Cleaning device, cleaning device control method, and related device

Abstract

A cleaning device control method, a cleaning device, a cleaning system, and a computer readable storage medium. The control method comprises: in response to a map correction instruction, acquiring the current operation state of a cleaning device; and if the cleaning device is in a static state, correcting map information to obtain corrected map information. On the basis of the control method, in one aspect, a drifting map can be effectively corrected, so that the map conforms to a real environment, thereby avoiding the problems of getting lost, being unable to achieve autonomous recharging, and the like; in another aspect, map information is not corrected when the cleaning device is moving, thereby effectively ensuring the navigation and obstacle avoidance effects and lowering the requirement of the cleaning device on a processor; and in a further aspect, map information is corrected only when the cleaning device is in a static state, so that the computing power resources of the processor when the cleaning device is moving and operating are not occupied.

Description

Cleaning equipment, control method for cleaning equipment and related equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the Chinese patent application with application date of August 29, 2023 and application number 202311101672.7, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced as a reference. Technical Field

[0003] The embodiments of the present disclosure relate to the technical field of cleaning equipment, and in particular to a cleaning equipment, a control method for a cleaning equipment, and related equipment. Background Art

[0004] With technological advancements, cleaning robots have become widely used in industrial sites, commercial spaces, and residential homes. However, during the mapping process used by traditional cleaning robots, sensor errors can cause map drift, resulting in discrepancies between the map and the actual scene. In certain scenarios, this map drift is significant, severely impacting subsequent positioning and navigation. Therefore, traditional cleaning robots optimize their maps while building them. This requires significant computing power for real-time calculations, as well as ensuring real-time positioning while optimizing the map. Consequently, this method can only be applied to cleaning robots with very high processor performance, significantly increasing the cost of the cleaning robots.

[0005] Summary of the Invention

[0006] The present disclosure aims to solve at least one of the technical problems existing in the prior art or related art.

[0007] To this end, a first aspect of the present disclosure provides a control method for a cleaning device.

[0008] A second aspect of the present disclosure provides a computer-readable storage medium.

[0009] A third aspect of the present disclosure provides a cleaning device.

[0010] A fourth aspect of the present disclosure provides a cleaning system.

[0011] In view of this, according to a first aspect of an embodiment of the present disclosure, a control method for a cleaning device is proposed, comprising:

[0012] In response to the map correction instruction, obtaining the current operating status of the cleaning equipment;

[0013] When the cleaning device is stationary, the map information is corrected to obtain corrected map information.

[0014] In some embodiments, the control method of the cleaning device further includes: constructing an initial map while the cleaning device is moving, and the step of correcting the map information when the cleaning device is stationary includes:

[0015] When the cleaning device is stationary, modifying the map information of the initial map;

[0016] The initial map is determined based on the detection results of the IMU sensor, wheel speed meter and laser sensor of the cleaning equipment.

[0017] In some embodiments, the step of constructing an initial map during the movement of the cleaning device includes:

[0018] acquiring a plurality of sub-maps based on at least part of the detection results of the IMU sensor, the wheel speed meter, and the laser sensor;

[0019] The initial map is obtained based on the multiple sub-maps.

[0020] In some embodiments, the step of acquiring multiple sub-maps based on at least part of the detection results of the IMU sensor, the detection results of the wheel speed meter, and the detection results of the laser sensor includes:

[0021] Determining an initial position of the cleaning device based on partial information from the detection results of the IMU sensor of the cleaning device, the detection results of the wheel speed meter, and the detection results of the laser sensor;

[0022] Correcting the initial posture based on the detection result of the IMU sensor, the detection result of the wheel speed meter, and another part of the detection result of the laser sensor to obtain a corrected posture;

[0023] The submap is drawn based on the corrected posture and the detection result of the laser sensor.

[0024] In some embodiments, the step of correcting the map information when the cleaning device is stationary includes:

[0025] When the cleaning equipment is stationary, obtaining raw data information of the cleaning equipment during the process of establishing the initial map;

[0026] The initial map is corrected based on the original data information to obtain the corrected map.

