Dock surrounding cleaning method and apparatus, cleaning device, and computer-readable storage medium

Abstract

A method and apparatus for cleaning the area around a dock, a cleaning device, and a computer-readable storage medium, the method comprising detecting whether a dock area where the charging dock of the cleaning device is located intersects with a cleaned area, and, if the dock area and the cleaned area intersect, performing a cleaning process based on the peripheral points of the dock area. This method can automatically recognize cleanable areas where cleaning has been missed due to the dual influence of obstacles near the dock area and the dock area itself, thereby improving the adaptability of the cleaning device to cleaning environments where obstacles exist around the dock, and effectively improving its cleaning capability.

Description

[Technical Field]

[0001] This application claims priority to the Chinese patent application filed with the China National Intellectual Property Administration on September 28, 2023, application number 202311278387.2, application title "Method and apparatus for cleaning around a dock, cleaning device, and computer-readable storage medium," the entire contents of which are incorporated into this application by reference.

[0002] This application relates to the technical field of smart electrical equipment, and more particularly to a method and apparatus for cleaning around a dock, a cleaning device, and a computer-readable storage medium. [Background technology]

[0003] Cleaning devices such as vacuum cleaners, mops, and floor cleaners typically need to automatically return to a suitable charging dock to recharge after performing an automatic cleaning. The area where the charging dock is located, i.e., the docking area, is generally designated as a no-go zone for the cleaning device. Based on this, if there are obstacles around the charging dock, the cleaning device is more likely to miss cleaning areas near the docking area due to the dual obstacles of the docking area and the obstacles.

[0004] In one possible scenario, as shown in Figure 1, there is an obstacle a in front of the charging dock, and the dock area where the charging dock is located is b. The cleaning device performs the cleaning process after leaving the dock and travels along obstacle a to position c, near dock area b. At position c, the distance between obstacle a and the edge of dock area b is smaller than the maximum width of the cleaning device's body, so the cleaning device's movement is restricted and it cannot pass through position c to clean area d in the figure. This results in the cleaning device missing area d.

[0005] In another possible scenario, as shown in Figure 2, the dock area where the charging dock is located is b, with obstacles e and f on both sides in front of the charging dock, and the cleaning device performs the cleaning process after leaving the dock. Due to the influence of obstacles e and f, and because the distance between obstacles e and f and the edges of dock area b is smaller than the maximum width of the cleaning device's body, the cleaning device cannot pass through the gap between obstacle e and dock area b, and similarly cannot pass through the gap between obstacle f and dock area b. Ultimately, the cleaning area is forced to clean only a small area in front of dock area b before returning to the charging dock, resulting in an extremely small cleaning area and low cleaning effectiveness.

[0006] As can be seen from the above, dock areas with nearby obstacles often affect the normal cleaning path of the cleaning device. As a result, the cleaning device may miss areas that can be cleaned, reducing the cleaning area and ultimately affecting the cleaning effect.

[0007] Therefore, a pressing technical challenge that needs to be addressed is how to prevent cleaning devices from missing areas that can be cleaned due to obstacles around the docking area. [Overview of the Initiative]

[0008] Embodiments of the present invention provide a dock perimeter cleaning method and apparatus, a cleaning device, and a computer-readable storage medium, with the aim of solving a related technical problem in which the cleaning device misses areas that can be cleaned due to obstacles around the dock area.

[0009] In a first aspect, an embodiment of the present application provides a dock perimeter cleaning method that includes detecting whether a dock area where a charging dock of a cleaning device is located intersects with a cleaned area, and, if the dock area and the cleaned area intersect, performing a cleaning process based on the peripheral points of the dock area.

[0010] In one embodiment of the present invention, selectively performing a cleaning process based on peripheral points of the dock area includes determining a cleanable area based on peripheral points of the dock area and cleaning the cleanable area according to a pre-configured cleaning strategy.

[0011] In one embodiment of the present invention, selectively determining a cleanable area based on the peripheral points of the dock area includes clustering the peripheral points of the dock area to obtain a plurality of clustering results, and for each clustering result, determining the location of the clustering result as a cleanable area if the location of the clustering result satisfies pre-set cleaning conditions, wherein the pre-set cleaning conditions are used to reflect the characteristics of the location of the clustering result when it can be effectively cleaned by the cleaning device.

[0012] In one embodiment of the present invention, selectively detecting whether a dock area where the charging dock of a cleaning device is located intersects with a cleaned area includes detecting whether a first area intersects with the dock area where the charging dock of the cleaning device is located when cleaning work on a first area is completed, or detecting whether at least one of the second areas intersects with the dock area where the charging dock of the cleaning device is located when cleaning work on a plurality of second areas is completed, or detecting whether a third area intersects with the dock area where the charging dock of the cleaning device is located when cleaning work on a third area including a designated point is completed, wherein the designated point is located outside the dock area and its distance from the edge point of the dock area is less than or equal to a first designated distance.

[0013] In one embodiment of the present invention, if the dock area and the cleaned area intersect selectively, an extended area of ​​the dock area is determined based on the edge points of the dock area before clustering the peripheral points of the dock area, wherein the extended area is distributed around the outer periphery of the dock area and is obtained by each edge point of the dock area extending by a second specified distance in a direction perpendicular to the corresponding edge, and points having a cleanable feature in the extended area are obtained as peripheral points of the dock area, wherein the cleanable feature is used to reflect the features of points located around the outer periphery of the dock area that have not been cleaned due to a combined fault between the dock area and an obstacle.

