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

Abstract

The invention discloses a control method and apparatus of an automatic cleaning device, a medium, and an automatic cleaning device. The method comprises: during operation of the automatic cleaning device, continuously obtaining an action position for triggering a telescopic mopping module of the automatic cleaning equipment to execute a telescopic action; on the basis of the obtained plurality of action positions, determining whether the automatic cleaning device meets a telescopic action restricting condition; and, when the automatic cleaning device meets the telescopic action limiting condition, restricting the use of the telescopic mopping module in order to suspend the ability of the telescopic mopping module to execute a telescopic action.

Description

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

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311091134.4 filed on August 25, 2023. The contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as part of this application. Technical Field

[0003] The present application relates to the technical field of smart home appliances, and in particular to a control method and device for automatic cleaning equipment, a storage medium, and an automatic cleaning equipment. Background Art

[0004] To address the issue of cleaning corners, many manufacturers have added telescopic mopping modules to their sweeping robots, which extend the mop when passing obstacles to improve corner coverage.

[0005] However, in actual use scenarios, such as areas with many obstacles or in confined spaces, frequent retracting and retracting the mop will reduce the robot's cleaning efficiency. Frequent retracting and retracting the mop will also shorten the service life of the retractable mop module, and thus the life of the robot vacuum.

[0006] How to more reasonably control the telescopic mopping module to improve cleaning efficiency and extend the service life of the sweeping robot is an issue worth exploring in this field.

[0007] Summary of the Invention

[0008] In view of this, the present application provides a control method and device for automatic cleaning equipment, a storage medium and an automatic cleaning equipment. By determining the area with dense obstacles and limiting the telescopic movement of the telescopic mopping module in the area, it solves the problem of low cleaning efficiency and reduced service life of the mopping module caused by frequent telescopic mop movement in areas with many obstacles or small spaces of existing self-cleaning equipment.

[0009] According to one aspect of the present application, a control method for an automatic cleaning device is provided, comprising:

[0010] During the operation of the automatic cleaning device, continuously obtaining the action position of the telescopic mopping module of the automatic cleaning device that triggers the telescopic action;

[0011] Based on the obtained multiple action positions, determining whether the automatic cleaning device meets the telescopic action restriction condition;

[0012] When the automatic cleaning device meets the telescopic action restriction condition, the telescopic mopping module is restricted from use to stop the telescopic mopping module from performing the telescopic action.

[0013] Optionally, restricting the use of the telescopic mopping module includes:

[0014] A telescopic motion restriction area corresponding to the automatic cleaning device is determined, and usage of the telescopic mopping module is restricted within the telescopic motion restriction area.

[0015] Optionally, the telescopic action restriction condition includes the telescopic mopping module continuously triggering a preset number of telescopic actions within a preset size range.

[0016] Optionally, judging whether the automatic cleaning device satisfies the telescopic motion restriction condition based on the acquired multiple motion positions includes:

[0017] Taking any acquired action position as a recognition start position, and determining a recognition range of a restricted area of ​​a preset size corresponding to the recognition start position;

[0018] Counting the number of times that the action positions continuously acquired from the recognition start position are within the restricted area recognition range;

[0019] If the number reaches the preset number, it is determined that the automatic cleaning device meets the telescopic action restriction condition.

[0020] Optionally, determining the restricted area recognition range of the preset size corresponding to the recognition start position includes:

[0021] Constructing a circular restricted area recognition range with the recognition start position as the center and a preset length as the radius; or

[0022] A rectangular area of ​​a preset size is constructed with the recognition start position as the center as the restricted area recognition range.

[0023] Optionally, determining the telescopic action restriction area corresponding to the automatic cleaning device includes:

[0024] The restricted area recognition range is determined as the telescopic action restricted area.

[0025] Optionally, after restricting the use of the telescopic mopping module, the method further includes:

[0026] When the automatic cleaning device moves outside the telescopic action restriction area, the use restriction of the telescopic mopping module is maintained, and based on the working data of the automatic cleaning device, it is determined whether the automatic cleaning device meets the telescopic action recovery condition;

[0027] When the automatic cleaning device meets the telescopic action recovery condition, the use restriction of the telescopic mopping module is released to restore the telescopic mopping module's ability to perform the telescopic action.

[0028] Optionally, judging whether the automatic cleaning device meets the telescopic action recovery condition based on the working data of the automatic cleaning device includes:

[0029] If the automatic cleaning device is hit in the direction of travel, or the automatic cleaning device continues to travel along the edge of the obstacle for a preset time, it is determined that the automatic cleaning device meets the telescopic action recovery condition.

[0030] Optionally, after restricting the use of the telescopic mopping module, the method further includes:

[0031] Suspending the determination of whether the automatic cleaning device satisfies the telescopic action restriction condition;

[0032] Correspondingly, after removing the restriction on the use of the telescopic mopping module, the method further includes:

[0033] The determination of whether the automatic cleaning device satisfies the telescopic action restriction condition is resumed.

[0034] Optionally, before restricting the use of the telescopic mopping module, the method further includes:

[0035] The telescopic mopping module is placed in an extended state or a retracted state.

[0036] Optionally, placing the telescopic mopping module in an extended state or a retracted state includes:

[0037] According to the preset usage restriction policy corresponding to the telescopic mopping module, the telescopic mopping module is placed in an extended state or a retracted state;

[0038] Among them, the preset usage restriction strategy includes one of a cleaning priority strategy, a safety priority strategy and a working surface adaptation strategy. The cleaning priority strategy is used to indicate that the telescopic mopping module is set to an extended state in the usage restriction state of the telescopic mopping module. The safety priority strategy is used to indicate that the telescopic mopping module is set to a retracted state in the usage restriction state of the telescopic mopping module. The working surface adaptation strategy is used to indicate that the telescopic mopping module is set to an extended state or a retracted state based on the area type of the area where the automatic cleaning device is located.