[0027] In some embodiments, the step of correcting the map information when the cleaning device is stationary includes:

[0028] When the cleaning equipment is stationary, obtaining raw data information of the cleaning equipment during the process of establishing the initial map;

[0029] Verifying the correspondence between the plurality of sub-maps based on the original data information;

[0030] The position of the sub-map in the initial map is corrected based on the corresponding relationship to obtain a corrected map.

[0031] In some embodiments, the correspondence between the plurality of sub-maps includes odometry constraints and loop constraints;

[0032] The odometry constraint is the relative position relationship between adjacent submaps;

[0033] The loop constraint is the relative position relationship between non-adjacent submaps.

[0034] In some embodiments, the step of verifying the correspondence between the plurality of sub-maps based on the original data information includes:

[0035] All submaps are traversed, and each submap is matched with its non-adjacent submaps respectively. If the matching is successful, the corresponding relationship between the two non-adjacent submaps can be obtained.

[0036] In some embodiments, the step of matching each of the submaps with its non-adjacent submaps includes:

[0037] Get the original data contained in one of the sub-maps from the original data, and use this original data to perform matching on the other sub-map.

[0038] In some embodiments, there are multiple corresponding relationships, and the step of correcting the position of the sub-map in the initial map based on the corresponding relationship and obtaining the corrected map includes:

[0039] Based on each correspondence, the poses of all submaps between the two submaps are corrected to obtain the corrected map.

[0040] In some embodiments, the control method of the cleaning device further includes:

[0041] During the movement of the cleaning device, storing each sub-map used to construct the initial map; and / or

[0042] During the movement of the cleaning device, storing raw data information for constructing an initial map at each time interval; and / or

[0043] The corrected map information is sent to the terminal.

[0044] In some embodiments, the control method of the cleaning device further includes:

[0045] After the initial map is built, obtain the current operating status of the cleaning equipment; or

[0046] After the cleaning device returns to the base station, the current operating status of the cleaning device is obtained.

[0047] According to a second aspect of the present disclosure, a computer-readable storage medium is provided.

[0048] The computer-readable storage medium stores a computer program for implementing the control method described in any of the above technical solutions.

[0049] According to a third aspect of an embodiment of the present disclosure, a cleaning device is provided, comprising:

[0050] a memory storing a computer program;

[0051] a processor, configured to execute the computer program;

[0052] Wherein, when the processor executes the computer program, it implements the control method described in any of the above technical solutions.

[0053] According to a fourth aspect of an embodiment of the present disclosure, a cleaning system is provided, comprising:

[0054] The cleaning device as described in the above technical solution;

[0055] A cleaning base station provides maintenance for the cleaning equipment.

[0056] Compared with the prior art, the present disclosure has at least the following beneficial effects:

[0057] The control method provided by the embodiment of the present disclosure, in response to a map correction instruction, indicates that the current map may have errors, and then obtains the current operating status of the cleaning device. If the cleaning device is in a stationary state, the map information will be corrected to obtain the corrected map information. Based on this, the control method provided by the embodiment of the present disclosure, on the one hand, can effectively correct the drifting map so that the map is consistent with the actual environment, avoiding problems such as getting lost and being unable to recharge autonomously; on the other hand, the cleaning device can have a more accurate map during subsequent work, which can ensure the accuracy of subsequent positioning; on the other hand, not correcting the map information when the cleaning device is moving can effectively ensure the effect of navigation and obstacle avoidance, and can reduce the requirements of the cleaning device on the processor; on the other hand, correcting the map information when the cleaning device is in a stationary state does not occupy the computing power resources of the processor when the cleaning device is moving, which can improve the efficiency of map information correction and reduce the cost of the processor. At the same time, the map information can be corrected in an offline manner, so that the user can correct the map without feeling it, which is more autonomous and can improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the embodiments below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present disclosure. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0059] FIG1 is a schematic flowchart of a method for controlling a cleaning device according to an embodiment of the present disclosure;

[0060] FIG2 is a schematic flowchart of a control method for a cleaning device according to another embodiment of the present disclosure;

[0061] FIG3 is a block diagram of a computer-readable storage medium according to an embodiment of the present disclosure;

[0062] FIG4 is a structural block diagram of a cleaning device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0063] In order to better understand the above technical solution, the technical solution of the embodiment of the present disclosure is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiment of the present disclosure and the specific features in the embodiments are detailed descriptions of the technical solution of the embodiment of the present disclosure, rather than limitations on the technical solution of the present disclosure. In the absence of conflict, the embodiment of the present disclosure and the technical features in the embodiments can be combined with each other.