[0014] In one embodiment of the present invention, the cleanable feature optionally includes one or more of the following: the width of the uncleaned area in at least one direction of the location of the point is greater than the maximum body width of the cleaning device; the point is an uncleaned non-obstacle point; all adjacent points to the point are uncleaned non-obstacle points; the point is outside a predefined no-travel area, the predefined no-travel area includes a carpet area, the dock area, and a user-defined safety area.

[0015] In one embodiment of the present invention, the pre-set cleaning conditions optionally include one or more of the following: the width of the clustering result location area in at least one direction is greater than the maximum body width of the cleaning device; the area of ​​the uncleaned area in the clustering result location area is greater than or equal to a first specified area; the area of ​​the cleaned area in the clustering result location area is less than or equal to a second specified area; and the clustering result location area includes at least a specified number of points whose distance from an obstacle is greater than or equal to a third specified distance.

[0016] In one embodiment of the present invention, selectively cleaning the cleanable area according to a pre-configured cleaning strategy includes: performing a cross-region operation on the cleanable area; if the cross-region operation is successful, cleaning the cleanable area; and if the cross-region operation fails, returning to the step of detecting whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area, and reconfirming whether the cleanable area exists around the dock area; and if it is confirmed again that the cleanable area exists around the dock area, cleaning the cleanable area.

[0017] In one embodiment of the present invention, if it is selectively confirmed again that the cleanable area exists around the docking area, cleaning the cleanable area includes acquiring an uncleaned area within a specified distance range centered on the current position of the cleaning device, and cleaning the cleanable area if the area of ​​the uncleaned area is equal to or greater than a third specified area.

[0018] In a second aspect, an embodiment of the present invention provides a dock perimeter cleaning apparatus that includes: an area intersection detection unit used to detect whether a dock area where a charging dock of a cleaning device is located intersects with a cleaned area; and a cleaning execution unit used to perform a cleaning process based on the peripheral points of the dock area when the dock area intersects with the cleaned area.

[0019] In one embodiment of the present invention, the cleaning execution unit optionally includes a cleanable area determination unit used to determine a cleanable area based on peripheral points of the dock area, and the cleaning execution unit is used to clean the cleanable area according to a pre-configured cleaning strategy.

[0020] In one embodiment of the present invention, the cleanable area determination unit is selectively used to cluster the peripheral points of the dock area to obtain a plurality of clustering results, and for each clustering result, to determine the area where the clustering result is located as a cleanable area if the area where the clustering result is located satisfies pre-set cleaning conditions, wherein the pre-set cleaning conditions are used to reflect the characteristics of the area where the clustering result is located, which can be effectively cleaned by the cleaning device.

[0021] In one embodiment of the present invention, the region intersection detection unit is selectively used to detect whether a first region intersects with a dock region where the charging dock of the cleaning device is located when cleaning work on a first region is completed, or to detect whether at least one of the second regions intersects with a dock region where the charging dock of the cleaning device is located when cleaning work on a plurality of second regions is completed, or to detect whether a third region intersects with a dock region where the charging dock of the cleaning device is located when cleaning work on a third region including a designated point is completed, wherein the designated point is a point located outside the dock region and whose distance from the edge point of the dock region is less than or equal to a first designated distance.

[0022] In one embodiment of the present invention, the dock perimeter cleaning device optionally includes an extension area determination unit used to determine an extension area of ​​the dock region based on the edge points of the dock region before clustering the peripheral points of the dock region when the dock region and the cleaned region intersect, wherein the extension area is obtained by distributing the extension area around the outer perimeter of the dock region and each edge point of the dock region extending by a second specified distance in a direction perpendicular to the corresponding edge; and a peripheral point determination unit used to acquire points having cleanable features in the extension area as peripheral points of the dock region, wherein the cleanable features are located around the outer perimeter of the dock region and are used to reflect the features of points that have not been cleaned due to a combined fault between the dock region and an obstacle.

[0023] In one embodiment of the present invention, the cleanable feature optionally includes one or more of the following: the width of the uncleaned area in at least one direction of the location of the point is greater than the maximum body width of the cleaning device; the point is an uncleaned non-obstacle point; all adjacent points to the point are uncleaned non-obstacle points; the point is outside a predefined no-travel area, the predefined no-travel area includes a carpet area, the dock area, and a user-defined safety area.

[0024] In one embodiment of the present invention, the pre-set cleaning conditions optionally include one or more of the following: the width of the clustering result location area in at least one direction is greater than the maximum body width of the cleaning device; the area of ​​the uncleaned area in the clustering result location area is greater than or equal to a first specified area; the area of ​​the cleaned area in the clustering result location area is less than or equal to a second specified area; and the clustering result location area includes at least a specified number of points whose distance from an obstacle is greater than or equal to a third specified distance.

[0025] In an embodiment of the present application, optionally, the cleaning execution unit further performs a region traversal operation on the cleanable region; if the execution of the region traversal operation is successful, it cleans the cleanable region, and if the execution of the region traversal operation fails, it returns to the step of detecting whether the dock region where the charging dock of the cleaning device is located intersects with the cleaned region, reconfirms whether the cleanable region exists around the dock region, and is configured to clean the cleanable region when it is reconfirmed that the cleanable region exists around the dock region.

[0026] In an embodiment of the present application, optionally, the cleaning execution unit further acquires an uncleaned region within a specified distance range centered on the current position of the cleaning device, and is configured to clean the cleanable region when the area of the uncleaned region is greater than or equal to a third specified area.

[0027] In a third aspect, an embodiment of the present application provides a cleaning device, comprising at least one processor and a memory communicatively connected to the at least one processor, wherein instructions executable by the at least one processor are stored in the memory, and the instructions are configured to cause the processor to execute the method described in the first aspect above.

[0028] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions are used for executing the method described in the first aspect above.

