Cleaning device control method and apparatus, and storage medium and cleaning device

Abstract

A cleaning device control method and apparatus, and a storage medium and a cleaning device. The method comprises: in response to detecting that there is an obstacle gap existing in an initial travel direction of a cleaning device, acquiring a gap width of the obstacle gap; if the gap width is less than a preset width threshold value, planning for the cleaning device a target travel trajectory matching the obstacle gap; and controlling the cleaning device to move according to the target travel trajectory, so as to pass through the obstacle gap. The technical solution provided in the present application can avoid scratches generated between a cleaning device and surrounding obstacles.

Description

Cleaning equipment control method, device, storage medium and cleaning equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202311091448.4, filed on August 25, 2023, entitled “Cleaning equipment control method, device, storage medium and cleaning equipment”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the technical field of cleaning equipment control, and in particular to a cleaning equipment control method, device, storage medium, and cleaning equipment. Background Art

[0004] In the prior art, if a cleaning device encounters an obstacle gap during its movement, the cleaning device will directly turn and enter the obstacle gap. If the cleaning device fails to enter the obstacle gap, the cleaning device will exit and perform other actions. It is not difficult to understand that this method will cause scratches between the cleaning device and the obstacle, damaging obstacles such as walls, and damaging the cleaning device itself. Based on this, how to avoid scratches between the cleaning device and surrounding obstacles is a technical problem that needs to be solved urgently.

[0005] Summary of the Invention

[0006] The embodiments of the present disclosure provide a cleaning equipment control method, device, storage medium and cleaning equipment. The technical solution provided by the present disclosure can avoid scratches between the cleaning equipment and surrounding obstacles.

[0007] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by practice of the present disclosure.

[0008] According to a first aspect of an embodiment of the present disclosure, a cleaning equipment control method is provided, the method comprising: in response to detecting the presence of an obstacle gap in the initial travel direction of the cleaning equipment, obtaining the gap width of the obstacle gap; if the gap width is less than a preset width threshold, planning a target travel trajectory for the cleaning equipment that matches the obstacle gap; and controlling the cleaning equipment to move according to the target travel trajectory to pass through the obstacle gap.

[0009] In some embodiments of the present disclosure, based on the aforementioned scheme, the gap width is the length of the line connecting the endpoints, the line connecting the endpoints is the line connecting the two endpoints of the obstacle gap, and the two endpoints include the starting endpoint and the ending endpoint of the obstacle gap along the initial travel direction. Planning a target travel trajectory for the cleaning equipment that matches the obstacle gap includes: obtaining a first positional relationship between the geometric center of the cleaning equipment and the line connecting the endpoints; and planning a target travel trajectory for the cleaning equipment that matches the obstacle gap based on the first positional relationship.

[0010] In some embodiments of the present disclosure, based on the aforementioned scheme, before obtaining the first positional relationship between the geometric center of the cleaning device and the line connecting the endpoints, the method also includes: detecting the second positional relationship between the reference ray and the first reference line, the reference ray taking the initial position of the cleaning device as the ray starting point, the initial moving direction of the cleaning device as the ray direction, and the first reference line being the line connecting the geometric center of the cleaning device and the starting endpoint; if the second positional relationship satisfies the first preset positional relationship, it triggers the acquisition of the first positional relationship between the geometric center of the cleaning device and the line connecting the endpoints.

[0011] In some embodiments of the present disclosure, based on the aforementioned solution, the first preset position relationship includes an absolute value of a first angle between the reference ray and the first reference line exceeding a first preset angle threshold.

[0012] In some embodiments of the present disclosure, based on the aforementioned scheme, before obtaining the first positional relationship between the geometric center of the cleaning device and the line connecting the endpoints, the method further includes: detecting whether a reference ray intersects with an extension line of the line connecting the endpoints, the reference ray taking the initial position of the cleaning device as the ray starting point and the initial moving direction of the cleaning device as the ray direction; if the extension line of the line connecting the endpoints intersects with the reference ray, then obtaining the first positional relationship between the geometric center of the cleaning device and the line connecting the endpoints.

[0013] In some embodiments of the present disclosure, based on the aforementioned scheme, the method further includes: if the extension line of the endpoint line does not intersect with the reference ray, planning a curved trajectory for the cleaning equipment, and judging whether there are other obstacles on the curved trajectory; if there are no other obstacles on the curved trajectory, using the curved trajectory as the target travel trajectory; if there are other obstacles on the curved trajectory, planning a straight trajectory for the cleaning equipment as the target travel trajectory, and the straight trajectory is parallel to the endpoint line.

[0014] In some embodiments of the present disclosure, based on the aforementioned scheme, the target travel trajectory that matches the obstacle gap is planned for the cleaning equipment based on the first positional relationship, including: if the foot of the perpendicular of the geometric center on the end point line is close to the end end point, then a straight line trajectory is planned for the cleaning equipment as the target travel trajectory, and the straight line trajectory is parallel to the end point line.

[0015] In some embodiments of the present disclosure, based on the aforementioned scheme, the target travel trajectory that matches the obstacle gap is planned for the cleaning equipment based on the first position relationship, including: if the foot of the perpendicular of the geometric center on the endpoint line is close to the starting endpoint, a curved trajectory is planned for the cleaning equipment, and it is determined whether there are other obstacles on the curved trajectory; if there are no other obstacles on the curved trajectory, the curved trajectory is used as the target travel trajectory; if there are other obstacles on the curved trajectory, a straight trajectory is planned for the cleaning equipment as the target travel trajectory, and the straight trajectory is parallel to the endpoint line.

[0016] In some embodiments of the present disclosure, based on the aforementioned solution, the curved trajectory is any one of an arc trajectory and a broken line trajectory.

[0017] In some embodiments of the present disclosure, based on the aforementioned scheme, the gap width is the length of the endpoint line, and the endpoint line is the line between the two endpoints of the obstacle gap. After planning a target travel trajectory for the cleaning device that matches the obstacle gap, the method also includes: detecting a third positional relationship between the geometric center of the cleaning device and the perpendicular line to the endpoint line and the endpoint line; if the third positional relationship satisfies the second preset positional relationship, triggering the cleaning device to rotate in place by a first angle to control the cleaning device to move according to the target travel trajectory.

[0018] In some embodiments of the present disclosure, based on the aforementioned solution, the second preset position relationship includes the geometric center of the cleaning device intersecting the line connecting the endpoints at a perpendicular line to the line connecting the endpoints.

[0019] In some embodiments of the present disclosure, based on the aforementioned scheme, the gap width is the length of the endpoint line, the endpoint line is the line between the two endpoints of the obstacle gap, and the two endpoints include the starting endpoint and the end endpoint of the obstacle gap along the initial travel direction. In the process of controlling the cleaning device to move according to the target travel trajectory, the method also includes: detecting the absolute value of the second angle between the current travel direction of the cleaning device and the second reference line, the second reference line is the line between the geometric center of the cleaning device and the end endpoint; if the absolute value of the second angle exceeds the second preset angle threshold, the cleaning device is triggered to rotate a second angle according to a predetermined action to control the cleaning device to continue moving in the initial travel direction and drive away from the obstacle gap.

