determining whether or not it satisfies the limiting conditions for the extension and retraction movement. Furthermore, it is used to restore the determination of whether or not the automatic cleaning device satisfies the limiting conditions for the extension and retraction movement.

[0085] In specific application scenarios, the control module can be further selected as follows: This is used to extend or retract the aforementioned retractable mop module.

[0086] In specific application scenarios, the control module can be selected as follows: Used to extend or retract the telescopic mop module in accordance with a pre-configured usage restriction policy corresponding to the telescopic mop module. Here, the pre-configured usage restriction policy includes one of a cleaning priority policy, a safety priority policy, and an operating surface adaptation policy, wherein the cleaning priority policy is used to instruct the telescopic mop module to be extended when the telescopic mop module is in a usage restriction state, the safety priority policy is used to instruct the telescopic mop module to be retracted when the telescopic mop module is in a usage restriction state, and the operating surface adaptation policy is used to instruct the system to specify whether to extend or retract the telescopic mop module based on the area type of the area in which the automatic cleaning device is located.

[0087] In specific application scenarios, the control module can be selected as follows: If the pre-configured usage restriction policy corresponding to the telescopic mop module is the operating surface adaptation policy, then the area type of the region where the automatic cleaning device is located is identified based on the visual sensor data of the automatic cleaning device, and / or the area type of the region where the automatic cleaning device is located is identified based on the history map data of the automatic cleaning device. Based on the aforementioned region type, the telescopic mop module is used to extend or retract.

[0088] For further explanation of the functional modules relating to the control device of the automatic cleaning apparatus provided by the embodiments of this application, please refer to the corresponding descriptions in the method described above, and the explanation will be omitted here.

[0089] Based on the above method, and accordingly, an embodiment of the present application provides a storage medium that stores a computer program that, when executed by a processor, implements a control method for the automatic cleaning device.

[0090] Based on such understanding, the proposed technology of the present application can be embodied in the form of a software product which can be stored on a non-volatile storage medium (which may be a CD-ROM, USB flash drive, mobile hard disk, etc.) and includes some instructions for causing an automated cleaning device (which may be a personal computer, server, or network device, etc.) to perform the method described in each of the implementation scenes of the present application.

[0091] The storage medium may further include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the automatic cleaning device and supports the execution of information processing programs and other software and / or programs. The network communication module is used to enable communication between the control components within the storage medium and between other hardware and software within the device.

[0092] Based on the methods shown in Figures 1 to 5 and the embodiment of the virtual device shown in Figure 6, in order to achieve the above objective, the embodiment of the present application further provides an automatic cleaning device, which may specifically be a robotic vacuum cleaner, and the automatic cleaning device includes a storage medium for recording a computer program and a processor which is used to implement the control method of the automatic cleaning device shown in Figures 1 to 5 by executing the computer program.

[0093] The automatic cleaning device may optionally further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a Wi-Fi module, etc. The user interface may include a display, an input unit, etc., and the optional user interface may further include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., a Bluetooth interface, a Wi-Fi interface), etc.

[0094] Those skilled in the art will understand that the structure of the automatic cleaning device provided in this embodiment is not limiting, and that it may include more or fewer components, combine certain components, or arrange different components.

[0095] From the above description of the embodiments, it will be clear to those skilled in the art that the present application can be realized by combining software with a necessary general-purpose hardware platform, and also by hardware.

[0096] A person skilled in the art will understand that the drawings are merely schematic diagrams of preferred implementation scenes, and that the units or processes in the drawings are not necessarily required to implement the present invention. A person skilled in the art will understand that the units in the apparatus in the implementation scene may be distributed in the apparatus of the implementation scene according to the description of the implementation scene, or they may be located in one or more different apparatuses with corresponding modifications. The units in the said implementation scene may be combined as a single unit, or they may be further divided into multiple subunits.

[0097] The aforementioned application numbers are for illustrative purposes only and do not indicate any preference for any particular implementation scenario. The above disclosures represent only a few specific implementation scenarios of this application, but the application is not limited thereto, and any modifications that a person skilled in the art could conceive should be included in the claims of this application.

Claims

1. A control method for an automatic cleaning device, wherein the method is: The process of operating the automatic cleaning device includes the step of continuously acquiring multiple operating positions that trigger the extension and retraction of the extendable mop module of the automatic cleaning device, A step of determining whether the automatic cleaning device satisfies the limiting conditions for extension and retraction based on the acquired multiple operating positions, The automatic cleaning device includes the step of restricting the use of the retractable mop module and ceasing the ability of the retractable mop module to perform retractable movements if the automatic cleaning device satisfies the limiting conditions for the retractable movement, method.