[0029] The above proposed technology addresses the technical problem in related technologies where cleaning devices miss cleanable areas due to obstacles surrounding the dock area. By identifying whether the cleaned area is the area surrounding the dock, the cleaning device identifies whether the cleaned area is the area surrounding the dock, and if the cleaned area is the area surrounding the dock, it determines the cleanable area that was missed due to a dual obstruction between the obstacles near the dock and the dock itself, through the surrounding points of the dock area which can reflect whether or not there are obstacles around the dock. This allows for the automatic recognition of cleanable areas that were missed due to a dual obstruction between the obstacles near the dock and the dock itself, improving the cleaning device's adaptability to cleaning environments with obstacles around the dock, increasing the cleaning area of ​​the cleaning device, effectively improving its cleaning capability, and ultimately enhancing the overall cleaning effect and user experience. [Brief explanation of the drawing]

[0030] To further clarify the technical concept in the embodiments of this application, the drawings used in the embodiments are briefly introduced below. Of course, the drawings in the following description are only a few embodiments of this application, and those skilled in the art can obtain other drawings based on these without any creative work.

[0031] [Figure 1] This diagram shows a schematic representation of how the cleaning path of a cleaning device in related technologies is obstructed by obstacles surrounding the docking area. [Figure 2] This schematic diagram shows how the cleaning path of another cleaning device in related technology is obstructed by obstacles around the docking area. [Figure 3] A flowchart of a dock area cleaning method according to one embodiment of the present invention is shown. [Figure 4] A flowchart of a dock area cleaning method according to another embodiment of the present invention is shown. [Figure 5] A flowchart of a dock area cleaning method according to a further embodiment of the present invention is shown. [Figure 6] A block diagram of a dock area cleaning device according to one embodiment of the present invention is shown. [Figure 7] This is a block diagram of a computer device according to one embodiment of the present invention. [Figure 8] This is a block diagram of a computer device according to one embodiment of the present invention. [Modes for carrying out the invention]

[0032] below, This application In accordance with the drawings in the embodiment, This application The technical proposal in the embodiments is described clearly and completely, but it is clear that the embodiments described are This application This is only a partial, not all, example. This application All other examples obtained without creative work based on the example are all This application It falls within the scope of what is claimed by [company name].

[0033] Figure 3 shows a flowchart of a dock area cleaning method according to one embodiment of the present invention.

[0034] As shown in Figure 3, a dock area cleaning method according to one embodiment of the present invention includes the following steps.

[0035] Step 302: Detect whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area.

[0036] A cleaned area is an area that has been cleaned by a cleaning device. As can be seen from the background technology section above, if there are obstacles in the area surrounding the dock area, it is likely that the cleaning device will miss areas that can be cleaned. Therefore, after cleaning the cleaned area is complete, it is possible to determine whether the cleaned area is a neighboring area of ​​the dock area by determining whether the cleaned area intersects with the dock area.

[0037] In one possible design, the cleaned area is all the area that the cleaning device has cleaned in the current cleaning flow.

[0038] In another possible design, the cleaned area is any of the multiple cleaning sections in the current cleaning flow that the cleaning device has cleaned. Furthermore, selectively, the cleaned area is the current cleaning section that the cleaning device has completed cleaning in real time. Thus, each time the cleaning device completes cleaning of a cleaning section, it detects whether it has missed any cleanable areas due to obstacles in the area surrounding the dock area, and therefore, throughout the entire cleaning flow, it performs additional cleaning of any missed cleanable areas in a timely manner, shortening the path length of the cleaning device during the additional cleaning process and reducing power consumption.

[0039] In one further possible design, the cleaned areas are all areas or sections that the cleaning device has cleaned in previous cleaning flows, allowing the cleaning device to clean additional areas that were missed in previous cleaning flows, thereby improving the cleaning effect.

[0040] Step 304: If the dock area and the cleaned area intersect, the cleaning process is performed based on the peripheral points of the dock area.

[0041] When the dock area where the cleaning device's charging dock is located intersects with the cleaned area, it indicates that the cleaned area is adjacent to the dock area. In this case, the area surrounding the dock area may contain obstacles, and the cleaning device may miss areas that can be cleaned due to a double obstruction of obstacles near the dock area and the dock area itself. Therefore, when the dock area where the cleaning device's charging dock is located intersects with the cleaned area, a further cleaning process is triggered, and if there are any areas that could be cleaned that were missed, additional cleaning can be performed on those areas.

[0042] Of course, if the dock area where the cleaning device's charging dock is located does not intersect with the cleaned area, it indicates that the cleaned area and the dock area are not in close proximity. This eliminates the possibility of missing a cleanable area due to a double obstruction of an obstacle near the dock area and the dock area itself, allowing the cleaning flow to proceed normally to the next step.

[0043] Furthermore, since the peripheral points of the dock area can reflect the important characteristic of whether or not there are obstacles around the dock area, it is possible to determine the cleanable area that was missed due to a double obstruction of the dock area and the dock area itself, based on the peripheral points of the dock area.

[0044] The above proposed technology identifies whether the cleaned area is the area surrounding the dock by identifying whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area. If the cleaned area is the area surrounding the dock, it determines the area that can be cleaned due to a double obstruction between the obstacle near the dock and the dock area, through the surrounding points of the dock area which can reflect whether or not there are obstacles around the dock area. This allows for the automatic recognition of the area that can be cleaned due to a double obstruction between the obstacle near the dock and the dock area, improving the cleaning device's adaptability to cleaning environments with obstacles around the dock, increasing the cleaning area of ​​the cleaning device, effectively improving its cleaning capability, and ultimately enhancing the overall cleaning effect and user experience.