[0020] In some embodiments of the present disclosure, based on the aforementioned solution, the method further includes: if the gap width is greater than or equal to the preset width threshold, controlling the cleaning device to directly enter the obstacle gap.

[0021] In some embodiments of the present disclosure, based on the aforementioned solution, the preset width threshold is less than or equal to the body diameter of the cleaning device.

[0022] According to a second aspect of an embodiment of the present disclosure, a cleaning equipment control device is provided, comprising an acquisition unit for acquiring the gap width of the obstacle gap in response to detecting the presence of an obstacle gap in the initial travel direction of the cleaning equipment; a planning unit for planning a target travel trajectory for the cleaning equipment that matches the obstacle gap if the gap width is less than a preset width threshold; and a control unit for controlling the cleaning equipment to move along the target travel trajectory so as to pass through the obstacle gap.

[0023] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to implement the operations performed by the method described in any one of the first aspects above.

[0024] According to a fourth aspect of an embodiment of the present disclosure, a cleaning device is provided, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the operations performed by the method described in any one of the first aspects above.

[0025] The technical solution disclosed herein first obtains the gap width of the obstacle gap in response to detecting the presence of an obstacle gap in the initial travel direction of the cleaning device; if the gap width is less than a preset width threshold, a target travel trajectory is planned for the cleaning device that matches the obstacle gap; and finally, the cleaning device is controlled to move along the target travel trajectory to pass through the obstacle gap. It can be seen that, since the technical solution disclosed herein automatically plans a target travel trajectory that matches the obstacle gap after detecting the obstacle gap, if the obstacle gap width is less than a preset width threshold, the cleaning device will not directly enter the obstacle gap, which can avoid scratches on the obstacle caused by the cleaning device failing to enter and then exiting. Accordingly, the cleaning device can also be protected, more areas can be cleaned, and the cleaning efficiency of the cleaning device can be improved.

[0026] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure. In the drawings:

[0028] FIG1 is a schematic flow chart of a cleaning equipment control method according to an embodiment of the present disclosure;

[0029] FIG2 shows a schematic diagram of a scene of an obstacle gap according to an embodiment of the present disclosure;

[0030] FIG3 shows a detailed flowchart of planning a target travel trajectory for the cleaning device that matches the obstacle gap according to an embodiment of the present disclosure;

[0031] FIG4 is a schematic diagram showing a first positional relationship between the geometric center and the endpoints of a cleaning device according to an embodiment of the present disclosure;

[0032] FIG5 is a schematic diagram showing a first positional relationship between a geometric center and a line connecting endpoints of a cleaning device according to an embodiment of the present disclosure;

[0033] FIG6 is a schematic diagram showing a scenario of planning a straight trajectory as a target travel trajectory for a cleaning device according to an embodiment of the present disclosure;

[0034] FIG7 is a schematic diagram showing a scenario in which other obstacles exist on a curved track according to an embodiment of the present disclosure;

[0035] FIG8 is a schematic diagram showing a scenario in which other obstacles exist on a curved track according to an embodiment of the present disclosure;

[0036] FIG9 is a schematic diagram showing a scenario of a second positional relationship between a reference ray and a first reference line according to an embodiment of the present disclosure;

[0037] FIG10 is a schematic diagram showing a scenario of whether an extension line of an endpoint line intersects a reference ray according to an embodiment of the present disclosure;

[0038] FIG11 is a schematic diagram showing a scene of a third positional relationship between a line perpendicular to a line connecting endpoints and the line connecting endpoints, where the geometric center of a cleaning device is located according to an embodiment of the present disclosure;

[0039] FIG12 is a schematic diagram showing a scene in which a cleaning device rotates in place by a first angle according to an embodiment of the present disclosure;

[0040] FIG13 is a schematic diagram showing a scene in which a cleaning device rotates to a second angle according to a predetermined action according to an embodiment of the present disclosure;

[0041] FIG14 shows a block diagram of a cleaning equipment control device according to an embodiment of the present disclosure;

[0042] FIG15 shows a schematic structural diagram of a cleaning device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0043] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0044] In addition, the described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid blurring various aspects of the present disclosure.

[0045] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0046] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0047] It should be noted that the term "plurality" used in this document refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0048] It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present disclosure described herein can be practiced in an order other than that illustrated or described.

[0049] To make the objectives, technical solutions, and advantages of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0050] The following will describe some embodiments of the present disclosure in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0051] 1 , which shows a flow chart of a cleaning equipment control method according to an embodiment of the present disclosure, specifically comprising the following steps S110 to S130:

[0052] S110 : In response to detecting that an obstacle gap exists in the initial traveling direction of the cleaning device, obtaining a gap width of the obstacle gap.

[0053] It should be noted that the cleaning device in the present disclosure refers to an intelligent device with a cleaning function, such as a sweeping robot.

[0054] It should also be noted that the obstacles forming the obstacle gap can be two walls, a pillar and a wall (such as the gap between a table leg and a wall), a pillar and a pillar (such as the gap between two table legs), etc., and the present disclosure does not limit the specifics. In the following embodiments, the gap formed between walls is used as an example of the obstacle gap.

[0055] It should also be noted that the technical solution disclosed in the present invention can be a technical solution executed by the cleaning equipment when it first establishes a cleaning profile for a room, or it can be a technical solution executed by the cleaning equipment when it first performs a cleaning task on the room. Specifically, the present disclosure does not limit this.

[0056] It should also be noted that the initial travel direction is the travel direction of the cleaning device when the obstacle gap is detected. For example, if the cleaning device detects an obstacle gap while traveling along the wall A, the initial travel direction is parallel to the wall A.

[0057] In some embodiments, a sensor for detecting obstacle gaps may be installed on the cleaning device. The sensor may maintain a detection state during the movement of the cleaning device, thereby detecting in real time whether there are obstacle gaps in the direction of travel of the cleaning device. It is understood that the sensor may detect the presence of one or more obstacle gaps in the direction of travel at the same time.

[0058] In some embodiments, after detecting the obstacle gap, the cleaning device may calculate the gap width of the obstacle gap through an associated algorithm, thereby guiding the cleaning device to further perform associated actions.

[0059] In some embodiments, the gap width of the obstacle gap is the length of a line connecting endpoints, where the line connecting endpoints is a line connecting two endpoints of the obstacle gap, where the two endpoints include a starting endpoint and an ending endpoint of the obstacle gap along the initial direction of travel.