[0039] Optionally, placing the telescopic mopping module in the extended state or the retracted state according to a preset usage restriction policy corresponding to the telescopic mopping module includes:

[0040] When the preset usage restriction policy corresponding to the telescopic mopping module is the work surface adaptation policy, determining the area type of the area where the automatic cleaning device is located based on the visual sensing data of the automatic cleaning device, and / or determining the area type of the area where the automatic cleaning device is located based on the historical map data of the automatic cleaning device;

[0041] Based on the area type, the telescopic mopping module is placed in an extended state or a retracted state.

[0042] According to another aspect of the present application, a control device for an automatic cleaning device is provided, the device comprising:

[0043] An acquisition module, configured to continuously acquire an action position of a telescopic mopping module of the automatic cleaning device that triggers the telescopic action during operation of the automatic cleaning device;

[0044] a judgment module, configured to judge whether the automatic cleaning device satisfies a telescopic action restriction condition based on the acquired multiple action positions;

[0045] The control module is used to restrict the use of the telescopic mopping module when the automatic cleaning device meets the telescopic action restriction condition, so as to stop the telescopic mopping module from performing the telescopic action.

[0046] Optionally, the control module is used to:

[0047] A telescopic motion restriction area corresponding to the automatic cleaning device is determined, and usage of the telescopic mopping module is restricted within the telescopic motion restriction area.

[0048] Optionally, the telescopic action restriction condition includes the telescopic mopping module continuously triggering a preset number of telescopic actions within a preset size range.

[0049] Optionally, the judgment module is used to:

[0050] Taking any acquired action position as a recognition start position, and determining a recognition range of a restricted area of ​​a preset size corresponding to the recognition start position;

[0051] Counting the number of times that the action positions continuously acquired from the recognition start position are within the restricted area recognition range;

[0052] If the number reaches the preset number, it is determined that the automatic cleaning device meets the telescopic action restriction condition.

[0053] Optionally, the judgment module is used to:

[0054] Constructing a circular restricted area recognition range with the recognition start position as the center and a preset length as the radius; or

[0055] A rectangular area of ​​a preset size is constructed with the recognition start position as the center as the restricted area recognition range.

[0056] Optionally, the control module is used to:

[0057] The restricted area recognition range is determined as the telescopic action restricted area.

[0058] Optionally, the judgment module is used to:

[0059] When the automatic cleaning device moves outside the telescopic action restriction area, the use restriction of the telescopic mopping module is maintained, and based on the working data of the automatic cleaning device, it is determined whether the automatic cleaning device meets the telescopic action recovery condition;

[0060] Accordingly, the control module is used to:

[0061] When the automatic cleaning device meets the telescopic action recovery condition, the use restriction of the telescopic mopping module is released to restore the telescopic mopping module's ability to perform the telescopic action.

[0062] Optionally, the judgment module is used to:

[0063] If the automatic cleaning device is hit in the direction of travel, or the automatic cleaning device continues to travel along the edge of the obstacle for a preset time, it is determined that the automatic cleaning device meets the telescopic action recovery condition.

[0064] Optionally, the judgment module is used to:

[0065] Suspending the determination of whether the automatic cleaning device satisfies the telescopic action restriction condition;

[0066] And, the judgment on whether the automatic cleaning device meets the telescopic action restriction condition is restored.

[0067] Optionally, the control module is further configured to:

[0068] The telescopic mopping module is placed in an extended state or a retracted state.

[0069] Optionally, the control module is used to:

[0070] According to the preset usage restriction policy corresponding to the telescopic mopping module, the telescopic mopping module is placed in an extended state or a retracted state;

[0071] Among them, the preset usage restriction strategy includes one of a cleaning priority strategy, a safety priority strategy and a working surface adaptation strategy. The cleaning priority strategy is used to indicate that the telescopic mopping module is set to an extended state in the usage restriction state of the telescopic mopping module. The safety priority strategy is used to indicate that the telescopic mopping module is set to a retracted state in the usage restriction state of the telescopic mopping module. The working surface adaptation strategy is used to indicate that the telescopic mopping module is set to an extended state or a retracted state based on the area type of the area where the automatic cleaning device is located.

[0072] Optionally, the control module is used to:

[0073] When the preset usage restriction policy corresponding to the telescopic mopping module is the work surface adaptation policy, determining the area type of the area where the automatic cleaning device is located based on the visual sensing data of the automatic cleaning device, and / or determining the area type of the area where the automatic cleaning device is located based on the historical map data of the automatic cleaning device;

[0074] Based on the area type, the telescopic mopping module is placed in an extended state or a retracted state.

[0075] According to another aspect of the present application, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the control method of the automatic cleaning device is implemented.

[0076] According to another aspect of the present application, an automatic cleaning device is provided, comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the control method of the automatic cleaning device when executing the computer program.

[0077] By utilizing the above technical solution, the present application obtains the action position of the telescopic mopping module of the automatic cleaning device when the telescopic action is triggered, and based on the obtained action position, determines the environment of the space where the automatic cleaning device is currently located, such as a corner or a small space, and then determines whether its telescopic action can be restricted. When it is determined that the telescopic action restriction conditions are met, the telescopic action of the telescopic mopping module is restricted to prevent the telescopic mopping module from being extended and retracted too many times, which affects its service life, and also avoids problems such as low cleaning efficiency due to frequent extension and retraction of the mopping module.

[0078] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0080] FIG1 is a schematic flow chart showing a control method for an automatic cleaning device according to an embodiment of the present application;

[0081] FIG2 is a schematic flow chart showing a control method for an automatic cleaning device according to an embodiment of the present application;

[0082] FIG3 is a schematic diagram showing a restricted area recognition range of a control method for an automatic cleaning device provided in an embodiment of the present application;

[0083] FIG4 is a schematic diagram showing a method for controlling an automatic cleaning device according to an embodiment of the present application, wherein the method includes identifying a range of leaving a restricted area; ...