[0064] As shown in FIG1 , according to a first aspect of an embodiment of the present disclosure, a method for controlling a cleaning device is proposed, comprising:

[0065] Step 101: Responding to a map correction instruction, obtaining the current operating status of the cleaning device. It is understood that the map correction instruction can be issued by the user, such as when the user perceives that the constructed map is inaccurate. The map correction instruction can also be generated by the cleaning device itself, such as when the cleaning device is first put into use and an initial map is constructed, which may contain errors. In this case, the cleaning device can automatically generate the map correction instruction. After receiving the map correction instruction, the cleaning device can identify the operating status of the cleaning device.

[0066] Step 102: When the cleaning device is stationary, perform map information correction and obtain corrected map information. It is understandable that the cleaning device does not need to perform navigation and obstacle avoidance when stationary, so the cleaning device's processor is essentially idle. The cleaning device has sufficient computing power. Therefore, performing map information correction when the cleaning device is stationary can, on the one hand, improve the efficiency of map correction. On the other hand, by not performing map correction when the cleaning device is in motion and instead performing map information correction when the cleaning device is stationary, even if the cleaning device's processor performance is average, it can still meet the cleaning device's navigation, obstacle avoidance, and map correction needs, thereby reducing the cleaning device's processor requirements and reducing costs.

[0067] The control method provided by the embodiment of the present disclosure, in response to the map correction instruction, indicates that the current map may have errors, and then obtains the current operating status of the cleaning device. If the cleaning device is in a stationary state, the map information will be corrected to obtain the corrected map information. Based on this, the control method provided by the embodiment of the present disclosure, on the one hand, can effectively correct the drifting map so that the map is consistent with the actual environment; on the other hand, the cleaning device can have a more accurate map in the subsequent work process, avoiding problems such as getting lost and being unable to recharge independently, and can ensure the accuracy of subsequent work positioning; on the other hand, not correcting the map information when the cleaning device is moving can effectively ensure the effect of navigation and obstacle avoidance, and can reduce the requirements of the cleaning device on the processor; on the other hand, correcting the map information when the cleaning device is in a stationary state does not occupy the computing power resources of the processor when the cleaning device is moving, which can improve the efficiency of map information correction and reduce the cost of the processor. At the same time, the map information can be corrected in an offline manner, so that the user can correct the map without feeling it, with greater autonomy, which can improve the user experience.

[0068] It is understandable that when the cleaning device is in a stationary state, the cleaning device may be in the base station and the cleaning device does not move. In this case, the map information can be corrected.

[0069] It is understandable that when the cleaning device is stationary, the cleaning device can be in a state of cleaning or drying the cleaning parts. That is to say, as long as the cleaning device is stationary, the map information can be corrected even if the cleaning device is cleaning or drying the cleaning parts. This setting is based on the consideration that the cleaning or drying of the cleaning parts is achieved through structural components and will not occupy too much computing power of the processor.

[0070] In some embodiments, the control method of the cleaning equipment also includes: constructing an initial map while the cleaning equipment is moving, and when the cleaning equipment is stationary, the step of correcting the map information includes: when the cleaning equipment is stationary, correcting the map information of the initial map; wherein the initial map is determined based on the detection results of the IMU sensor, wheel speed meter and laser sensor of the cleaning equipment.

[0071] In this technical solution, the cleaning device builds an initial map while performing cleaning operations. Sensor errors may cause the initial map to drift. After the cleaning device completes the initial map, it can be corrected when the cleaning device is stationary. This corrected map information allows for more efficient allocation of processor power, reducing the cleaning device's processor requirements.

[0072] It can be understood that the control method of the cleaning equipment provided by the embodiment of the present disclosure is particularly suitable for mapping a new machine or cleaning equipment when it is working in a new operating range.

[0073] It is understandable that the detection results of the IMU sensor, wheel speed meter and laser sensor include but are not limited to the travel distance, position information and travel direction information of the cleaning equipment.