[0060] In order to enable those skilled in the art to better understand the obstacle gap in the present disclosure, an example will be given below with reference to FIG. 2 .

[0061] 2 , which shows a schematic diagram of a scene of an obstacle gap according to an embodiment of the present disclosure.

[0062] Figure 2 corresponds to the scenario where the cleaning device detects an obstacle gap created by Walls A and B in its initial travel direction. The width of this obstacle gap is the length of the line connecting the endpoints on Wall A and Wall B. As can be seen in Figure 2, the starting endpoint is on Wall A, the ending endpoint is on Wall B, and both the starting and ending endpoints in Figure 2 are located along the initial travel direction of the obstacle gap.

[0063] In some embodiments, the starting endpoint on wall A in FIG2 can be considered to be the point where wall A breaks in the initial direction of travel of the cleaning device and intersects the ground. The ending endpoint on wall B in FIG2 can be considered to be the point where the location closest to the cleaning device intersects the ground.

[0064] Continuing to refer to FIG. 1 , S120 , if the gap width is smaller than a preset width threshold, a target travel trajectory matching the obstacle gap is planned for the cleaning device.

[0065] In some embodiments, the preset width threshold can be set to be greater than or equal to the diameter of the cleaning device. For example, assuming the diameter of the cleaning device is 2R (R is the radius of the cleaning device), the preset width threshold can be set to a value less than or equal to 2R. The preset width threshold can also be set to other sizes as needed.

[0066] It is understandable that if the width of the obstacle gap is smaller than the body diameter of the cleaning device, without planning a target travel path for the cleaning device that matches the obstacle gap, the cleaning device will directly enter the obstacle gap upon reaching the obstacle gap. Since the width of the obstacle gap cannot accommodate the entire body of the cleaning device, the cleaning device will fail to enter the obstacle gap. Therefore, the cleaning device will perform related actions such as backing up and rotating after the failure to free the body. In this process, scratches will be generated between the cleaning device and the obstacle gap. Based on this, setting the preset width threshold to be less than or equal to the body diameter can avoid directly entering the obstacle gap when the gap width of the obstacle gap is smaller than the body diameter of the cleaning device, thereby avoiding scratches between the cleaning device and the obstacle gap.

[0067] In some embodiments, if the gap width is less than a preset width threshold, a straight trajectory or a curved trajectory may be planned as a target travel trajectory that matches the obstacle gap.

[0068] In step S120, specific implementation methods of planning a target travel trajectory for the cleaning device that matches the obstacle gap include at least the following four.

[0069] The first implementation manner may be performed according to the steps shown in FIG3 .

[0070] 3 , which shows a detailed flow chart of planning a target travel trajectory for the cleaning device that matches the obstacle gap according to an embodiment of the present disclosure, specifically including steps S121 to S122:

[0071] S121, obtaining a first positional relationship between the geometric center of the cleaning device and the line connecting the endpoints.

[0072] In some embodiments, when the cleaning device determines that the gap width of the obstacle gap is less than a preset width threshold, the cleaning device starts to obtain a first positional relationship between the geometric center of the cleaning device and the line connecting the endpoints.

[0073] It should be noted that the first positional relationship between the geometric center of the cleaning device and the endpoint line includes: the foot of the perpendicular of the geometric center of the cleaning device on the endpoint line is close to the starting endpoint, and the foot of the perpendicular of the geometric center of the cleaning device on the endpoint line is close to the ending endpoint.

[0074] In order to enable those skilled in the art to better understand the first position relationship in this embodiment, an example will be given below with reference to FIG. 4 and FIG. 5 .

[0075] FIG4 and FIG5 show several possible first position relationship scenarios.

[0076] The scene shown in Figure 4 is: Wall B is in a protruding state relative to Wall A, that is, Wall A and Wall B are not in the same straight line, wherein the corresponding first position relationship in Figure 4 (1) is: the foot of the perpendicular of the geometric center of the cleaning equipment on the endpoint line is close to the last endpoint (close to the last endpoint is caused by the excessive protrusion of Wall B relative to Wall A); the corresponding first position relationship in Figure 4 (2) is: the foot of the perpendicular of the geometric center of the cleaning equipment on the endpoint line is close to the last endpoint (close to the last endpoint is caused by the slight delay in the time for the cleaning equipment to detect the obstacle gap, and the obstacle gap is not detected until it moves along Wall B to the two endpoints of the obstacle gap, so that the foot is close to the last endpoint); the corresponding first position relationship in Figure 4 (3) is: the foot of the perpendicular of the geometric center of the cleaning equipment on the endpoint line is close to the starting endpoint.

[0077] The scene shown in Figure 5 is as follows: in Figures 5(1)-(2), wall A and wall B are located on the same straight line, and in Figure 5(3), wall B is concave relative to wall A, that is, wall A and wall B are not located on the same straight line. Among them, the corresponding first position relationship in Figure 5(1) is: the foot of the perpendicular of the geometric center of the cleaning device on the line connecting the endpoints is close to the starting endpoint; the corresponding first position relationship in Figure 5(2) is: the foot of the perpendicular of the geometric center of the cleaning device on the line connecting the endpoints is close to the last endpoint (the foot of the perpendicular is close to the last endpoint because the cleaning device detects the obstacle gap slightly later, and the obstacle gap is detected only between the two endpoints of the obstacle gap when traveling along wall B, so that the foot of the perpendicular is close to the last endpoint); the corresponding first position relationship in Figure 5(3) is: the foot of the perpendicular of the geometric center of the cleaning device on the line connecting the endpoints is close to the starting endpoint.

[0078] It should be noted that Figures 4 and 5 only show several possible first position relationships. In fact, there may be many other scenarios for the first position relationship between the geometric center of the cleaning device and the line connecting the endpoints. This disclosure does not give examples one by one here.

[0079] Continuing to refer to FIG. 3 , S122 , based on the first position relationship, a target travel trajectory matching the obstacle gap is planned for the cleaning device.

[0080] In some embodiments, in step S122, if the foot of the perpendicular of the geometric center on the endpoint line is close to the end endpoint, a straight line trajectory is planned for the cleaning device as the target travel trajectory, and the straight line trajectory is parallel to the endpoint line.

[0081] It should be noted that planning a curved trajectory for the obstacle gap can enable the cleaning equipment to clean a larger area, so the curved trajectory is the preferred planned travel trajectory. However, when the foot of the perpendicular between the geometric center of the cleaning equipment on the end point line is close to the last end point, if the cleaning equipment is still planned with a curved trajectory, the cleaning equipment will not be able to turn out of the obstacle gap during the movement along the curved trajectory. Eventually, the fuselage will scratch the obstacle at the last end point, damaging the obstacle and the cleaning equipment. Therefore, if the foot of the perpendicular between the geometric center of the cleaning equipment on the end point line is close to the last end point, it is necessary to plan a straight trajectory for the cleaning equipment as the target travel trajectory.