[0045] Specifically, the system determines the cleanable area based on the surrounding points of the dock area, cleans the cleanable area according to a pre-set cleaning strategy, performs additional cleaning of the cleanable area, improves the environmental adaptability of the cleaning device, and obtains a better cleaning effect. can .

[0046] In one possible design, peripheral areas can be formed by directly connecting two peripheral points of the docking area. If the maximum width of this peripheral area is greater than the maximum body width of the cleaning device, it indicates that the cleaning device can pass through the peripheral area, and the peripheral area is determined to be a cleanable area, and the cleaning device is moved to the peripheral area to perform additional cleaning.

[0047] In another possible design, peripheral points can be clustered, and the cleaning feasibility can be determined for each resulting cluster. This technical proposal will be explained below using Figure 4.

[0048] As shown in Figure 4, a dock perimeter cleaning method according to another embodiment of the present invention includes the following steps.

[0049] Step 402: Detect whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area.

[0050] Step 404: If the dock area and the cleaned area intersect, cluster the surrounding points of the dock area to obtain multiple clustering results.

[0051] When the dock area where the cleaning device's charging dock is located intersects with the cleaned area, it indicates that the cleaned area is adjacent to the dock area. In this case, the area surrounding the dock area may contain obstacles, and the cleaning device may miss a cleanable area due to a double obstruction: the obstacle near the dock area and the dock area itself. Since the peripheral points of the dock area reflect the important characteristic of whether or not there are obstacles around the dock area, the area where these peripheral points are located may be a missed cleanable area.

[0052] Here, the surrounding points of the dock area are clustered to obtain multiple clustering results, and each area where a clustering result is located may be an area that was missed and is cleanable.

[0053] The selective clustering method for peripheral points includes, but is not limited to, any computational method capable of clustering points, such as the k-means clustering algorithm, k-means++ clustering algorithm, bi-kmeans clustering algorithm, kernel k-means clustering algorithm, DBSCAN clustering algorithm, and OPTICS clustering algorithm.

[0054] Step 406: For each clustering result, if the area where the clustering result is located satisfies the pre-set cleaning conditions, the area where the clustering result is located is determined to be a cleanable area.

[0055] The pre-set cleaning conditions are used to reflect the characteristics of the area where the clustering result is located, which can be effectively cleaned by the cleaning device. If one clustering result satisfies the pre-set cleaning conditions, the area where the clustering result is located can be determined as a cleanable area to indicate that it can be effectively cleaned by the cleaning device.

[0056] Furthermore, the pre-set cleaning conditions include one or more of the following: the width of the clustering result location area in at least one direction is greater than the maximum body width of the cleaning device; the area of ​​the uncleaned area in the clustering result location area is greater than or equal to a first specified area; the area of ​​the cleaned area in the clustering result location area is less than or equal to a second specified area; and the clustering result location area includes at least a specified number of points whose distance from an obstacle is greater than or equal to a third specified distance.

[0057] The fact that the width of the clustering result location area in at least one direction is greater than the maximum body width of the cleaning device indicates that the clustering result location area is able to allow passage of the cleaning device in at least one direction and meets the necessary conditions for effective cleaning.

[0058] The first designated area is the minimum area of ​​a region large enough to drive the cleaning device and perform additional cleaning. If the area of ​​the uncleaned region in the clustering result region is greater than or equal to the first designated area, it indicates that the clustering result region is large enough and additional cleaning is necessary.

[0059] The second specified area is the maximum area of ​​the cleaned area in the region where additional cleaning by the cleaning device is required. If the area of ​​the cleaned area in the region where the clustering result is located is less than or equal to the second specified area, it indicates that the region where the clustering result is located has already had a cleaned portion, but the remaining portion is still large enough to require additional cleaning.

[0060] The third specified distance refers to the minimum distance between a point that can be effectively cleaned without being affected by the obstacle and the obstacle, and if the area where the clustering results are located includes at least a specified number of points whose distance from the obstacle is greater than or equal to the third specified distance, it indicates that the area where the clustering results are located has a sufficiently large number of points that are sufficiently far from the obstacle, and this area has the necessary conditions to be effectively cleaned by the cleaning device.

[0061] Selectively, the first designated area is 10 cm². 2 , 30cm 2 , or 50cm 2 That is the case.

[0062] Selectively, the second designated area is 5 cm². 2 , 25cm 2 , or 10cm 2 That is the case.

[0063] Selectively, the specified number is 30, 45, or 70.

[0064] Selectively, the third specified distance is 0.5 cm, 1 cm, or 1.5 cm.

[0065] Of course, the above figures can be any size that matches the actual cleaning needs, and are not limited to the examples mentioned above.

[0066] Step 408: Clean the cleanable area according to the pre-configured cleaning strategy.

[0067] A pre-configured cleaning strategy refers to a pre-configured cleaning method for additionally cleaning areas that have been missed during cleaning. By cleaning these areas according to the pre-configured cleaning strategy, areas that were missed due to a dual obstruction of obstacles near the dock area and the dock area itself can be additionally cleaned. This improves the cleaning device's adaptability to cleaning environments with obstacles around the dock, increases the cleaning area of ​​the cleaning device, effectively enhances its cleaning capacity, and ultimately increases the overall cleaning effect, improving the user experience.

[0068] Specifically, a pre-configured cleaning strategy includes performing a cross-domain operation on the cleanable region, and, if the cross-domain operation is successful, cleaning the cleanable region.

[0069] A cross-area operation refers to a movement operation in which the cleaning device moves from the currently cleaned area to another uncleaned area. If the cross-area operation is successful, it indicates that the cleaning device has smoothly entered a cleanable area, and at this time, additional cleaning can be performed directly on the cleanable area.