[0074] In some embodiments, during the movement of the cleaning equipment, the step of constructing an initial map includes: obtaining multiple sub-maps based on the detection results of the IMU sensor, the detection results of the wheel speed meter, and the detection results of the laser sensor; and obtaining an initial map based on the multiple sub-maps.

[0075] This technical solution further provides a method for the cleaning equipment to construct an initial map. The initial map can be constructed based on the detection results of the cleaning equipment's IMU sensor, the detection results of the wheel speed meter, and the detection results of the laser sensor, and based on at least part of the travel distance, location information, and travel direction information of the cleaning equipment during movement, thereby maximizing the accuracy of the initial map.

[0076] In this technical solution, multiple sub-maps are first obtained, and then the multiple sub-maps are spliced ​​together to obtain an initial map. With this arrangement, on the one hand, the working area can be divided into multiple sub-areas. The positioning accuracy of the sub-areas is higher than the overall positioning accuracy of the working area. Therefore, the accuracy of the initial map can be improved by splicing multiple sub-maps to form an initial map. On the other hand, obtaining the initial map through multiple sub-maps is conducive to building maps while moving, which can improve mapping efficiency.

[0077] In some embodiments, the step of obtaining multiple sub-maps based on at least part of the detection results of the IMU sensor, the detection results of the wheel speedometer, and the detection results of the laser sensor includes: determining the initial posture of the cleaning equipment based on part of the detection results of the IMU sensor, the detection results of the wheel speedometer, and the detection results of the laser sensor of the cleaning equipment; correcting the initial posture based on the detection results of the IMU sensor, the detection results of the wheel speedometer, and the detection results of the laser sensor, and obtaining a corrected posture; and drawing multiple sub-maps based on the corrected posture and the detection results of the laser sensor.

[0078] In this technical solution, a step of obtaining multiple sub-maps is further provided. The initial posture of the cleaning equipment can be determined based on part of the detection results of the IMU sensor, the detection results of the wheel speed meter, and the detection results of the laser sensor; the initial posture is corrected based on the other part of the detection results of the IMU sensor, the detection results of the wheel speed meter, and the detection results of the laser sensor to obtain a corrected posture. That is to say, the initial posture can be obtained first, and then the initial posture is corrected to obtain the corrected posture, and then the sub-map is obtained based on the corrected posture and the detection results of the laser sensor, which can improve the accuracy of the sub-map.

[0079] It can be understood that both the initial posture and the revised posture may include the travel distance and the travel direction of the cleaning device.

[0080] For example, when acquiring a submap for a cleaning device that includes sensors such as a laser sensor, an IMU sensor, and a wheel speedometer, we can first perform a forward recursion of the cleaning device's trajectory based on the detection results of the IMU sensor and wheel speedometer to obtain the cleaning device's initial pose. This initial pose is then further optimized using the observation data from the laser sensor to obtain a revised pose. The revised pose can be considered the cleaning device's current pose. Understandably, due to various noise interference, the sensor measurements are not precise, so the revised pose estimated in the above process also contains a certain amount of noise. This causes the cleaning device's pose estimate to drift over time.

[0081] Furthermore, a new submap can be generated periodically based on the corrected pose, with adjacent submaps overlapping. Each submap has its own pose. The corrected pose and the pose of the current submap are used to determine the relative pose of the current laser observation relative to the submap. This relative pose is used to transform the point cloud observed by the current laser sensor into the coordinate system of the current submap and plot it onto the current submap. Multiple submaps can be stitched together based on their poses to obtain an initial map. Although sensor noise is present, the noise is low, and the pose error estimated over short periods of time is also small. Therefore, the map in each submap can be assumed to be accurate and free of drift. However, over long periods of time, pose drift will occur, meaning that the submap's pose is gradually drifting. The initial map, stitched together from the poses of each submap, will also drift accordingly. This can lead to inconsistency between the initial map and the actual environment. Therefore, the control method provided in the embodiment of the present disclosure corrects the posture of each sub-map and re-stitches it using the corrected sub-map posture, thereby obtaining corrected map information that better matches the actual environment and improving the accuracy of subsequent operations of the cleaning equipment.

[0082] It is understandable that the initial map can also be acquired through a laser slam solution and / or a filtered positioning solution.

[0083] It can be understood that the position of the submap includes the coordinates and direction of the submap in the initial map.