[0082] According to the scene schematic diagrams of the first position relationship shown in Figures 4 and 5, it can be seen that the reason why the foot of the perpendicular to the geometric center of the cleaning equipment on the endpoint line is close to the last endpoint may be due to the excessive protrusion of wall B relative to wall A, or it may be that the cleaning equipment detects the obstacle gap with a slight delay, and the obstacle gap is only detected between the two endpoints of the obstacle gap when traveling along wall B, so that the foot of the perpendicular is close to the last endpoint. Therefore, in this case, a straight line trajectory can be planned for the cleaning equipment as the target travel trajectory.

[0083] In order to enable those skilled in the art to better understand this embodiment, an example will be given below with reference to FIG6 .

[0084] 6 , which shows a schematic diagram of a scenario in which a straight line trajectory is planned as a target travel trajectory for a cleaning device according to an embodiment of the present disclosure.

[0085] The scenario corresponding to Figure 6 is as follows: In Figure 6 (1), the cleaning device detects the obstacle gap with a slight delay, and detects the obstacle gap only when it moves along wall B to the two end points of the obstacle gap. As a result, the geometric center of the cleaning device is close to the end point at the foot of the perpendicular line connecting the end points. Therefore, a straight line trajectory is planned for the cleaning device as the target trajectory, as shown in Figure 6 (2).

[0086] It can be understood that in this embodiment, when the foot of the perpendicular of the geometric center of the cleaning device on the endpoint line is close to the last endpoint, planning a straight trajectory for the cleaning device can effectively avoid scratches between the cleaning device and the obstacle at the last endpoint.

[0087] In some embodiments, in step S122, if the foot of the perpendicular of the geometric center on the end point line is close to the starting end point, a curved trajectory is planned for the cleaning equipment, and it is determined whether there are other obstacles on the curved trajectory; if there are no other obstacles on the curved trajectory, the curved trajectory is used as the target travel trajectory; if there are other obstacles on the curved trajectory, a straight trajectory is planned for the cleaning equipment as the target travel trajectory, and the straight trajectory is parallel to the end point line.

[0088] It should be noted that when the foot of the perpendicular of the geometric center of the cleaning equipment on the line connecting the end points is close to the starting end point, planning a curved trajectory for the cleaning equipment can enable the cleaning equipment to clean a larger area. However, if there are other obstacles on the planned curve, they will prevent the cleaning equipment from executing the curved trajectory movement. Therefore, in this case, the curved trajectory needs to be adjusted to a straight trajectory so that the cleaning equipment can pass through the gap between obstacles smoothly.

[0089] In order to enable those skilled in the art to better understand this embodiment, an example will be given below with reference to FIG. 7 and FIG. 8 .

[0090] The scene corresponding to Figure 7 is as follows: Wall B in Figure 7 is in a convex state relative to Wall A. In Figure 7 (1), it is determined that the geometric center of the cleaning equipment is close to the starting end point at the foot of the perpendicular line connecting the end points, so the cleaning equipment is first planned as a curved trajectory; in Figure 7 (2), it is determined that there are other obstacles on the planned curved trajectory, which will prevent the cleaning equipment from executing the curved trajectory movement; in Figure 7 (3), since it is determined that there are other obstacles on the curved trajectory, the curve estimate is adjusted to a straight trajectory as the target movement trajectory of the cleaning equipment.

[0091] The corresponding scenario in Figure 8 is as follows: In Figure 8, wall B and wall A are located on the same straight line. In Figure 8 (1), it is determined that the geometric center of the cleaning equipment is close to the starting end point at the foot of the perpendicular line connecting the end points, so a curved trajectory is planned for the cleaning equipment; in Figure 8 (2), since it is determined that there are other obstacles on the planned curved trajectory, the planned curved trajectory is adjusted to a straight trajectory to serve as the target trajectory of the cleaning equipment.

[0092] It can be seen from both FIG. 7 and FIG. 8 that the determined straight line trajectory is a line connecting the end points parallel to the obstacle gap, so that the cleaning device can clean a larger area.

[0093] The second implementation in step S120 can be performed as follows:

[0094] First, the following steps S100 to S200 are performed, and then the above steps S121 to S122 are performed.

[0095] S100, detecting a second positional relationship between a reference ray and a first reference line, wherein the reference ray takes the initial position of the cleaning device as the ray starting point and the initial moving direction of the cleaning device as the ray direction, and the first reference line is a line connecting the geometric center of the cleaning device and the starting endpoint.

[0096] It should be noted that the initial position is the position where the cleaning device detects the obstacle gap.

[0097] In some embodiments, the second positional relationship between the reference ray and the first reference line includes an absolute value of a first angle between the reference ray and the first reference line.

[0098] It is understandable that, when the cleaning device moves forward, the first angle between the reference ray and the first reference line will vary with the position of the cleaning device.

[0099] In order to enable those skilled in the art to better understand this embodiment, an example will be given below with reference to FIG9 .

[0100] 9 , which shows a schematic diagram of a scenario illustrating a second positional relationship between a reference ray and a first reference line according to an embodiment of the present disclosure.

[0101] The scenario corresponding to Figure 9 is: in Figure 9 (1), the cleaning device detects at the initial position that there is an obstacle gap in the initial direction of travel (i.e., formed by wall A and wall B), wherein the first angle between the reference ray and the first reference line is angle a; in Figure 9 (2), the cleaning device continues to move from the initial position along the initial direction of travel, and when it moves to a certain position, the first angle between the reference ray and the first reference line is detected to be angle b.

[0102] S200: If the second positional relationship satisfies a first preset positional relationship, triggering acquisition of a first positional relationship between the geometric center of the cleaning device and a line connecting the endpoints.

[0103] In some embodiments, the first preset positional relationship includes an absolute value of a first angle between the reference ray and the first reference line exceeding a first preset angle threshold.

[0104] It is understandable that if it is determined that the absolute value of the first angle between the reference ray and the first reference line exceeds the first preset angle threshold, the above steps S121 to S122 are triggered to be executed.

[0105] It should be noted that the first preset angle threshold can be determined based on an empirical value, for example, it can be determined to be 65°, and the present disclosure does not limit this in detail.

[0106] Assuming that the angle a determined in FIG9 (1) is 30° and the angle b determined in FIG9 (2) is 65.1°, the cleaning device in FIG9 (2) can trigger the execution of the above steps S121 to S122.

[0107] It can be understood that, compared with the aforementioned first embodiment, the second embodiment has requirements for the acquisition time of the first position relationship between the geometric center and the endpoint connection of the cleaning equipment. It is necessary to trigger the acquisition of the first position relationship between the geometric center and the endpoint connection of the cleaning equipment at a specific time point. It can be understood that, compared with the first embodiment, the second embodiment can reduce the workload of the cleaning equipment and improve the processing efficiency of the cleaning equipment.