[0070] If the execution of the cross-region operation fails, the process returns to the step of detecting whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area, and rechecks whether the cleanable area exists around the dock area, and when it is reconfirmed that the cleanable area exists around the dock area, the cleanable area is cleaned.

[0071] At this time, the failure of the execution of the cross-region operation indicates that factors such as the too small length of the cleanable area in the traveling direction of the cleaning device may make it impossible to allow the cleaning device to pass smoothly. At this time, a new cleanable area can be determined.

[0072] Wherein, when it is reconfirmed that the cleanable area exists around the dock area, cleaning the cleanable area comprises: acquiring an uncleaned area within a specified distance range centered on the current position of the cleaning device; and cleaning the cleanable area when the area of the uncleaned area is not less than a third specified area.

[0073] That is, only when the uncleaned area near the cleaning device is sufficiently large, the cleanable area located in the vicinity is cleaned. Wherein, the third specified area refers to the minimum area when the cleanable area has a need for cleaning, and is optionally 50cm 2 , 80cm 2 , or 90cm 2 Of course, the third specified area may be any area size that meets actual cleaning needs, and is not limited to the foregoing examples.

[0074] In any of the above embodiments, adjacent points to the dock area may be selected randomly to be used as peripheral points of the dock area, or points between the dock area and obstacles surrounding the dock may be selected randomly to be used as peripheral points of the dock area. As shown in Figure 5, a dock perimeter cleaning method according to a further embodiment of the present invention includes the following steps.

[0075] Step 502: Detect whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area.

[0076] Step 504: If the dock area intersects with the cleaned area, the extension area of ​​the dock area is determined based on the edge points of the dock area, and of these, the extension area is distributed around the outer periphery of the dock area.

[0077] Within the extended area of ​​the dock region, there may be areas that could be cleaned but were missed due to a double obstruction: an obstacle near the dock region and the dock region itself.

[0078] In one possible design, the extended region is obtained by extending each edge point of the dock region by a second specified distance in a direction perpendicular to the corresponding edge.

[0079] In one possible design, the extended region is obtained by extending each edge point of the dock region by a second specified distance in a direction shifted 30° clockwise in a direction perpendicular to the corresponding edge.

[0080] The second specified distance is optionally any distance greater than the maximum width of the cleaning device body, indicating that the width of the extending region allows the cleaning device body to pass through. A region can only be cleaned if it is passable by the cleaning device; therefore, the second specified distance is optionally any distance greater than the maximum width of the cleaning device body, satisfying the conditions necessary for the cleaning device to perform additional cleaning on the extending region.

[0081] Selectively, the second designated distance is 35 c These dimensions are m, 45 cm, or 48 cm. Of course, these figures can be any size that matches the actual cleaning needs and are not limited to the examples given above.

[0082] Step 506: Points having a cleanable feature in the extended region are acquired as peripheral points of the dock region, and among these, the cleanable features are used to reflect the features of points located on the outer periphery of the dock region that have not been cleaned due to a combined fault between the dock region and an obstacle.

[0083] Among these, the features that can be cleaned include one or more of the following: the width of the uncleaned area in at least one direction of the location of the point is greater than the maximum body width of the cleaning device; the point is an uncleaned non-obstacle point; all adjacent points to the point are uncleaned non-obstacle points; and the point is outside a pre-defined no-travel area, the pre-defined no-travel area includes a carpet area, the dock area, and a user-defined safety area.

[0084] If the width of the uncleaned area in at least one direction of the point's location is greater than the maximum body width of the cleaning device, it indicates that the point's location allows for smooth passage of the cleaning device and provides a basis for effective cleaning. By selecting uncleaned non-obstacle points, repeated cleaning of already cleaned points can be avoided, reducing the repetitive work of the cleaning device. Furthermore, if all adjacent points to a point are uncleaned non-obstacle points, it indicates that both the feasibility and necessity of cleaning the area where the point is located are sufficiently high. In addition, the point is outside a pre-defined no-go zone, preventing the pre-defined no-go zone from restricting the operation of the cleaning device and affecting the additional cleaning effect. The pre-defined no-go zone includes, but is not limited to, the carpet area, the dock area, and user-defined safety areas.

[0085] Step 508: Cluster the surrounding points of the dock area to obtain multiple clustering results.

[0086] Step 510: For each clustering result, if the area where the clustering result is located satisfies the pre-set cleaning conditions, the area where the clustering result is located is determined to be a cleanable area.

[0087] Step 512: Clean the cleanable area according to a pre-configured cleaning strategy.

[0088] The aforementioned pre-set cleaning conditions are used to reflect the characteristics of the area where the clustering result is located, which can be effectively cleaned by the cleaning device. If one clustering result satisfies the pre-set cleaning conditions, the area where the clustering result is located can be determined as a cleanable area to indicate that it can be effectively cleaned by the cleaning device.

[0089] A pre-configured cleaning strategy refers to a pre-configured cleaning method for additionally cleaning areas that have been missed during cleaning. By cleaning these areas according to the pre-configured cleaning strategy, areas that were missed due to a dual obstruction of obstacles near the dock area and the dock area itself can be additionally cleaned. This improves the cleaning device's adaptability to cleaning environments with obstacles around the dock, increases the cleaning area of ​​the cleaning device, effectively enhances its cleaning capacity, and ultimately increases the overall cleaning effect, improving the user experience.

[0090] Based on any one of the above embodiments, a method for detecting whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area in one possible design is optionally to detect whether the first area intersects with the dock area where the charging dock of the cleaning device is located when the cleaning operation for the first area is completed.

[0091] The first area is the area of ​​the cleaning device that has the potential for additional cleaning in the cleaning flow.