[0084] In some embodiments, when the cleaning device is stationary, the step of correcting the map information includes: when the cleaning device is stationary, obtaining the original data information of the cleaning device in the process of establishing the initial map; correcting the initial map based on the original data information to obtain a corrected map.

[0085] This technical solution further provides a specific method for correcting the initial map, which can obtain original data information, such as the detection results of the IMU sensor, the detection results of the wheel speed meter and the detection results of the laser sensor, that is, the driving distance, position information and travel direction information collected during the movement of the cleaning equipment to correct the initial map, so as to reduce map errors, ensure map accuracy and obtain a corrected map.

[0086] In some embodiments, when the cleaning device is stationary, the step of correcting the map information includes: when the cleaning device is stationary, obtaining the original data information of the cleaning device in the process of establishing the initial map; based on the original data information, verifying the correspondence between multiple sub-maps; based on the correspondence, correcting the position of the sub-map in the initial map to obtain a corrected map.

[0087] In this technical solution, specific steps for correcting the initial map are further provided. The original data information used to construct the initial map can be collected, and the correspondence between two different sub-maps can be determined based on the original data information. Since this correspondence is determined based on the original data, it can be considered that this correspondence is accurate. Therefore, the position of the sub-map can be adjusted based on the correspondence, and the initial map can be corrected so that the corrected map information is more in line with the actual environment, which is conducive to the subsequent accurate positioning of the cleaning equipment.

[0088] In some embodiments, the correspondence between the multiple submaps includes an odometry constraint and a loop constraint; the odometry constraint is the relative position relationship between adjacent submaps; and the loop constraint is the relative pose relationship between non-adjacent submaps.

[0089] In this technical solution, the styles and types of corresponding relationships are further provided. The corresponding relationships can include odometry constraints and loop constraints. The odometry constraints can prevent the posture of the sub-map from being optimized to an unreasonable position during the optimization process, resulting in large deviations in the optimized map, while the loop constraints can correct the accumulated errors. The control method of the cleaning equipment provided in the embodiment of the present disclosure mainly corrects the map information through loop constraints, and controls the accuracy of the correction through odometry constraints.

[0090] In some embodiments, based on the original data information, the step of verifying the correspondence between the loop constraints of multiple submaps includes: traversing all submaps, matching each submap with its non-adjacent submaps respectively, and if the match is successful, the correspondence between the two non-adjacent submaps can be obtained.

[0091] This technical solution further provides a specific method for determining the corresponding relationship of loop constraints, which can match two non-adjacent sub-maps. If the posture relationship between any two non-adjacent sub-maps in multiple sub-maps is matched in the original data, then the posture relationship between the two sub-maps can be considered as the corresponding relationship of the loop constraints. The posture relationship between the two sub-maps is accurate and extremely close to the actual environment.

[0092] In some embodiments, the step of matching each sub-map with its non-adjacent sub-maps includes: obtaining original data contained in one of the sub-maps from the original data, and using the original data to perform matching on another sub-map.

[0093] Taking multiple submaps, which are consecutively numbered 1, 2, 3...n, n+1 as an example, when these n+1 submaps are matched with each other (adjacent submaps are not matched), it is found that submap No. 2 and submap No. n are matched successfully, and the relative position relationship between submap No. 2 and submap No. n is obtained. Then it can be considered that the above relative position relationship between submap No. 2 and submap No. n is accurate. Therefore, based on the relationship between submap No. 2 and submap No. n, the position of submap No. 3 to submap No. n within the initial map can be adjusted, so that the position of submap No. 3 to submap No. n is more in line with the actual environment.

[0094] In some embodiments, there are multiple correspondences, and the position of the submap in the initial map is corrected based on the correspondences. The step of obtaining the corrected map includes: taking each correspondence as a reference, correcting the position of all submaps between two submaps, and obtaining the corrected map.

[0095] In this technical solution, considering that there are multiple sub-maps, multiple corresponding relationships may exist among the multiple sub-maps. Correcting the initial map based on the multiple corresponding relationships can further improve the accuracy of the corrected map.

[0096] Taking the cleaning equipment as an example, which includes sensors such as laser sensors, IMU sensors, and wheel speed meters, when correcting map information, each sub-map and the original data information used to construct the sub-map will be saved during the operation of the cleaning equipment.