[0108] The third implementation in step S120 may be performed as follows:

[0109] First, the following steps S10 to S20 are performed, and then the above steps S121 to S122 are performed.

[0110] S10 , detecting whether a reference ray intersects with an extension line of the end point line, wherein the reference ray takes the initial position of the cleaning device as a ray starting point and the initial moving direction of the cleaning device as a ray direction.

[0111] S20 : ​​If the extension line of the endpoint line intersects the reference ray, obtaining a first positional relationship between the geometric center of the cleaning device and the endpoint line.

[0112] It can be understood that if the extension line of the endpoint line intersects the reference ray, the cleaning device will be controlled to execute the above steps S121 to S122.

[0113] In order to enable those skilled in the art to better understand this embodiment, an example will be given below with reference to FIG10 .

[0114] 10 , which shows a schematic diagram of a scenario of whether an extension line of an endpoint line intersects a reference ray according to an embodiment of the present disclosure.

[0115] The scenes corresponding to Figure 10 are: in Figure 10 (1), wall A and wall B are located on the same straight line, and the end point line formed is parallel to the reference ray. Therefore, in this scene, the reference ray and the extension line of the end point line are in a non-intersecting state; in Figure 10 (2), wall B is in a convex state relative to wall A. Therefore, in this scene, the reference ray and the extension line of the end point line are in an intersecting state; in Figure 10 (3), wall B is in a concave state relative to wall A. Therefore, in this scene, the reference ray and the extension line of the end point line are in a non-intersecting state.

[0116] Therefore, in FIG10 , in the scenario corresponding to FIG10 ( 2 ), the cleaning device will be controlled to execute the above steps S121 to S122 .

[0117] In a third embodiment, for a scenario where the extension line of the endpoint line does not intersect the reference ray, the following steps S30 to S50 may be performed.

[0118] S30: If the extension line of the endpoint connection line does not intersect the reference ray, a curved trajectory is planned for the cleaning device, and it is determined whether there are other obstacles on the curved trajectory.

[0119] S40: If there are no other obstacles on the curved trajectory, use the curved trajectory as the target moving trajectory.

[0120] S50: If there are other obstacles on the curved trajectory, a straight trajectory is planned for the cleaning device as the target moving trajectory, where the straight trajectory is parallel to the line connecting the end points.

[0121] Specifically, it can be understood that in Figure 10, in the scenarios corresponding to Figure 10 (1) and Figure 10 (3), a curved trajectory will be planned for the cleaning equipment first. If there are other obstacles on the determined curved trajectory, the planned curved trajectory will be adjusted to a straight trajectory to serve as the target travel trajectory.

[0122] It can be understood that, compared with the first embodiment, the third embodiment does not perform the operation of obtaining the first position relationship between the geometric center and the end point line of the cleaning device for all forms of obstacle gaps. Instead, the operation of obtaining the first position relationship between the geometric center and the end point line of the cleaning device is only performed for a certain type of obstacle gap. That is, the operation of obtaining the first position relationship between the geometric center and the end point line of the cleaning device is only performed for obstacle gaps of the type where the reference ray intersects the extension line of the end point line. This can reduce the workload of the cleaning device to a certain extent and improve processing efficiency.

[0123] The fourth implementation in step S120 may be performed as follows:

[0124] First, the following steps S10 to S12 are performed, and then the above steps S121 to S122 are performed.

[0125] S10 , detecting whether a reference ray intersects with an extension line of the end point line, wherein the reference ray takes the initial position of the cleaning device as a ray starting point and the initial moving direction of the cleaning device as a ray direction.

[0126] S11. If the extension line of the endpoint line intersects the reference ray, a second positional relationship between the reference ray and the first reference line is detected, where the reference ray takes the initial position of the cleaning device as the ray starting point and the initial moving direction of the cleaning device as the ray direction, and the first reference line is the line connecting the geometric center of the cleaning device and the starting endpoint.

[0127] S12: If the second positional relationship satisfies a first preset positional relationship, triggering acquisition of a first positional relationship between the geometric center of the cleaning device and the line connecting the endpoints.

[0128] In a fourth embodiment, for a scenario where the extension line of the endpoint line does not intersect the reference ray, the above steps S30 to S50 may be performed.

[0129] It can be understood that, compared with the third embodiment, the fourth embodiment has requirements for the acquisition time of the first position relationship between the geometric center of the cleaning equipment and the end point line when the intersection of the reference ray and the extension line of the end point line is detected. It is necessary to trigger the acquisition of the first position relationship between the geometric center of the cleaning equipment and the end point line at a specific time point. It can be understood that, compared with the third embodiment, the fourth embodiment can reduce the workload of the cleaning equipment and improve the processing efficiency of the cleaning equipment.

[0130] In some embodiments, the curved trajectory planned for the cleaning device in the present disclosure is any one of an arc trajectory and a broken line trajectory. It should be noted that the curved trajectory does not include a straight line trajectory.

[0131] In some implementations, after step S120, the following steps S123 to S124 may be further performed:

[0132] S123 , detecting a third positional relationship between the geometric center of the cleaning device and a perpendicular line to the line connecting the end points and the line connecting the end points.

[0133] In some embodiments, the third positional relationship includes the geometric center of the cleaning device intersecting the line perpendicular to the line connecting the endpoints, and the geometric center of the cleaning device not intersecting the line perpendicular to the line connecting the endpoints.

[0134] In order to enable those skilled in the art to better understand this embodiment, an example will be given below with reference to FIG11 .

[0135] 11 , which shows a schematic diagram of a scene showing a third positional relationship between a line perpendicular to a line connecting endpoints and the line connecting endpoints, where the geometric center of a cleaning device is located according to an embodiment of the present disclosure.

[0136] The scenario corresponding to Figure 11 is: in Figure 11 (1), the cleaning device is located at a position where the foot of the perpendicular line between the endpoints is located on the extension line of the endpoints, which means that the perpendicular line between the endpoints and the geometric center of the cleaning device do not intersect with the endpoints; in Figure 11 (2), the cleaning device is located at a position where the foot of the perpendicular line between the endpoints is located on the endpoints, which means that the perpendicular line between the endpoints and the geometric center of the cleaning device intersect with the endpoints.

[0137] S124: If the third position relationship satisfies the second preset position relationship, trigger the cleaning device to rotate in situ by a first angle to control the cleaning device to move along the target travel trajectory.

[0138] In some embodiments, the second preset positional relationship includes the geometric center of the cleaning device intersecting the line connecting the endpoints at a perpendicular line to the line connecting the endpoints.

[0139] In some embodiments, if the target trajectory is a straight trajectory, the corresponding first angle is the absolute value of the angle between the reference ray and the straight trajectory; if the target trajectory is a curved trajectory, the corresponding first angle is the absolute value of the angle between the reference ray and the tangent, and the tangent is the tangent at the starting point of the curved trajectory.