[0092] Selectively, users can manually circle areas that may have been missed during cleaning, or areas that have been missed in past cleaning flows, as the primary area.

[0093] Selectively, set all cleaned areas in the current cleaning flow as the first area and check for the need for overall additional cleaning for all cleaned areas.

[0094] In another possible design, a method for detecting whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area is optionally to detect whether at least one of the second areas intersects with the dock area where the charging dock of the cleaning device is located when cleaning operations have been completed on multiple second areas.

[0095] The cleaning device divides all areas to be cleaned in the cleaning flow into multiple cleaning sections, with the second section referring to a single cleaning section in the cleaning device's cleaning flow. In this way, after cleaning any cleaning section, the cleaning device can promptly detect the need for additional cleaning in that cleaning section and / or other cleaning sections that were cleaned before it. This allows for the timely discovery of any areas that could be cleaned but were missed during the cleaning process, and enables timely additional cleaning of those missed areas.

[0096] In one further possible design, a method for detecting whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area is optionally to detect whether the third area intersects with the dock area where the charging dock of the cleaning device is located when cleaning work on a third area including a specified point is completed.

[0097] Of these, the designated point is located outside the docking area and is less than or equal to the first designated distance from the edge point of the docking area. Selectively, the first designated distance is 0.5 cm, 1 cm, or 1.5 cm, and of course, this value may be any size that matches the actual cleaning needs and is not limited to the examples given above.

[0098] In other words, in order to promptly detect areas that could be cleaned but were missed due to a dual fault of obstacles near the dock area and the dock area itself, the need for additional cleaning of the designated area around the dock can be precisely targeted.

[0099] Figure 6 shows a block diagram of a dock perimeter cleaning device according to one embodiment of the present invention.

[0100] As shown in Figure 6, a dock perimeter cleaning device 600 according to one embodiment of the present invention includes a region intersection detection unit 602 used to detect whether or not the dock region where the charging dock of the cleaning device is located intersects with the cleaned region, and a cleaning execution unit 604 that performs a cleaning process based on the peripheral points of the dock region when the dock region and the cleaned region intersect.

[0101] In one embodiment of the present invention, the cleaning execution unit 604 optionally includes a cleanable area determination unit used to determine a cleanable area based on peripheral points of the dock area, and the cleaning execution unit is used to clean the cleanable area according to a pre-configured cleaning strategy.

[0102] In one embodiment of the present invention, the cleanable area determination unit is selectively used to cluster the peripheral points of the dock area to obtain a plurality of clustering results, and for each clustering result, to determine the area where the clustering result is located as a cleanable area if the area where the clustering result is located satisfies pre-set cleaning conditions, wherein the pre-set cleaning conditions are used to reflect the characteristics of the area where the clustering result is located, which can be effectively cleaned by the cleaning device.

[0103] In one embodiment of the present invention, the region intersection detection unit 602 is selectively used to detect whether the first region intersects with the dock region where the charging dock of the cleaning device is located when cleaning work on the first region is completed, or to detect whether at least one of the second regions intersects with the dock region where the charging dock of the cleaning device is located when cleaning work on a plurality of second regions is completed, or to detect whether the third region intersects with the dock region where the charging dock of the cleaning device is located when cleaning work on a third region including a designated point is completed, wherein the designated point is a point located outside the dock region and whose distance from the edge point of the dock region is less than or equal to a first designated distance.

[0104] In one embodiment of the present invention, the dock perimeter cleaning device 600 optionally includes, when the dock area and the cleaned area intersect, an extension area determination unit used to determine the extension area of ​​the dock area based on the edge points of the dock area before clustering the peripheral points of the dock area, wherein the extension area is distributed around the outer perimeter of the dock area and is obtained by each edge point of the dock area extending by a second specified distance in a direction perpendicular to the corresponding edge; and a peripheral point determination unit used to acquire points having cleanable features in the extension area as peripheral points of the dock area, wherein the cleanable features are located around the outer perimeter of the dock area and are used to reflect the features of points that have not been cleaned due to a combined fault between the dock area and an obstacle.

[0105] In one embodiment of the present invention, the cleanable feature optionally includes one or more of the following: the width of the uncleaned area in at least one direction of the location of the point is greater than the maximum body width of the cleaning device; the point is an uncleaned non-obstacle point; all adjacent points to the point are uncleaned non-obstacle points; the point is outside a predefined no-travel area, the predefined no-travel area includes a carpet area, the dock area, and a user-defined safety area.

[0106] In one embodiment of the present invention, the pre-set cleaning conditions optionally include one or more of the following: the width of the clustering result location area in at least one direction is greater than the maximum body width of the cleaning device; the area of ​​the uncleaned area in the clustering result location area is greater than or equal to a first specified area; the area of ​​the cleaned area in the clustering result location area is less than or equal to a second specified area; and the clustering result location area includes at least a specified number of points whose distance from an obstacle is greater than or equal to a third specified distance.

[0107] In one embodiment of the present invention, the cleaning execution unit 604 may selectively perform a cross-region operation on the cleanable region. If the cross-region operation is successful, the cleaningable region is cleaned. If the cross-region operation fails, the unit returns to the step of detecting whether the dock region where the charging dock of the cleaning device is located intersects with the cleaned region. The unit then checks again whether the cleanable region exists around the dock region. If it is confirmed again that the cleanable region exists around the dock region, the unit is used to clean the cleanable region.

[0108] In one embodiment of the present invention, the cleaning execution unit 604 is selectively used to acquire an uncleaned area within a specified distance range centered on the current position of the cleaning device, and to clean the cleanable area if the area of ​​the uncleaned area is equal to or greater than a third specified area.