[0084] FIG5 is a schematic flow chart showing a control method for an automatic cleaning device according to an embodiment of the present application;

[0085] FIG6 shows a structural block diagram of a control device for an automatic cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0086] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0087] In an embodiment, a control method for an automatic cleaning device is provided, as shown in FIG1 , the method comprising:

[0088] Step 101 : During the operation of the automatic cleaning device, continuously obtain the action position of the telescopic mopping module of the automatic cleaning device that triggers the telescopic action.

[0089] The control method of the automatic cleaning device provided in the embodiment of the present application is used for automatic cleaning devices such as sweeping robots. The automatic cleaning device is provided with a retractable mopping module. During the cleaning process of the automatic cleaning device, the mopping module can be extended to clean narrow spaces such as corners, or locations where there are many obstacles that make it inconvenient to move. In open and spacious spaces, the mopping module can be retracted and a conventional cleaning mode can be used. However, frequent retracting and extending actions will affect the service life of the retractable mopping module and also reduce the cleaning efficiency. Based on this, the retracting and extending action of the automatic cleaning device can be limited according to the environment of the space in which it is located, and the retracting and extending action is only performed in scenarios where retracting and extending is necessary, while the number of retracting and extending actions performed in other scenarios is reduced.

[0090] In this step, the current environment of the automatic cleaning device can be judged based on the telescopic action of the telescopic mopping module and the position when the action occurs. It is understandable that after the automatic cleaning device extends the telescopic mopping module, it can remain in the extended state for a period of time until it is retracted after cleaning is completed. During this period of time, the automatic cleaning device may move, that is, its position may change. Based on this, the position that triggers the telescopic mopping module to perform the telescopic action can be used as the action position, and it is continuously judged whether the telescopic mopping module of the automatic cleaning device triggers the execution of the telescopic operation, and the corresponding action position is obtained when the triggering of the telescopic operation is detected, and then it is judged whether the telescopic action restriction conditions are met based on the action position.

[0091] Step 102: Based on the acquired multiple action positions, determine whether the automatic cleaning device meets the telescopic action restriction condition.

[0092] In this step, if multiple action positions are obtained, it means that the telescopic mopping module is triggered multiple times to perform the telescopic action, that is, the telescopic mopping module is telescoped multiple times. Since too many telescopic times will reduce the service life of the equipment, it is judged whether the automatic cleaning equipment meets the telescopic action restriction conditions, such as the number of telescopic actions or the telescopic action frequency meets certain requirements.

[0093] Step 103 : When the automatic cleaning device satisfies the telescopic action restriction condition, the telescopic mopping module is restricted from using so as to stop the telescopic mopping module from being able to perform the telescopic action.

[0094] In this step, if the automatic cleaning device meets the telescopic motion restriction conditions, its telescopic motion is restricted. For example, the frequency of telescopic motions is limited, or the telescopic mopping module is directly prohibited from continuing to perform telescopic motions within a certain time or area. This step reduces the number of telescopic motions during operation of the automatic cleaning device, thereby extending its service life.

[0095] This embodiment obtains the position of the telescopic mopping module of the automatic cleaning device when it triggers a telescopic motion. Based on the obtained position, the system determines the environment of the space where the automatic cleaning device is currently located, such as a corner or a confined space, and then determines whether its telescopic motion can be restricted. If the telescopic motion restriction conditions are determined to be met, the telescopic mopping module's telescopic motion is restricted, preventing the module from being extended and retracted too frequently, which could affect its service life. It also avoids problems such as low cleaning efficiency caused by frequent telescopic motion.

[0096] Furthermore, as a refinement and extension of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of the embodiment, another control method of an automatic cleaning device is provided, as shown in FIG2 , the method includes:

[0097] Step 201 : During the operation of the automatic cleaning device, continuously obtaining the action position of the telescopic mopping module of the automatic cleaning device that triggers the telescopic action.

[0098] Step 202 : Based on the acquired multiple action positions, determine whether the automatic cleaning device satisfies a telescopic action restriction condition; wherein the telescopic action restriction condition includes the telescopic mopping module continuously triggering a preset number of telescopic actions within a preset size range.

[0099] In step 202, a determination is made as to whether a telescopic action restriction condition is satisfied based on the number of times the telescopic mopping module continuously triggers telescopic action within a preset range. Specifically, if the number of consecutive telescopic actions reaches a preset number, the telescopic mopping module is deemed to have performed an excessive number of telescopic actions, and telescopic action restriction is required. Consequently, the automatic cleaning device is determined to have satisfied the telescopic action restriction condition.

[0100] In addition, in step 202, based on the acquired multiple action positions, determining whether the automatic cleaning device meets the telescopic action restriction condition includes the following steps:

[0101] Step 2021: Use any action position obtained as the identification starting position to determine the restricted area identification range of the preset size corresponding to the identification starting position; count the number of action positions continuously obtained from the identification starting position that are within the restricted area identification range; if the number reaches the preset number, determine that the automatic cleaning device meets the telescopic action restriction condition.

[0102] In step 2021, a restricted area identification range is defined according to the action position that triggers the telescopic mopping module's telescopic action, and then it is determined whether the telescopic action is frequently triggered within the range, and whether the telescopic action restriction condition is met based on the judgment result.