[0140] In order to enable those skilled in the art to better understand this embodiment, an example will be given below with reference to FIG12 .

[0141] 12 , which shows a schematic diagram of a scene in which a cleaning device rotates in place by a first angle according to an embodiment of the present disclosure.

[0142] The scenarios corresponding to Figure 12 are as follows: Figure 12 (1) shows that the target moving trajectory planned for the cleaning equipment is a curved trajectory, and it is determined that the geometric center of the cleaning equipment intersects the perpendicular line connecting the end points with the line connecting the end points; Figure 12 (2) shows that the cleaning equipment is controlled to rotate at a first angle (i.e., angle c, the absolute value of the angle between the reference ray and the tangent) so as to control the cleaning equipment to move along the planned curved trajectory; Figure 12 (3) shows that the target moving trajectory planned for the cleaning equipment is a straight trajectory, and it is determined that the geometric center of the cleaning equipment intersects the perpendicular line connecting the end points with the line connecting the end points; Figure 12 (4) shows that the cleaning equipment is controlled to rotate at a first angle (i.e., angle d, the absolute value of the angle between the reference ray and the straight trajectory) so as to control the cleaning equipment to move along the planned straight trajectory.

[0143] It can be understood that in this embodiment, there are requirements for the time required to trigger the cleaning device to rotate in place by the first angle. Only when the geometric center of the cleaning device intersects the perpendicular line connecting the endpoints with the endpoint line, the cleaning device is triggered to rotate in place by the first angle, thereby accurately controlling the cleaning device to enter the target travel trajectory, which is conducive to controlling the cleaning device to move according to the target travel trajectory.

[0144] Continuing to refer to FIG. 1 , S130 , the cleaning device is controlled to move along the target travel trajectory to pass through the obstacle gap.

[0145] In some embodiments, during the process of controlling the cleaning device to move along the target travel trajectory, the following steps S131 to S132 may be performed:

[0146] S131 , detecting an absolute value of a second angle between the current moving direction of the cleaning device and a second reference line, where the second reference line is a line connecting the geometric center of the cleaning device and the end point.

[0147] It can be understood that when the cleaning device is moving along the target travel trajectory, if the target travel trajectory is a curved trajectory, the cleaning device will adjust the body position in real time to adapt to the curved trajectory, and during the movement, the travel direction of the cleaning device is also constantly changing, so that the absolute value of the second angle between the current travel direction of the cleaning device and the second reference line will change in real time.

[0148] S132: If the absolute value of the second angle exceeds a second preset angle threshold, the cleaning device is triggered to rotate by a second angle according to a predetermined action to control the cleaning device to continue moving in the initial direction of travel and to leave the obstacle gap.

[0149] In some embodiments, the predetermined action may be controlling the cleaning device to rotate while advancing, such that when the cleaning device reaches a second rotation angle, it continues to move in the initial direction of travel and clears the obstacle gap. It is understood that, under this predetermined action, the geometric center of the cleaning device gradually approaches the terminal end point during the process of rotating the cleaning device through the second rotation angle.

[0150] In some embodiments, the predetermined action may be controlling the cleaning device to rotate in place. It is understood that, under this predetermined action, the distance between the geometric center and the end point of the cleaning device remains unchanged during the second angle of rotation, but the cleaning device can continue to move in the initial direction of travel after the second angle of rotation, thereby clearing the obstacle gap.

[0151] It is understood that the second preset angle threshold is set to match the predetermined action. If the predetermined action is rotating while moving forward, the corresponding second preset angle threshold will be lower than the second preset angle threshold corresponding to the predetermined action of rotating in place. Specifically, the setting of the predetermined action is not limited in this disclosure and can be set according to actual circumstances.

[0152] In some embodiments, if the predetermined action is to move while rotating, the setting of the second preset angle threshold is related to the position of the sensor installed on the cleaning equipment for detecting the end point. For example, the second preset angle threshold can be set to 75°. Specifically, it can be set according to actual conditions, and the present disclosure does not limit it here.

[0153] In some embodiments, if the target trajectory is a straight trajectory, the corresponding second angle is the absolute value of the angle between the reference ray and the straight trajectory; if the target trajectory is a curved trajectory, the corresponding second angle is the absolute value of the angle between the reference ray and the tangent, and the tangent is the tangent at the end of the curved trajectory.

[0154] In order to enable those skilled in the art to better understand this embodiment, an example will be given below with reference to FIG13 .

[0155] 13 , which shows a schematic diagram of a scene in which a cleaning device rotates to a second angle according to a predetermined action according to an embodiment of the present disclosure.

[0156] The scenario corresponding to Figure 13 is: Figure 13 (1) shows that the target moving trajectory planned for the cleaning equipment is a straight line trajectory, and the cleaning equipment determines that the angle e between the current moving direction and the second reference line exceeds the second preset angle threshold; Figure 13 (2) shows that the cleaning equipment is controlled to rotate by a second angle in an in-situ rotation manner, so that the cleaning equipment can continue to move in the initial moving direction and leave the obstacle gap.

[0157] It can be understood that in this embodiment, there is a requirement for the time required to trigger the cleaning device to rotate the second angle according to the predetermined action. Only when the absolute value of the second angle between the current travel direction of the cleaning device and the second reference line exceeds the second preset angle threshold, the cleaning device is triggered to rotate the second angle according to the predetermined action, so that the cleaning device can be accurately controlled to move away from the obstacle gap, and on the basis of cleaning more area, it can also avoid scratches between the obstacle gap.

[0158] In some embodiments of the present disclosure, if the gap width is greater than or equal to the preset width threshold, the cleaning device is controlled to directly enter the obstacle gap.

[0159] It is understandable that, because the gap width of the obstacle gap can accommodate the entire body of the cleaning device, directly controlling the cleaning device to enter the obstacle gap will not cause scratches between the obstacle gap and the area within the obstacle gap can also be cleaned.

[0160] In the technical solutions provided by some embodiments of the present disclosure, first, in response to detecting the presence of an obstacle gap in the initial travel direction of the cleaning device, the gap width of the obstacle gap is obtained; if the gap width is less than a preset width threshold, a target travel trajectory that matches the obstacle gap is planned for the cleaning device; and finally, the cleaning device is controlled to move according to the target travel trajectory to pass through the obstacle gap. It can be seen that, since the technical solution of the present disclosure automatically plans a target travel trajectory that matches the obstacle gap after detecting the obstacle gap, if the obstacle gap width is less than a preset width threshold, the cleaning device will not directly enter the obstacle gap, which can avoid scratches on the obstacle caused by the cleaning device failing to enter and then exiting. Accordingly, the cleaning device can also be protected, and a larger area can be cleaned, thereby improving the cleaning efficiency of the cleaning device.