2. Restricting the use of the aforementioned retractable mop module means The method according to claim 1, comprising identifying a restricted area for the extension and retraction movement corresponding to the automatic cleaning device, and restricting the use of the extension and retraction mop module in the restricted area for the extension and retraction movement.

3. The method according to claim 2, wherein the limiting condition for the extension and retraction operation includes continuously triggering the extension and retraction operation of the extension and retraction module a predetermined number of times within a predetermined range of size.

4. The step of determining whether the automatic cleaning device satisfies the limiting conditions for extension and retraction based on the acquired multiple operating positions is: The steps include: setting one of the acquired operating positions as the recognition start position, and identifying the pre-set size of the restricted area recognition range corresponding to the recognition start position; A step of counting the number of times that the operation positions acquired continuously from the recognition start position are within the restricted area recognition range, The method according to claim 3, comprising the step of determining that the automatic cleaning device satisfies the limiting conditions for the extension and retraction operation when the number of times reaches a predetermined number.

5. Identifying the pre-set size of the restricted area recognition range corresponding to the recognition start position is By setting the recognition start position as the center and the predetermined length as the radius, a circular recognition area is constructed, or, The method according to claim 4, comprising constructing a rectangular area of ​​a predetermined size centered on the recognition start position as the restricted area recognition range.

6. Identifying the limiting range of the extension and retraction operation corresponding to the automatic cleaning device is The method according to claim 4, further comprising specifying the restricted area recognition range as the restricted area of ​​the expansion / contraction operation.

7. After restricting the use of the aforementioned retractable mop module, the method, If the automatic cleaning device moves outside the restricted area of ​​the retractable movement, the steps include: maintaining the usage restriction of the retractable mop module and determining, based on the operation data of the automatic cleaning device, whether the automatic cleaning device satisfies the conditions for restoring the retractable movement; The method according to any one of claims 2 to 6, further comprising the step of releasing the restriction on the use of the retractable mop module when the automatic cleaning device satisfies the conditions for restoring the retractable movement, thereby restoring the ability of the retractable mop module to perform the retractable movement.

8. Determining whether the automatic cleaning device satisfies the recovery conditions for extension and retraction based on the operating data of the automatic cleaning device is: The method according to claim 7, further comprising specifying that the automatic cleaning device satisfies the recovery conditions for the extension and retraction operation if the automatic cleaning device is hit in the direction of travel, or if the automatic cleaning device continues to travel along the edge of an obstacle for a predetermined time.

9. After restricting the use of the aforementioned retractable mop module, the method, The further step includes ceasing the determination of whether the automatic cleaning device satisfies the limiting conditions for the extension and retraction movement. Accordingly, after removing the restriction on the use of the telescopic mop module, the method is as follows: The method according to claim 7, further comprising the step of recovering the determination of whether the automatic cleaning device satisfies the limiting conditions for the extension and retraction movement.

10. Before restricting the use of the aforementioned retractable mop module, the method, The method according to claim 1, further comprising the step of extending or retracting the telescopic mop module.

11. The step of extending or retracting the aforementioned retractable mop module is: The steps include extending or retracting the telescopic mop module in accordance with a pre-configured usage restriction policy corresponding to the telescopic mop module, The method according to claim 10, wherein the pre-configured usage restriction policy includes one of a cleaning priority policy, a safety priority policy, and an operating surface adaptation policy, the cleaning priority policy is used to instruct the retractable mop module to be extended when the retractable mop module is in a usage restriction state, the safety priority policy is used to instruct the retractable mop module to be retracted when the retractable mop module is in a usage restriction state, and the operating surface adaptation policy is used to instruct the system to specify whether the retractable mop module should be extended or retracted based on the area type of the area in which the automatic cleaning device is located.

12. The step of extending or retracting the telescopic mop module in accordance with a pre-configured usage restriction policy corresponding to the telescopic mop module is: If the pre-configured usage restriction policy corresponding to the telescopic mop module is the operating surface adaptation policy, the steps include: identifying the area type of the region where the automatic cleaning device is located based on the visual sensor data of the automatic cleaning device, and / or identifying the area type of the region where the automatic cleaning device is located based on the history map data of the automatic cleaning device; The method according to claim 11, comprising the step of extending or retracting the telescopic mop module based on the area type.