[0097] After the cleaning device completes the initial map, it returns to the base station. At this point, the cleaning device is stationary, and there is no need to calculate its real-time position or process data required for movement. The processor is relatively idle during this time. During this time, the initial map can be corrected. The specific method is as follows:

[0098] Traverse all submaps, matching each submap with its non-adjacent submaps. If two submaps match successfully, a correspondence is established, which is a loop constraint. After the traversal is completed, multiple sets of loop constraints will be successfully established. By adjusting the position of the submaps using multiple sets of loop constraints, the initial map can be corrected. Based on this, a least-squares optimization problem can be constructed to continuously optimize the position of the submaps to minimize the overall error of the corrected map information.

[0099] In some embodiments, the control method of the cleaning equipment further includes: storing each sub-map used to construct the initial map during the movement of the cleaning equipment; and / or storing the original data information used to construct the initial map at each time interval during the movement of the cleaning equipment.

[0100] In this technical solution, the sub-map can be stored during the operation of the cleaning equipment to facilitate the subsequent correction of the initial map.

[0101] During the operation and movement of the cleaning device, the original data information used to construct the initial map can be stored once every time interval to enrich the original data information and facilitate subsequent correction of the initial map.

[0102] In some embodiments, the control method of the cleaning device further includes: sending corrected map information to the terminal. This configuration allows the terminal to store and display the corrected map information, allowing the user to more intuitively observe the map constructed by the cleaning device. On the one hand, if the map is incorrect, the user can promptly discover it. On the other hand, it is convenient for the user to set the map and select different cleaning methods for different areas in the map, which can improve user satisfaction.

[0103] In some embodiments, the control method of the cleaning device further includes: obtaining the current operating status of the cleaning device after the initial map is constructed; or obtaining the current operating status of the cleaning device after the cleaning device returns to the base station.

[0104] In this technical solution, the current operating status of the cleaning equipment is obtained after the initial map is built, or it can be obtained after the cleaning equipment returns to the base station. This setting makes it easy to clarify the timing of executing map corrections, so that the cleaning equipment can independently correct the map information, which can further improve the user experience.

[0105] As shown in FIG2 , in some examples, a method for controlling a cleaning device includes:

[0106] Step 201: Start mapping;

[0107] Step 202: constructing an initial map while the cleaning device is moving;

[0108] Step 203: Determine whether the initial map is constructed;

[0109] Step 204: Return to the base station;

[0110] Step 205: Modify the initial map based on the multiple sub-maps and the data for constructing the sub-maps, and obtain the modified map information.

[0111] Step 206: The terminal displays the corrected map information.

[0112] Based on this, the control method for cleaning equipment provided by the embodiment of the present disclosure can, on the one hand, effectively correct the drifting map so that the corrected map information is consistent with the actual environment; on the other hand, it effectively guarantees the accuracy of the subsequent positioning work of the cleaning equipment on the existing map; on the other hand, it effectively guarantees the navigation effect of the cleaning equipment, fully guarantees the computing power of the processor, and avoids the problems of the cleaning equipment getting lost, being unable to recharge independently, etc.; on another hand, during the map correction process, the processor computing power resources of the cleaning equipment during operation are not occupied, a low-cost processor (CPU) can be used, and the map can be updated without the user noticing, thereby improving the user experience.

[0113] As shown in FIG3 , according to the third aspect of an embodiment of the present disclosure, a computer-readable storage medium 301 is proposed. The computer-readable storage medium 301 stores a computer program 302 for implementing a control method according to any of the above technical solutions.

[0114] The computer-readable storage medium 301 provided in the embodiment of the present disclosure implements the control method of any of the above technical solutions, so the computer-readable storage medium 301 has all the beneficial effects of the control method of any of the above technical solutions.