[0161] Based on the same inventive concept, the present disclosure provides a cleaning equipment control device that can be used to execute the cleaning equipment control method in the above embodiment of the present disclosure. For details not disclosed in the present disclosure, please refer to the above embodiment of the cleaning equipment control method in the present disclosure.

[0162] 14 , which shows a block diagram of a cleaning equipment control device according to an embodiment of the present disclosure.

[0163] As shown in FIG14 , a cleaning equipment control device 1400 according to an embodiment of the present disclosure includes: an acquisition unit 1401 , a planning unit 1402 , and a control unit 1403 .

[0164] Among them, the acquisition unit 1401 is used to obtain the gap width of the obstacle gap in response to detecting the existence of an obstacle gap in the initial travel direction of the cleaning device; the planning unit 1402 is used to plan a target travel trajectory for the cleaning device that matches the obstacle gap if the gap width is less than a preset width threshold; the control unit 1403 is used to control the cleaning device to move according to the target travel trajectory to pass through the obstacle gap.

[0165] In some embodiments of the present disclosure, based on the aforementioned scheme, the gap width is the length of the endpoint line, the endpoint line is the line between the two endpoints of the obstacle gap, and the two endpoints include the starting endpoint and the ending endpoint of the obstacle gap along the initial travel direction. The planning unit 1402 is also used to: obtain a first positional relationship between the geometric center of the cleaning equipment and the endpoint line; based on the first positional relationship, plan a target travel trajectory for the cleaning equipment that matches the obstacle gap.

[0166] In some embodiments of the present disclosure, based on the aforementioned scheme, the planning unit 1402 is also used to: before obtaining the first positional relationship between the geometric center of the cleaning device and the line connecting the endpoints, detect the second positional relationship between the reference ray and the first reference line, the reference ray takes the initial position of the cleaning device as the ray starting point, the initial moving direction of the cleaning device as the ray direction, and the first reference line is the line connecting the geometric center of the cleaning device and the starting endpoint; if the second positional relationship satisfies the first preset positional relationship, it triggers the acquisition of the first positional relationship between the geometric center of the cleaning device and the line connecting the endpoints.

[0167] In some embodiments of the present disclosure, based on the aforementioned solution, the first preset position relationship includes an absolute value of a first angle between the reference ray and the first reference line exceeding a first preset angle threshold.

[0168] In some embodiments of the present disclosure, based on the aforementioned scheme, the planning unit 1402 is also used to: before obtaining the first positional relationship between the geometric center of the cleaning device and the line connecting the endpoints, detect whether a reference ray intersects with an extension line of the line connecting the endpoints, the reference ray takes the initial position of the cleaning device as the ray starting point and the initial moving direction of the cleaning device as the ray direction; if the extension line of the line connecting the endpoints intersects with the reference ray, then the first positional relationship between the geometric center of the cleaning device and the line connecting the endpoints is obtained.

[0169] In some embodiments of the present disclosure, based on the aforementioned scheme, the planning unit 1402 is also used to: if the extension line of the endpoint line does not intersect with the reference ray, then plan a curved trajectory for the cleaning equipment and determine whether there are other obstacles on the curved trajectory; if there are no other obstacles on the curved trajectory, then use the curved trajectory as the target travel trajectory; if there are other obstacles on the curved trajectory, then plan a straight trajectory for the cleaning equipment as the target travel trajectory, and the straight trajectory is parallel to the endpoint line.

[0170] In some embodiments of the present disclosure, based on the aforementioned scheme, the planning unit 1402 is also used to: if the foot of the perpendicular of the geometric center on the endpoint line is close to the end endpoint, then plan a straight line trajectory for the cleaning equipment as the target travel trajectory, and the straight line trajectory is parallel to the endpoint line.

[0171] In some embodiments of the present disclosure, based on the aforementioned scheme, the planning unit 1402 is also used to: if the foot of the perpendicular of the geometric center on the endpoint line is close to the starting endpoint, then plan a curved trajectory for the cleaning equipment and determine whether there are other obstacles on the curved trajectory; if there are no other obstacles on the curved trajectory, then use the curved trajectory as the target travel trajectory; if there are other obstacles on the curved trajectory, then plan a straight trajectory for the cleaning equipment as the target travel trajectory, and the straight trajectory is parallel to the endpoint line.

[0172] In some embodiments of the present disclosure, based on the aforementioned solution, the curved trajectory is any one of an arc trajectory and a broken line trajectory.

[0173] In some embodiments of the present disclosure, based on the aforementioned scheme, the planning unit 1402 is also used to: after planning a target travel trajectory for the cleaning device that matches the obstacle gap, detect the third position relationship between the geometric center of the cleaning device and the perpendicular line connecting the endpoints and the endpoints; if the third position relationship satisfies the second preset position relationship, trigger the cleaning device to rotate in place by a first angle to control the cleaning device to move according to the target travel trajectory.

[0174] In some embodiments of the present disclosure, based on the aforementioned solution, the second preset position relationship includes the geometric center of the cleaning device intersecting the line connecting the endpoints at a perpendicular line to the line connecting the endpoints.

[0175] In some embodiments of the present disclosure, based on the aforementioned scheme, the control unit 1403 is also used to: in the process of controlling the cleaning device to move according to the target travel trajectory, detect the absolute value of the second angle between the current travel direction of the cleaning device and the second reference line, and the second reference line is the line between the geometric center of the cleaning device and the end endpoint; if the absolute value of the second angle exceeds the second preset angle threshold, the cleaning device is triggered to rotate to the second angle according to a predetermined action to control the cleaning device to continue moving in the initial travel direction and drive away from the obstacle gap.

[0176] In some embodiments of the present disclosure, based on the aforementioned solution, the control unit 1403 is further configured to: if the gap width is greater than or equal to the preset width threshold, control the cleaning device to directly enter the obstacle gap.

[0177] In some embodiments of the present disclosure, based on the aforementioned solution, the preset width threshold is less than or equal to the body diameter of the cleaning device.

[0178] Based on the same inventive concept, an embodiment of the present disclosure further provides a computer-readable storage medium, wherein the computer-readable storage medium stores at least one computer program instruction, and the at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the aforementioned method.

[0179] Based on the same inventive concept, an embodiment of the present disclosure also provides a cleaning device.

[0180] Referring to Figure 15, a structural schematic diagram of a cleaning device according to an embodiment of the present disclosure is shown. The cleaning device includes one or more memories 1504, one or more processors 1502, and at least one computer program (computer program instruction) stored on the memory 1504 and executable on the processor 1502. When the processor 1502 executes the computer program, the method described above is implemented.