[0103] Specifically, an acquired action position is used as the recognition starting position, and with the recognition starting position as the center, an area of ​​preset shape and preset size is constructed as the restricted area recognition range. The restricted area recognition range can be in the shape of a circle, rectangle, equilateral triangle, regular octagon, etc. For example, with the recognition starting position as the center of the triangle, an equilateral triangle area is constructed according to the preset side length as the restricted area recognition range. After determining the restricted area recognition range, the number of action positions continuously acquired in the restricted area recognition range is counted, that is, the number of times the telescopic mopping module triggers the telescopic action within the restricted area recognition range is counted. If the number of times counted reaches the preset number, it is determined that the automatic cleaning device meets the telescopic action restriction condition, and its telescopic action is then restricted.

[0104] Wherein, in step 221, determining the identification range of the restricted area of ​​the preset size corresponding to the identification start position includes the following steps:

[0105] Step 20211, constructing the circular restricted area recognition range with the recognition start position as the center and the preset length as the radius; or constructing a rectangular area of ​​a preset size with the recognition start position as the center as the restricted area recognition range.

[0106] In step 20211, the restricted area recognition range can be circular or rectangular. Specifically, if the restricted area recognition range is circular, a circular range is constructed with the recognition start position as the center of the circle and the preset length as the radius, wherein the preset length can be set according to the size of the self-cleaning robot or the length that the telescopic mopping module can extend. For example, the preset length can be set to 2.5 times the radius of the self-cleaning device body. Similarly, if the restricted area recognition range is rectangular, a rectangular area of ​​a preset size is constructed with the recognition start position as the center of the rectangle and the preset length as the side length, wherein the preset side length and the preset size can be set according to the size of the self-cleaning robot or the length that the telescopic mopping module can extend.

[0107] As shown in Figure 3, a rectangular restricted area recognition range is established with the automatic cleaning device as the center and x as the side length. Within this range, the telescopic mopping module of the automatic cleaning device triggers the telescopic action three times in succession, and it is determined that it meets the telescopic action restriction conditions. Therefore, its ability to perform the telescopic action is restricted, and the telescopic mopping module no longer performs the telescopic action within this range.

[0108] Step 203: When the automatic cleaning device meets the telescopic action restriction condition, determine the telescopic action restriction area corresponding to the automatic cleaning device, set the telescopic mopping module to an extended state or a retracted state, and restrict the use of the telescopic mopping module within the telescopic action restriction area to suspend the telescopic mopping module's ability to perform the telescopic action.

[0109] In step 203, if it is determined that the automatic cleaning device meets the telescopic action restriction condition, the telescopic action of the telescopic mopping module is restricted. It can be understood that since the automatic cleaning device is a movable device, during the cleaning process, as the automatic cleaning device moves, the spatial environment in which it is located also changes. For example, if the automatic cleaning device moves to a new corner, if the telescopic action is restricted, the telescopic mopping module cannot be extended, resulting in the corner not being cleaned clean, affecting the cleaning effect. Based on this, the telescopic action of the telescopic mopping module can be restricted only within a certain area. If the automatic cleaning device moves out of the area, the restriction on the telescopic action is lifted. In actual application, the restricted area identification range can be directly determined as the telescopic action restriction area, and the state of the telescopic mopping module can be set to the extended state or the retracted state. The state of the telescopic mopping module is kept unchanged within the telescopic action restriction area to achieve the effect of terminating the telescopic mopping module from performing the telescopic action.

[0110] As shown in Figure 4, after the restricted area identification range is constructed according to x, the range is determined as the telescopic action restricted area, and the state of the telescopic mopping module is set to the retracted state. Thereafter, within this area, the telescopic mopping module always remains in the retracted state and no longer extends until it moves outside the telescopic action restricted area.

[0111] In step 203, the step of placing the telescopic mopping module in an extended state or a retracted state includes the following steps:

[0112] 2031. According to a preset usage restriction policy corresponding to the telescopic mopping module, the telescopic mopping module is placed in an extended state or a retracted state; wherein the preset usage restriction policy includes one of a cleaning priority policy, a safety priority policy, and a working surface adaptation policy, the cleaning priority policy is used to indicate that the telescopic mopping module is placed in an extended state under the usage restriction state of the telescopic mopping module, the safety priority policy is used to indicate that the telescopic mopping module is placed in a retracted state under the usage restriction state of the telescopic mopping module, and the working surface adaptation policy is used to indicate that the telescopic mopping module is placed in an extended state or a retracted state based on the area type of the area where the automatic cleaning device is located.

[0113] In step 2031, before limiting the telescopic action of the telescopic mopping module, the telescopic mopping module is set to a certain telescopic state and remains unchanged. Specifically, the telescopic state can be determined according to a preset usage restriction policy. The preset usage restriction policy includes a cleaning priority policy, a safety priority policy, and a work surface adaptation policy. For example, if the preset usage restriction policy is a cleaning priority policy, it is considered that the current main goals are cleaning effect and cleaning efficiency, so the telescopic mopping module can be set to an extended state and the extended state can be maintained unchanged; if the preset usage policy is a safety priority policy, it is considered that the current main goals are to ensure cleaning safety and avoid bumps during the cleaning process, so the telescopic mopping module can be set to a retracted state and the retracted state can be maintained unchanged; if the preset usage policy is a work surface adaptation policy, then according to the work surface environment of the current location of the automatic cleaning device, it is determined in a targeted manner whether to set the telescopic mopping module to an extended state or a retracted state, so that the state of the telescopic mopping module is more in line with the current working environment, taking into account both the cleaning effect and the safety during the cleaning process.

[0114] In step 2031, the process of setting the telescopic mopping module to an extended state or a retracted state according to a preset usage restriction policy corresponding to the telescopic mopping module includes the following steps:

[0115] 20311. When the preset usage restriction strategy corresponding to the telescopic mopping module is the work surface adaptation strategy, the area type of the area where the automatic cleaning device is located is determined based on the visual sensing data of the automatic cleaning device, and / or the area type of the area where the automatic cleaning device is located is determined based on the historical map data of the automatic cleaning device.