13. A control device for an automatic cleaning device, wherein the device is An acquisition module used to continuously acquire multiple operating positions that trigger the extension and retraction of the retractable mop module of the automatic cleaning device during its operation, A determination module used to determine whether the automatic cleaning device satisfies the limiting conditions for extension and retraction based on multiple acquired operating positions, The automatic cleaning device includes a control module used to restrict the use of the retractable mop module and to discontinue the ability of the retractable mop module to perform retractable movements if the automatic cleaning device satisfies the limiting conditions for the retractable movement, Device.

14. The control module is The apparatus according to claim 13, used to identify a restricted area for the extension and retraction movement corresponding to the automatic cleaning device, and to restrict the use of the extension and retraction mop module in the restricted area for the extension and retraction movement.

15. The apparatus according to claim 14, wherein the limiting condition for the extension and retraction operation includes continuously triggering the extension and retraction operation of the extension and retraction module a predetermined number of times within a predetermined range of size.

16. The aforementioned determination module is The acquired operating position is designated as the recognition start position, and the recognition range of the pre-set size corresponding to the recognition start position is identified. The number of times that the operation position acquired continuously from the recognition start position falls within the restricted area recognition range is counted. The apparatus according to claim 15, wherein when the number of times reaches a preset number, it is used to determine that the automatic cleaning device satisfies the limiting conditions for the extension and retraction operation.

17. The aforementioned determination module is The recognition start position is defined as the center of the circle, and the predetermined length is defined as the radius to construct the circular restricted area recognition range, or, The apparatus according to claim 16, which is used to construct a rectangular area of ​​a predetermined size centered on the recognition start position as the restricted area recognition range.

18. The control module is The apparatus according to claim 16, used to identify the restricted area recognition range as the restricted area of ​​the expansion and contraction operation.

19. The aforementioned determination module is When the automatic cleaning device moves outside the restricted area of ​​the retractable movement, the restrictions on the use of the retractable mop module are maintained, and the operation data of the automatic cleaning device is used to determine whether the conditions for restoring the retractable movement are met. Accordingly, the control module, The apparatus according to any one of claims 14 to 18, which is used to release the restriction on the use of the retractable mop module and restore the ability of the retractable mop module to perform retractable movements when the automatic cleaning device satisfies the conditions for restoring the retractable movement.

20. The aforementioned determination module is The apparatus according to claim 19, which is used to determine that the automatic cleaning device satisfies the recovery conditions for the extension and retraction operation when the automatic cleaning device is hit in the direction of travel, or when the automatic cleaning device continues to travel along the edge of an obstacle for a predetermined time.

21. The aforementioned determination module is The automatic cleaning device will cease determining whether or not it satisfies the limiting conditions for the extension and retraction movement. The apparatus according to claim 19, which is used to restore the determination of whether the automatic cleaning device satisfies the limiting conditions for the extension and retraction operation.

22. The control module further, The apparatus according to claim 13, used to extend or retract the aforementioned retractable mop module.

23. The control module is Used to extend or retract the telescopic mop module in accordance with a pre-configured usage restriction policy corresponding to the telescopic mop module. The apparatus according to claim 22, wherein the pre-configured usage restriction policy includes one of a cleaning priority policy, a safety priority policy, and an operating surface adaptation policy, the cleaning priority policy is used to instruct the retractable mop module to be extended when the retractable mop module is in a usage restriction state, the safety priority policy is used to instruct the retractable mop module to be retracted when the retractable mop module is in a usage restriction state, and the operating surface adaptation policy is used to instruct the apparatus to specify whether the retractable mop module should be extended or retracted based on the area type of the area in which the automatic cleaning apparatus is located.

24. The control module is If the pre-configured usage restriction policy corresponding to the telescopic mop module is the operating surface adaptation policy, then the area type of the region where the automatic cleaning device is located is identified based on the visual sensor data of the automatic cleaning device, and / or the area type of the region where the automatic cleaning device is located is identified based on the history map data of the automatic cleaning device. The apparatus according to claim 13, used to extend or retract the telescopic mop module based on the area type.

25. A storage medium on which computer programs are stored, When the computer program is executed by the processor, the method according to any one of claims 1 to 12 is realized. storage medium.

26. An automatic cleaning device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, The processor, when executing the computer program, implements the method according to any one of claims 1 to 12. Automatic cleaning device.

Images