[0181] In FIG15 , a bus architecture (represented by bus 1500) is shown. Bus 1500 may include any number of interconnected buses and bridges. Bus 1500 links various circuits, including one or more processors represented by processor 1502 and memory represented by memory 1504. Bus 1500 may also link various other circuits, such as peripherals, voltage regulators, and power management circuits, all of which are well known in the art and, therefore, will not be described further herein. Bus interface 1505 provides an interface between bus 1500 and receiver 1501 and transmitter 1503. Receiver 1501 and transmitter 1503 may be the same component, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 1502 is responsible for managing bus 1500 and general processing, while memory 1504 may be used to store data used by processor 1502 when performing operations.

[0182] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or code. Other examples and implementations are within the scope and spirit of the present disclosure and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. Furthermore, the functional units may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0183] In the several embodiments provided in the present disclosure, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0184] The units described as separate components may or may not be physically separate, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0185] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store computer program instructions, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0186] The foregoing description is merely an embodiment of the present disclosure and is not intended to limit the present disclosure. Various modifications and variations are readily apparent to those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure are intended to be within the scope of the claims of the present disclosure.

Claims

1. A cleaning equipment control method, comprising: In response to detecting that an obstacle gap exists in the initial travel direction of the cleaning device, obtaining a gap width of the obstacle gap; If the gap width is less than a preset width threshold, planning a target travel trajectory for the cleaning device that matches the obstacle gap; The cleaning device is controlled to move according to the target travel trajectory to pass through the obstacle gap.

2. The method according to claim 1, wherein: The gap width is the length of the endpoint line, the endpoint line is the line between the two endpoints of the obstacle gap, the two endpoints include the starting endpoint and the ending endpoint of the obstacle gap along the initial travel direction, and the target travel trajectory for the cleaning device to match the obstacle gap includes: Acquire a first positional relationship between the geometric center of the cleaning device and the line connecting the end points; Based on the first position relationship, a target travel trajectory matching the obstacle gap is planned for the cleaning device.

3. The method according to claim 2, wherein: Before obtaining the first positional relationship between the geometric center of the cleaning device and the line connecting the end points, the method further includes: Detecting a second positional relationship between a reference ray and a first reference line, wherein the reference ray takes the initial position of the cleaning device as a ray starting point and the initial moving direction of the cleaning device as a ray direction, and the first reference line is a line connecting the geometric center of the cleaning device and the starting end point; If the second positional relationship satisfies the first preset positional relationship, it triggers acquisition of the first positional relationship between the geometric center of the cleaning device and the line connecting the end points.

4. The method according to claim 3, wherein: The first preset position relationship includes that an absolute value of a first angle between the reference ray and the first reference line exceeds a first preset angle threshold.

5. The method according to claim 2, wherein: Before obtaining the first positional relationship between the geometric center of the cleaning device and the line connecting the end points, the method further includes: Detecting whether a reference ray intersects with an extension line of the end point line, wherein the reference ray takes the initial position of the cleaning device as a ray starting point and the initial moving direction of the cleaning device as a ray direction; If the extension line of the end point connection line intersects the reference ray, a first positional relationship between the geometric center of the cleaning device and the end point connection line is obtained.

6. The method according to claim 5, wherein: The method further comprises: If the extension line of the endpoint connection line does not intersect the reference ray, a curved trajectory is planned for the cleaning device, and it is determined whether there are other obstacles on the curved trajectory; If there are no other obstacles on the curved track, the curved track is used as the target travel track; If there are other obstacles on the curved trajectory, a straight trajectory is planned for the cleaning device as the The target moving trajectory, the straight line trajectory is parallel to the endpoint line.

7. The method according to any one of claims 2 to 5, wherein: The step of planning a target travel trajectory for the cleaning device that matches the obstacle gap based on the first position relationship includes: If the foot of the perpendicular of the geometric center on the line connecting the end points is close to the rear end point, a straight line trajectory is planned for the cleaning device as the target travel trajectory, and the straight line trajectory is parallel to the line connecting the end points.

8. The method according to any one of claims 2 to 5, wherein: The step of planning a target travel trajectory for the cleaning device that matches the obstacle gap based on the first position relationship includes: If the foot of the perpendicular of the geometric center on the line connecting the end points is close to the starting end point, a curved trajectory is planned for the cleaning device, and it is determined whether there are other obstacles on the curved trajectory; If there are no other obstacles on the curved track, the curved track is used as the target travel track; If there are other obstacles on the curved trajectory, a straight trajectory is planned for the cleaning device as the target travel trajectory, and the straight trajectory is parallel to the end point connection line.

9. The method according to claim 6 or 8, wherein: The curved trajectory is any one of an arc trajectory and a broken line trajectory.

10. The method according to any one of claims 1 to 9, wherein: The gap width is the length of the endpoint line, and the endpoint line is the line between the two endpoints of the obstacle gap. After planning a target travel trajectory matching the obstacle gap for the cleaning device, the method further includes: Detecting a third positional relationship between a geometric center of the cleaning device and a perpendicular line to the line connecting the end points and the line connecting the end points; If the third position relationship satisfies the second preset position relationship, the cleaning device is triggered to rotate in situ by a first angle to control the cleaning device to move along the target travel trajectory.

11. The method according to claim 10, wherein: The second preset position relationship includes that the geometric center of the cleaning device intersects the line connecting the end points at a perpendicular line to the line connecting the end points.

12. The method according to any one of claims 1 to 11, wherein: The gap width is the length of the endpoint line, the endpoint line is the line between the two endpoints of the obstacle gap, the two endpoints include the starting endpoint and the ending endpoint of the obstacle gap along the initial travel direction, and in the process of controlling the cleaning device to move according to the target travel trajectory, the method also includes: Detecting an absolute value of a second angle between a current moving direction of the cleaning device and a second reference line, where the second reference line is a line connecting a geometric center of the cleaning device and the end point; If the absolute value of the second angle exceeds a second preset angle threshold, the cleaning device is triggered to rotate by a second angle according to a predetermined action, so as to control the cleaning device to continue to move in the initial direction of travel and leave the obstacle gap.

13. The method according to any one of claims 1 to 12, wherein: The method further comprises: If the gap width is greater than or equal to the preset width threshold, the cleaning device is controlled to directly into the gap between the obstacles.

14. The method according to any one of claims 1 to 13, wherein: The preset width threshold is less than or equal to the body diameter of the cleaning device.

15. A cleaning equipment control device, comprising: an acquisition unit, configured to acquire a gap width of the obstacle gap in response to detecting that there is an obstacle gap in the initial travel direction of the cleaning device; a planning unit, configured to plan a target travel trajectory for the cleaning device that matches the obstacle gap if the gap width is less than a preset width threshold; A control unit is used to control the cleaning device to move along the target travel trajectory so as to pass through the obstacle gap.

16. A computer-readable storage medium, wherein at least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by a processor to implement the operations performed by the method according to any one of claims 1 to 14.

17. A cleaning device, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the method according to any one of claims 1 to 14.

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