[0109] Since the dock surrounding cleaning device 600 uses the technical method described in any one of the above embodiments, it has all of the above technical effects, and therefore its explanation is omitted here.

[0110] In one embodiment, the present application provides a computer device, which may be a server, and its internal structure may be as shown in Figure 7. The computer device includes a processor, memory, a network interface, and a database connected via a system bus. Of these, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile and / or volatile storage medium, and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the execution of the operating system and computer programs on the non-volatile storage medium. The network interface of the computer device is used to communicate with external clients via a network connection. When the computer program is executed by the processor, the dock perimeter cleaning method described in any one of the above embodiments can be realized.

[0111] In one embodiment, the present application further provides a computer device, which may be a client, and whose internal structure diagram may be as shown in Figure 8. The computer device includes a processor, memory, a network interface, a display screen, and input devices connected via a system bus. Of these, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the execution of the operating system and computer programs on the non-volatile storage medium. The network interface of the computer device is used to communicate with an external server via a network connection. When the computer programs are executed by the processor, the dock perimeter cleaning method described in any one of the above embodiments can be realized.

[0112] Any one of the above-mentioned cleaning devices in the embodiments of the present application is any device having a cleaning function, such as a vacuum cleaner, mop, floor scrubber, wet / dry vacuum cleaner, or self-propelled vacuum cleaner, and furthermore, there may be multiple forms, including but not limited to, for controlling the device having a cleaning function.

[0113] (1) Mobile communication devices: These devices are characterized by having mobile communication capabilities and primarily targeting voice and data communication. These devices include smartphones (e.g., iPhones), multimedia mobile phones, feature phones, and low-end mobile phones. (2) Ultra-mobile personal cleaning devices: This type of device falls under the category of personal computers, possesses computing and processing capabilities, and generally also has the characteristics of mobile internet. This type of device includes PDAs, MIDs, and UMPCs, such as the iPad. (3) Portable entertainment devices: These devices are capable of displaying and playing multimedia content. These devices include audio and video players (e.g., iPods), palmtop game consoles, e-books, as well as smart toys, wearable devices, and portable car navigation devices. (4) Server: A device that provides computing services. The configuration of a server includes a processor, hard disk, memory, system bus, etc., and while a server has an architecture similar to a general-purpose computer, it is subject to higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability because it is necessary to provide highly reliable services. (5) Other electronic devices having data interaction capabilities.

[0114] Furthermore, embodiments of the present invention provide a computer-readable storage medium in which computer-executable instructions are stored, the computer-readable storage medium being used to perform the steps of: detecting whether a dock area where a charging dock of a cleaning device is located intersects with a cleaned area; and, if the dock area and the cleaned area intersect, performing a cleaning process based on the peripheral points of the dock area.

[0115] Regarding the functions or steps that can be achieved by the computer-readable storage medium or cleaning device described above, please refer to the relevant descriptions in the embodiments of the method described above, and to avoid repetition, such descriptions will be omitted here.

[0116] As described above with reference to the drawings, the present invention's technical proposal identifies whether the cleaned area is a dock perimeter area by identifying whether the dock area where the cleaning device's charging dock is located intersects with the cleaned area. If the cleaned area is a dock perimeter area, the invention determines the cleanable area where cleaning was missed due to a double obstruction between an obstacle near the dock area and the dock area itself, using a perimeter point of the dock area that reflects whether there are obstacles around the dock area. This enables the automatic recognition of cleanable areas where cleaning was missed due to a double obstruction between an obstacle near the dock area and the dock area itself, improving the cleaning device's adaptability to cleaning environments with obstacles around the dock, increasing the cleaning area of ​​the cleaning device, effectively improving its cleaning capability, and ultimately enhancing the overall cleaning effect and user experience.

[0117] To be understood, the terms "and / or" as used herein merely describe the relationship between related objects, indicating that three types of relationships may exist. For example, A and / or B can refer to three situations: when A exists alone, when A and B exist simultaneously, and when B exists alone. Furthermore, the letter " / " in this specification generally indicates that the preceding and succeeding related objects are in an "or" relationship.

[0118] To ensure that it is understood, while the embodiments of this application may employ terms such as first, second, and third to describe domains, these domains are not to be limited to these terms. These terms are used solely to distinguish domains. For example, the first domain may be referred to as the second domain, and similarly, the second domain may be referred to as the first domain, as long as it does not deviate from the scope of the embodiments of this application.

[0119] Depending on the context, the term “if” as used herein may be interpreted as “when” or “in the case” or “depending on the decision” or “depending on the detection.” Similarly, depending on the context, the phrases “if it is decided” or “if (the stated condition or event) is detected” may be interpreted as “if it is decided” or “depending on the decision” or “if (the stated condition or event) is detected” or “depending on (the stated condition or event) being detected.”

[0120] The terms used in the embodiments of this application are for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms “one kind,” “the said,” and “the said” used in the embodiments of this application and in the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0121] In some embodiments provided herein, it should be understood that the disclosed systems, apparatus, and methods may be implemented in other ways. For example, the embodiments of the apparatus described above are merely illustrative; for instance, the divisions of the units are merely logical functional divisions and may be implemented in other ways; for example, multiple units or assemblies may be combined or integrated into another system, or some features may be omitted or not performed. Furthermore, the couplings or direct couplings or communication connections between elements indicated or discussed may be indirect couplings or communication connections through some interfaces, apparatus, or units, and may be electrical, mechanical, or otherwise.

[0122] In each embodiment of this disclosure, each functional unit may be integrated into a single processing unit, each unit may exist physically independently, or two or more units may be integrated into a single unit. The integrated unit may be implemented in hardware form, or in the form of a functional unit consisting of hardware and software.