[0116] 20312. Based on the area type, set the telescopic mopping module to an extended state or a retracted state.

[0117] In steps 20311-20312, if the preset usage strategy is a work surface adaptation strategy, the work surface environment of the current location of the automatic cleaning device is determined, and then the state of the telescopic mopping component is set in a targeted manner and the state is locked. Specifically, the automatic cleaning device can be equipped with visual sensing devices such as cameras and radars. During the operation of the automatic cleaning device, the visual sensing device can capture the environmental image information of the area where the automatic cleaning device is located in real time and transmit it to the processor. The processor determines the area type of the area where the automatic cleaning device is located based on the environmental image information, and then sets the state of the telescopic mopping module based on the area type. For example, the camera installed on the automatic cleaning device captures the environmental image of the current location. The processor determines that the area where the automatic cleaning device is located is a corner based on the environmental image. If the telescopic mopping module is retracted, the corner cannot be effectively cleaned. Therefore, the state of the telescopic mopping module can be set to the extended state. For another example, the camera installed on the automatic cleaning device captures the environmental image of the current location. After analysis, the processor finds that there are valuables or fragile items placed around the automatic cleaning device, such as floor lamps or vases. If the telescopic mopping module is extended, there is a risk of hitting the valuables or fragile items and causing damage to them. Therefore, the state of the telescopic mopping module can be set to the retracted state.

[0118] Furthermore, the area type of the automatic cleaning device can be determined based on the device's historical map data. The automatic cleaning device can pre-store map data of the area to be cleaned and modify this map data during operation based on acquired image information to ensure the validity of the historical map data. If the preset usage restriction policy is a work surface adaptation policy, the device reads the historical map data and, combined with the current location, determines the environment of the automatic cleaning device's current location and sets the telescopic mopping module's status accordingly.

[0119] Step 204 , suspending the determination of whether the automatic cleaning device satisfies the telescopic motion restriction condition.

[0120] In step 204, it can be understood that after the telescopic mopping module's telescopic ability is restricted, the telescopic mopping module is no longer able to perform the telescopic action, so there is no need to determine whether to restrict its telescopic ability. Based on this, after the telescopic mopping module's telescopic ability is restricted, the judgment of the telescopic action restriction condition is suspended until the telescopic mopping module's telescopic ability is restored, and then the judgment is resumed. As shown in FIG3 above, the automatic cleaning device is extended and retracted three times within the restricted area recognition range, and the telescopic action restriction condition is satisfied. After the telescopic mopping module's ability to perform the telescopic action is restricted, the judgment of the telescopic action restriction condition is no longer performed within the range. Until the automatic cleaning device moves outside the restricted area recognition range (as shown in FIG4 above) and the ability to perform the telescopic action is restored, the judgment of the telescopic action restriction condition is resumed.

[0121] Step 205 : When the automatic cleaning device moves out of the telescopic action restriction area, the use restriction of the telescopic mopping module is maintained, and based on the working data of the automatic cleaning device, it is determined whether the automatic cleaning device meets the telescopic action recovery condition.

[0122] Step 206 : When the automatic cleaning device meets the telescopic action recovery condition, the restriction on the use of the telescopic mopping module is lifted to restore the telescopic mopping module's ability to perform the telescopic action.

[0123] In steps 205-206, if the automatic cleaning device moves outside the telescopic action restriction area, it can be considered that the environment at the current location of the automatic cleaning device may have changed. For example, the automatic cleaning device always keeps the telescopic mopping module retracted in the telescopic action restriction area. If the device moves to a new corner and still keeps the telescopic mopping module retracted, it is easy to fail to clean the narrow corner, leaving sanitary dead corners, affecting the cleaning effect. Therefore, when the automatic cleaning device moves outside the telescopic action restriction area, it can be re-evaluated whether to restore the telescopic mopping module's ability to perform the telescopic action. Specifically, a telescopic action recovery condition is pre-set, and whether the recovery condition is met is determined based on the working data of the automatic cleaning device. For example, whether the telescopic action recovery condition is met can be determined based on the surrounding environment information obtained by the camera or radar, and whether the telescopic action recovery condition is met can also be determined based on the distance between the current position of the automatic cleaning device and the telescopic action restriction area. If it is met, the restriction on the telescopic action of the telescopic mopping module is lifted, and its ability to perform the telescopic action is restored.

[0124] Wherein, in step 205, judging whether the automatic cleaning device meets the telescopic action recovery condition based on the working data of the automatic cleaning device includes the following steps:

[0125] Step 2051: If the automatic cleaning device is hit in the direction of travel, or the automatic cleaning device continues to travel along the edge of an obstacle for a preset time, it is determined that the automatic cleaning device meets the telescopic action recovery condition.

[0126] In step 2051, the collision data of the automatic cleaning device is used to determine whether the conditions for resuming the telescopic action are met. Specifically, if the automatic cleaning device is hit in the direction of travel, it is considered that the automatic cleaning device has encountered a wall or other obstacle. Since obstacles can easily lead to sanitary blind spots, the cleaning method near the obstacle is different from the cleaning method on the open ground. Based on this, it can be determined that the automatic cleaning device meets the conditions for resuming the telescopic action, and the restriction on the telescopic action execution capability is lifted. At this time, the telescopic mopping module can perform the telescopic action. Thereafter, the action position that triggers the telescopic mopping module of the automatic cleaning device to perform the telescopic action is continuously obtained to re-determine whether the telescopic action restriction conditions are met. If so, its telescopic action execution capability is re-restricted. In addition, if the automatic cleaning device continues to move along the edge of the obstacle for a preset period of time, for example, if the automatic cleaning device in a narrow corner moves along the wall for a period of time, it can be considered that the automatic cleaning device has left the narrow corner. Based on this, it can also be determined that the automatic cleaning device meets the conditions for resuming the telescopic action.