[0115] The computer-readable storage medium 301 provided by the embodiment of the present disclosure, in response to a map correction instruction, indicates that the current map may have errors, and then obtains the current operating status of the cleaning device. If the cleaning device is in a stationary state, the map information will be corrected to obtain the corrected map information. Based on this, the control method provided by the embodiment of the present disclosure, on the one hand, can effectively correct the drifting map so that the map is consistent with the actual environment; on the other hand, the cleaning device can have a more accurate map during subsequent work, which can ensure the accuracy of subsequent work positioning; on the other hand, not correcting the map information when the cleaning device is moving can effectively ensure the navigation effect, avoid getting lost, unable to recharge independently, and other problems, and can reduce the requirements of the cleaning device on the processor; on the other hand, correcting the map information when the cleaning device is in a stationary state does not occupy the computing power resources of the processor when the cleaning device is moving, which can improve the efficiency of map information correction and reduce the cost of the processor. At the same time, the map information can be corrected in an offline manner, so that the user can correct the map without feeling it, with greater autonomy, which can improve the user experience.

[0116] Based on this understanding, the technical solution of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various implementation scenarios of the present disclosure.

[0117] As shown in Figure 4, according to the fourth aspect of an embodiment of the present disclosure, a cleaning device is proposed, including: a memory 401, which stores a computer program; a processor 402, which executes the computer program; wherein, when the processor 402 executes the computer program, it implements a control method such as any of the above technical solutions.

[0118] The cleaning device provided by the embodiment of the present disclosure implements the control method of any of the above technical solutions, so the cleaning device has all the beneficial effects of the control method of any of the above technical solutions.

[0119] The cleaning device provided by the embodiment of the present disclosure, in response to the map correction instruction, indicates that the current map may have errors, and then obtains the current operating status of the cleaning device. If the cleaning device is in a stationary state, the map information will be corrected to obtain the corrected map information. Based on this, the control method provided by the embodiment of the present disclosure, on the one hand, can effectively correct the drifting map so that the map is consistent with the actual environment; on the other hand, the cleaning device can have a more accurate map in the subsequent work process, which can ensure the accuracy of the subsequent work positioning; on the other hand, the map information is not corrected when the cleaning device is moving, which can effectively ensure the navigation effect, avoid getting lost, unable to recharge independently, and other problems, and can reduce the requirements of the cleaning device on the processor; on the other hand, the map information is corrected when the cleaning device is in a stationary state, which does not occupy the computing power resources of the processor when the cleaning device is moving, can improve the efficiency of map information correction, reduce the cost of the processor, and at the same time, the map information can be corrected in an offline manner, so that the user can correct the map without feeling it, with greater autonomy, which can improve the user experience.

[0120] In some examples, the cleaning device may 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 such as a keyboard, etc. Optional user interfaces may also include a USB interface, a card reader interface, etc. The network interface may include a standard wired interface, a wireless interface (such as a Wi-Fi interface), etc.

[0121] In an exemplary embodiment, the cleaning device may further include an input / output interface and a display device, wherein the functional units may communicate with each other via a bus. The memory stores a computer program, and the processor is configured to execute the program stored in the memory and perform the method in the above embodiment.

[0122] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device used in the above method, supporting the execution of the information processing program and other software and / or programs. The network communication module is used to enable communication between components within the storage medium and with other hardware and software within the physical information processing device.

[0123] Through the description of the above embodiments, those skilled in the art can clearly understand that the present disclosure can be implemented by means of software plus a necessary general hardware platform, or can be implemented by hardware.

[0124] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the function specified in one process or multiple processes in the flowchart and / or one box or multiple boxes in the block diagram.

[0125] According to a fourth aspect of the embodiments of the present disclosure, a cleaning system is proposed, comprising: a cleaning device according to the above technical solution; and a cleaning base station, which provides maintenance for the cleaning device.

[0126] Since the cleaning device provided by the embodiment of the present disclosure includes the cleaning device of the above technical solution, the cleaning device has all the beneficial effects of the cleaning device of the above technical solution, which will not be described in detail here.

[0127] It is understandable that the cleaning base station can clean the mop and / or charge the cleaning device.

[0128] It is understandable that the cleaning device may also include a laser sensor, an IMU sensor, and a wheel speed meter.

[0129] In the present disclosure, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise expressly defined. Terms such as "installed", "connected", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0130] In the description of the present disclosure, it is to be understood that the terms "up", "down", "left", "right", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction, and therefore, cannot be understood as a limitation on the present disclosure.