[0123] As those skilled in the art will understand, implementing all or part of the flows in the methods of the embodiments can be completed by instructing the relevant hardware by a computer program, which can be stored in a non-volatile computer-readable storage medium, and when the computer program is executed, it may include the flows of the embodiments of each of the embodiments of the embodiments. Any reference to memory, database, or other medium used in each embodiment provided herein may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. RAM can be obtained in various forms, including, but is not limited to, static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), extended SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), direct memory bus RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0124] The embodiments described above are simply This application This document merely explains the technical proposal and does not limit it; please refer to the examples mentioned above. This applicationAlthough this has been explained in detail, those skilled in the art can still modify the technical solutions described in each of the above embodiments or substitute some of their technical features with equivalent ones, and these modifications or substitutions will alter the essence of the corresponding technical solution. This application Each embodiment does not deviate from the spirit and scope of the proposed technology, and all of them are This application It should be understood that this falls within the scope of [the specified range].

Claims

1. A method for cleaning the area around a dock, To detect whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area, If the dock area and the cleaned area intersect, the cleaning process is performed based on the peripheral points of the dock area, including: How to clean the area around the dock.

2. Performing a cleaning process based on the peripheral points of the dock area means that The cleaning area is determined based on the peripheral points of the aforementioned dock area, A dock perimeter cleaning method according to claim 1, comprising cleaning the cleanable area according to a pre-configured cleaning strategy.

3. Determining the cleanable area based on the peripheral points of the aforementioned dock area means that The peripheral points of the dock area are clustered to obtain multiple clustering results, A dock perimeter cleaning method according to claim 2, comprising: determining, for each clustering result, if the area where the clustering result is located satisfies pre-set cleaning conditions, the area where the clustering result is located is designated as a cleanable area, wherein the pre-set cleaning conditions are used to reflect the characteristics of the area where the clustering result is located, which can be effectively cleaned by the cleaning device.

4. Detecting whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area is: When the cleaning operation for the first area is completed, it is detected whether the first area and the dock area where the charging dock of the cleaning device is located intersect, or When cleaning operations are completed on multiple second regions, it is detected whether at least one of the second regions intersects with the dock region where the charging dock of the cleaning device is located, or The dock perimeter cleaning method according to claim 1, comprising detecting whether the third region and the dock region where the charging dock of the cleaning device is located intersect when cleaning work on a third region including a designated point is completed, wherein the designated point is a point located outside the dock region and whose distance from the edge point of the dock region is less than or equal to a first designated distance.

5. If the dock region and the cleaned region intersect, before clustering the peripheral points of the dock region, The extension region of the dock region is determined based on the edge points of the dock region, wherein the extension region is distributed around the outer periphery of the dock region and is obtained by each edge point of the dock region extending by a second specified distance in a direction perpendicular to the corresponding edge. The dock perimeter cleaning method according to claim 1, further comprising: obtaining points having a cleanable feature in the extended region as peripheral points of the dock region, wherein the cleanable feature is used to reflect the features of a point located on the outer perimeter of the dock region that has not been cleaned due to a combined fault between the dock region and an obstacle.

6. The aforementioned cleanable feature is, The width of the uncleaned area in at least one direction of the location of the point is greater than the maximum body width of the cleaning device. The point is an uncleaned, non-obstructive point. All adjacent points of a point are uncleaned, non-obstructive points. The dock area cleaning method according to claim 5, wherein the point is outside a pre-defined no-travel area, and the pre-defined no-travel area includes one or more of the following: a carpet area, the dock area, and a user-defined safety area.

7. The aforementioned pre-set cleaning conditions are: The width of the region where the clustering results are located in at least one direction is greater than the maximum body width of the cleaning device. The area of ​​the uncleaned region in the region where the clustering results are located is equal to or greater than the first specified area. The area of ​​the cleaned region in the region where the clustering result is located is less than or equal to the second specified area. A dock perimeter cleaning method according to any one of claims 1 to 6, wherein the area where the clustering results are located includes at least a specified number of points whose distance from an obstacle is greater than or equal to a third specified distance.

8. Cleaning the cleanable area according to the pre-configured cleaning strategy is Performing a cross-region operation on the aforementioned cleanable region, If the aforementioned cross-region operation is successful, the cleanable region will be cleaned. If the execution of the aforementioned area crossing operation fails, the process returns to the step of detecting whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area, and it is checked again whether the cleanable area exists around the dock area. A dock perimeter cleaning method according to claim 1, further comprising: if it is confirmed again that the cleanable area exists around the dock area, cleaning the cleanable area.

9. If it is confirmed again that the cleanable area exists around the dock area, then cleaning the cleanable area is performed. The uncleaned area is acquired within a specified distance range centered on the current position of the cleaning device, The dock surrounding cleaning method according to claim 8, further comprising cleaning the cleanable area if the area of ​​the uncleaned area is equal to or greater than a third designated area.

10. A dock perimeter cleaning device, A region intersection detection unit for detecting whether the dock area where the charging dock of the cleaning device is located intersects with the cleaned area, The system includes a cleaning execution unit for performing a cleaning process based on the peripheral points of the dock area when the dock area and the cleaned area intersect. Dock surrounding cleaning device.

11. A cleaning device comprising at least one processor and a memory communicatively connected to the at least one processor, The memory stores instructions that can be executed by the at least one processor, and the instructions are configured to perform the method according to any one of claims 1 to 9. Cleaning device.

12. A computer-readable storage medium in which computer-executable instructions are stored, The computer-executable instruction is used to perform the method according to any one of claims 1 to 9. A computer-readable storage medium.

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