[0127] Step 207 : resuming the determination of whether the automatic cleaning device satisfies the telescopic motion restriction condition.

[0128] Figure 5 shows a flow chart of another control method for an automatic cleaning device. As shown, the location of the robot (i.e., the automatic cleaning device) is comprehensively determined using LDS point information or historical map information. A small area, i.e., the restricted area identification range, is then expanded outward by a distance x, centered around the automatic cleaning device (i.e., the robot). The small area can be circular or rectangular. The number of times the telescopic mopping module of the automatic cleaning device continuously triggers the telescopic action within this small area is then detected. If the number of triggers exceeds a preset threshold, it is considered that the telescopic action is frequent and requires careful telescopic action. Therefore, the telescopic action is restricted. The repeated triggering of the telescopic action indicates that the robot is surrounded by dense obstacles or a confined space. Based on this, the telescopic mopping module can be set to an extended state and maintained in this state to more effectively clean areas with dense obstacles and confined spaces. The robot leaves this area and hits a wall or remains stable along the wall for n seconds. The restriction on the telescopic action is then lifted, and the robot can resume the telescopic mopping action.

[0129] The embodiment of the present application detects whether the telescopic mopping module of the automatic cleaning device triggers the telescopic action, and then limits its telescopic ability when the telescopic action is frequent, so as to reduce the number of telescopic times. Through such a design, the wear of the telescopic mechanism is reduced, the maintenance cost is reduced, and the service life of the automatic cleaning device is extended. In addition, since the telescopic action of the telescopic mopping module requires motor drive, the embodiment of the present application limits the number of telescopic times of the telescopic mopping module in a specific area, which can also avoid frequent telescopic consumption of additional electricity and reduce the energy consumption of the automatic cleaning device. When the automatic cleaning device leaves the telescopic action restriction area, it determines whether to restore the ability to perform the telescopic action based on its working data, so as to avoid the automatic cleaning device being restricted from telescopic action when cleaning other areas, resulting in reduced cleaning efficiency and effect. On this basis, the present application sets a variety of different preset usage restriction strategies, and sets the status of the telescopic mopping module in a targeted manner according to the strategy, thereby realizing personalized restriction of the telescopic function.

[0130] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0131] Furthermore, as a specific implementation of the control method of the above-mentioned automatic cleaning device, an embodiment of the present application provides a control device for the automatic cleaning device, as shown in FIG6 , the device includes: an acquisition module, a judgment module, and a control module.

[0132] An acquisition module, configured to continuously acquire an action position of a telescopic mopping module of the automatic cleaning device that triggers the telescopic action during operation of the automatic cleaning device;

[0133] a judgment module, configured to judge whether the automatic cleaning device satisfies a telescopic action restriction condition based on the acquired multiple action positions;

[0134] The control module is used to restrict the use of the telescopic mopping module when the automatic cleaning device meets the telescopic action restriction condition, so as to stop the telescopic mopping module from performing the telescopic action.

[0135] In a specific application scenario, optionally, the control module is used to:

[0136] A telescopic motion restriction area corresponding to the automatic cleaning device is determined, and usage of the telescopic mopping module is restricted within the telescopic motion restriction area.

[0137] In a specific application scenario, optionally, the telescopic action restriction condition includes the telescopic mopping module continuously triggering a preset number of telescopic actions within a preset size range.

[0138] In a specific application scenario, optionally, the judgment module is used to:

[0139] Taking any acquired action position as a recognition start position, and determining a recognition range of a restricted area of ​​a preset size corresponding to the recognition start position;

[0140] Counting the number of times that the action positions continuously acquired from the recognition start position are within the restricted area recognition range;

[0141] If the number reaches the preset number, it is determined that the automatic cleaning device meets the telescopic action restriction condition.

[0142] In a specific application scenario, optionally, the judgment module is used to:

[0143] Constructing a circular restricted area recognition range with the recognition start position as the center and a preset length as the radius; or

[0144] A rectangular area of ​​a preset size is constructed with the recognition start position as the center as the restricted area recognition range.

[0145] In a specific application scenario, optionally, the control module is used to:

[0146] The restricted area recognition range is determined as the telescopic action restricted area.

[0147] In a specific application scenario, optionally, the judgment module is used to:

[0148] When the automatic cleaning device moves outside the telescopic action restriction area, the use restriction of the telescopic mopping module is maintained, and based on the working data of the automatic cleaning device, it is determined whether the automatic cleaning device meets the telescopic action recovery condition;

[0149] Accordingly, the control module is used to:

[0150] When the automatic cleaning device meets the telescopic action recovery condition, the use restriction of the telescopic mopping module is released to restore the telescopic mopping module's ability to perform the telescopic action.

[0151] In a specific application scenario, optionally, the judgment module is used to:

[0152] If the automatic cleaning device is hit in the direction of travel, or the automatic cleaning device continues to travel along the edge of the obstacle for a preset time, it is determined that the automatic cleaning device meets the telescopic action recovery condition.

[0153] In a specific application scenario, optionally, the judgment module is used to:

[0154] Suspending the determination of whether the automatic cleaning device satisfies the telescopic action restriction condition;

[0155] And, the judgment on whether the automatic cleaning device meets the telescopic action restriction condition is restored.

[0156] In a specific application scenario, optionally, the control module is further configured to:

[0157] The telescopic mopping module is placed in an extended state or a retracted state.