[0131] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0132] The above are merely examples of the present disclosure and are not intended to limit the present disclosure. Those skilled in the art will readily appreciate that various modifications and variations of the present disclosure are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A method for controlling a cleaning device, comprising: Get the current operating status of the cleaning equipment; When the cleaning device is stationary, the map information is corrected to obtain the corrected map information.

2. The control method of the cleaning device according to claim 1, further comprising: During the movement of the cleaning device, an initial map is constructed. When the cleaning device is stationary, the step of correcting the map information includes: When the cleaning device is stationary, the map information of the initial map is corrected; The initial map is determined based on the detection results of the IMU sensor, wheel speed meter and laser sensor of the cleaning equipment.

3. The control method of the cleaning device according to claim 2, wherein: During the movement of the cleaning device, the steps of constructing the initial map include: Acquire multiple sub-maps based on at least part of the detection results of the IMU sensor, the detection results of the wheel speed meter, and the detection results of the laser sensor; Based on the multiple sub-maps, the initial map is obtained.

4. The control method of the cleaning device according to claim 3, wherein: The step of acquiring a plurality of sub-maps based on at least part of the detection results of the IMU sensor, the detection results of the wheel speed meter, and the detection results of the laser sensor comprises: Determine an initial position and posture of the cleaning device based on the detection result of the IMU sensor of the cleaning device, the detection result of the wheel speed meter and part of the detection result of the laser sensor; Based on the detection result of the IMU sensor, the detection result of the wheel speed meter and another part of the detection result of the laser sensor, the initial posture is corrected to obtain a corrected posture; The sub-map is drawn based on the corrected posture and the detection result of the laser sensor.

5. The control method of the cleaning device according to claim 2, wherein: The step of correcting the map information when the cleaning device is stationary includes: When the cleaning device is stationary, obtaining raw data information of the cleaning device during the process of establishing an initial map; The initial map is corrected based on the original data information to obtain the corrected map.

6. The control method of the cleaning device according to claim 3, wherein: The step of correcting the map information when the cleaning device is stationary includes: When the cleaning device is stationary, obtaining raw data information of the cleaning device during the process of establishing an initial map; Based on the original data information, verifying the correspondence between the plurality of sub-maps; The position and posture of the sub-map in the initial map are corrected based on the corresponding relationship to obtain a corrected map.

7. The control method of the cleaning device according to claim 6, wherein: The correspondence between the plurality of sub-maps includes an odometer constraint and a loop constraint; The odometer constraint is the relative position relationship between adjacent submaps; The loop constraint is the relative position relationship between non-adjacent sub-maps.

8. The control method of the cleaning device according to claim 6, wherein: The step of verifying the corresponding relationship between the loop constraints of the plurality of sub-maps based on the original data information includes: All submaps are traversed, and each submap is matched with its non-adjacent submaps respectively. If the matching is successful, the corresponding relationship between the two non-adjacent submaps can be obtained.

9. The control method of the cleaning device according to claim 8, wherein: The step of matching each of the submaps with its non-adjacent submaps comprises: Get the original data contained in one of the sub-maps from the original data, and use the original data to match on the other sub-map.

10. The control method of the cleaning device according to claim 6, wherein: There are multiple corresponding relationships, and the step of correcting the position of the sub-map in the initial map based on the corresponding relationship and obtaining the corrected map includes: Based on each correspondence, the positions of all submaps between two submaps are corrected to obtain a corrected map.

11. The method for controlling a cleaning device according to any one of claims 1 to 10, further comprising: During the movement of the cleaning device, each sub-map used to construct the initial map is stored; and / or During the movement of the cleaning device, raw data information for constructing an initial map is stored at each time interval; and / or The corrected map information is sent to the terminal.

12. The control method of the cleaning device according to any one of claims 1 to 10, further comprising: After the initial map is built, the current operating status of the cleaning equipment is obtained; or After the cleaning device returns to the base station, the current operating status of the cleaning device is obtained.

13. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program for implementing the control method according to any one of claims 1 to 12.

14. A cleaning device comprising: a memory storing a computer program; A processor, configured to execute the computer program; Wherein, when executing the computer program, the processor implements the control method as claimed in any one of claims 1 to 12.

15. A cleaning system comprising: The cleaning device as claimed in claim 14; A cleaning base station is provided for maintaining the cleaning equipment.

Images