[0158] In a specific application scenario, optionally, the control module is used to:

[0159] According to the preset usage restriction policy corresponding to the telescopic mopping module, the telescopic mopping module is placed in an extended state or a retracted state;

[0160] Among them, the preset usage restriction strategy includes one of a cleaning priority strategy, a safety priority strategy and a working surface adaptation strategy. The cleaning priority strategy is used to indicate that the telescopic mopping module is set to an extended state in the usage restriction state of the telescopic mopping module. The safety priority strategy is used to indicate that the telescopic mopping module is set to a retracted state in the usage restriction state of the telescopic mopping module. The working surface adaptation strategy is used to indicate that the telescopic mopping module is set to an extended state or a retracted state based on the area type of the area where the automatic cleaning device is located.

[0161] In a specific application scenario, optionally, the control module is used to:

[0162] When the preset usage restriction policy corresponding to the telescopic mopping module is the work surface adaptation policy, determining the area type of the area where the automatic cleaning device is located based on the visual sensing data of the automatic cleaning device, and / or determining the area type of the area where the automatic cleaning device is located based on the historical map data of the automatic cleaning device;

[0163] Based on the area type, the telescopic mopping module is placed in an extended state or a retracted state.

[0164] It should be noted that, for other corresponding descriptions of the functional modules involved in the control device of an automatic cleaning device provided in an embodiment of the present application, reference can be made to the corresponding descriptions in the above method, which will not be repeated here.

[0165] Based on the above method, accordingly, an embodiment of the present application further provides a storage medium on which a computer program is stored, and when the program is executed by a processor, the control method of the above automatic cleaning device is implemented.

[0166] Based on this understanding, the technical solution of the present application 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.), including a number of instructions for enabling an automatic cleaning device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0167] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages and stores the hardware and software resources of the automated cleaning device, supporting the execution of information processing programs and other software and / or programs. The network communication module is used to enable communication between the various controls within the storage medium, as well as with other hardware and software within the physical device.

[0168] Based on the above-mentioned method shown in Figures 1 to 5, and the virtual device embodiment shown in Figure 6, in order to achieve the above-mentioned purpose, the embodiment of the present application also provides an automatic cleaning device, which can be specifically a sweeping robot, etc. The automatic cleaning device includes a storage medium and a processor; the storage medium is used to store computer programs; the processor is used to execute computer programs to implement the above-mentioned control method of the automatic cleaning device shown in Figures 1 to 5.

[0169] Optionally, the automatic 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, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a Bluetooth interface, a Wi-Fi interface), etc.

[0170] Those skilled in the art will understand that the structure of an automatic cleaning device provided in the embodiment does not constitute a limitation on the automatic cleaning device, and may include more or fewer components, or a combination of certain components, or different component arrangements.

[0171] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform, or by hardware.

[0172] Those skilled in the art will understand that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the units or processes in the accompanying drawings are not necessarily required to implement the present application. Those skilled in the art will understand that the units in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the implementation scenario description, or can be changed accordingly and located in one or more devices different from the implementation scenario. The units of the above-mentioned implementation scenario can be combined into one unit, or can be further split into multiple sub-units.

[0173] The serial numbers of the above application are for descriptive purposes only and do not represent the advantages or disadvantages of the implementation scenarios. The above disclosure only discloses several specific implementation scenarios of the present application, but the present application is not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present application.

Claims

1. A control method for an automatic cleaning device, the method comprising: During the operation of the automatic cleaning device, a plurality of action positions that trigger the telescopic mopping module of the automatic cleaning device to perform a telescopic action are continuously obtained; Based on the acquired multiple action positions, determining whether the automatic cleaning device meets the telescopic action restriction condition; When the automatic cleaning device meets the telescopic action restriction condition, the telescopic mopping module is restricted from use to stop the telescopic mopping module from being able to perform the telescopic action.

2. The method according to claim 1, wherein: The restriction on the use of the telescopic mopping module includes: A telescopic motion restriction area corresponding to the automatic cleaning device is determined, and use restrictions are imposed on the telescopic mopping module within the telescopic motion restriction area.

3. The method according to claim 2, wherein: The telescopic action restriction condition includes that the telescopic mopping module continuously triggers a preset number of telescopic actions within a preset size range.

4. The method according to claim 3, wherein: The determining, based on the acquired multiple action positions, whether the automatic cleaning device satisfies the telescopic action restriction condition includes: Taking any acquired action position as the recognition start position, and determining the recognition range of the restricted area of ​​the preset size corresponding to the recognition start position; Counting the number of times that the action positions continuously acquired from the recognition start position are within the recognition range of the restricted area; If the number reaches the preset number, it is determined that the automatic cleaning device meets the telescopic action restriction condition.

5. The method according to claim 4, wherein: The determining the preset size of the restricted area recognition range corresponding to the recognition start position includes: Taking the recognition start position as the center and the preset length as the radius, a circular restricted area recognition range is constructed; or, A rectangular area of ​​a preset size is constructed with the recognition start position as the center as the restricted area recognition range.

6. The method according to claim 4, wherein: The determining of the telescopic action restriction area corresponding to the automatic cleaning device includes: The restricted area recognition range is determined as the telescopic action restricted area.

7. The method according to any one of claims 2 to 6, wherein: After restricting the use of the telescopic mopping module, the method further includes: When the automatic cleaning device moves out of the telescopic action restriction area, the use restriction of the telescopic mopping module is maintained, and based on the working data of the automatic cleaning device, it is determined whether the automatic cleaning device meets the telescopic action recovery condition; When the automatic cleaning device meets the telescopic action recovery condition, the use restriction on the telescopic mopping module is released to restore the telescopic mopping module's ability to perform the telescopic action.

8. The method according to claim 7, wherein: The determining, based on the working data of the automatic cleaning device, whether the automatic cleaning device meets the retracting action recovery condition includes: If the automatic cleaning device is hit in the direction of travel, or the automatic cleaning device continues to travel along the edge of the obstacle for a preset time, it is determined that the automatic cleaning device meets the telescopic action recovery condition.

9. The method according to claim 7, wherein: After restricting the use of the telescopic mopping module, the method further includes: Suspending the determination of whether the automatic cleaning device satisfies the telescopic action restriction condition; Correspondingly, after removing the restriction on the use of the telescopic mopping module, the method further includes: The determination of whether the automatic cleaning device satisfies the telescopic action restriction condition is restored.

10. The method according to claim 1, wherein: Before restricting the use of the telescopic mopping module, the method further includes: The telescopic mopping module is placed in an extended state or a retracted state.

11. The method according to claim 10, wherein: The step of placing the telescopic mopping module in an extended state or a retracted state includes: According to the preset usage restriction policy corresponding to the telescopic mopping module, the telescopic mopping module is placed in an extended state or a retracted state; Among them, the preset usage restriction strategy includes one of a cleaning priority strategy, a safety priority strategy and a work surface adaptation strategy. The cleaning priority strategy is used to indicate that the telescopic mopping module is set to an extended state in the usage restriction state of the telescopic mopping module. The safety priority strategy is used to indicate that the telescopic mopping module is set to a retracted state in the usage restriction state of the telescopic mopping module. The work surface adaptation strategy is used to indicate that the telescopic mopping module is set to an extended state or a retracted state based on the area type of the area where the automatic cleaning device is located.

12. The method according to claim 11, wherein: The step of setting the telescopic mopping module to an extended state or a retracted state according to a preset usage restriction policy corresponding to the telescopic mopping module includes: In a case where the preset usage restriction strategy corresponding to the telescopic mopping module is the work surface adaptation strategy, the area type of the area where the automatic cleaning device is located is determined based on the visual sensing data of the automatic cleaning device, and / or the area type of the area where the automatic cleaning device is located is determined based on the historical map data of the automatic cleaning device; Based on the area type, the telescopic mopping module is placed in an extended state or a retracted state.

13. A control device for an automatic cleaning device, the device comprising: An acquisition module, used for continuously acquiring a plurality of action positions that trigger a telescopic mopping module of the automatic cleaning device to perform a telescopic action during the operation of the automatic cleaning device; A judgment module, used for judging whether the automatic cleaning device satisfies the telescopic action restriction condition based on the acquired multiple action positions; The control module is used to restrict the use of the telescopic mopping module when the automatic cleaning device meets the telescopic action restriction condition, so as to stop the telescopic mopping module from performing the telescopic action.

14. The device according to claim 13, wherein: The control module is used for: A telescopic motion restriction area corresponding to the automatic cleaning device is determined, and use restrictions are imposed on the telescopic mopping module within the telescopic motion restriction area.

15. The device according to claim 14, wherein: The telescopic action restriction condition includes that the telescopic mopping module continuously triggers a preset number of telescopic actions within a preset size range.

16. The device according to claim 15, wherein: The judging module is used for: Taking any acquired action position as the recognition start position, and determining the recognition range of the restricted area of ​​the preset size corresponding to the recognition start position; Counting the number of times that the action positions continuously acquired from the recognition start position are within the recognition range of the restricted area; If the number reaches the preset number, it is determined that the automatic cleaning device meets the telescopic action restriction condition.

17. The device according to claim 16, wherein: The judging module is used for: Taking the recognition start position as the center and the preset length as the radius, a circular restricted area recognition range is constructed; or, A rectangular area of ​​a preset size is constructed with the recognition start position as the center as the restricted area recognition range.

18. The device according to claim 16, wherein: The control module is used for: The restricted area recognition range is determined as the telescopic action restricted area.

19. The device according to any one of claims 14 to 18, wherein: The judging module is used for: When the automatic cleaning device moves out of the telescopic action restriction area, the use restriction of the telescopic mopping module is maintained, and based on the working data of the automatic cleaning device, it is determined whether the automatic cleaning device meets the telescopic action recovery condition; Accordingly, the control module is used for: When the automatic cleaning device meets the telescopic action recovery condition, the use restriction on the telescopic mopping module is released to restore the telescopic mopping module's ability to perform the telescopic action.

20. The device according to claim 19, wherein The judging module is used for: If the automatic cleaning device is hit in the direction of travel, or the automatic cleaning device continues to travel along the edge of the obstacle for a preset time, it is determined that the automatic cleaning device meets the telescopic action recovery condition.

21. The device according to claim 19, wherein The judging module is used for: Suspending the determination of whether the automatic cleaning device satisfies the telescopic action restriction condition; And, the judgment on whether the automatic cleaning device satisfies the telescopic action restriction condition is restored.

22. The device according to claim 13, wherein: The control module is also used for: The telescopic mopping module is placed in an extended state or a retracted state.

23. The device according to claim 22, wherein: The control module is used for: According to the preset usage restriction policy corresponding to the telescopic mopping module, the telescopic mopping module is placed in an extended state or a retracted state; Among them, the preset usage restriction strategy includes one of a cleaning priority strategy, a safety priority strategy and a work surface adaptation strategy. The cleaning priority strategy is used to indicate that the telescopic mopping module is set to an extended state in the usage restriction state of the telescopic mopping module. The safety priority strategy is used to indicate that the telescopic mopping module is set to a retracted state in the usage restriction state of the telescopic mopping module. The work surface adaptation strategy is used to indicate that the telescopic mopping module is set to an extended state or a retracted state based on the area type of the area where the automatic cleaning device is located.

24. The device according to claim 13, wherein: The control module is used for: In a case where the preset usage restriction strategy corresponding to the telescopic mopping module is the work surface adaptation strategy, the area type of the area where the automatic cleaning device is located is determined based on the visual sensing data of the automatic cleaning device, and / or the area type of the area where the automatic cleaning device is located is determined based on the historical map data of the automatic cleaning device; Based on the area type, the telescopic mopping module is placed in an extended state or a retracted state.

25. A storage medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

26. An automatic cleaning device, comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 12 is implemented.

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