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

Abstract

A dock periphery cleaning method and apparatus, a cleaning device and a computer-readable storage medium. The method comprises: detecting whether a dock area where a charging dock of a cleaning device is located intersects with a cleaned area; and if the dock area intersects with the cleaned area, performing cleaning on the basis of peripheral points of the dock area. The method can automatically identify cleanable areas failing to be cleaned due to the impact of both obstacles near the dock area and the dock area, thereby improving the adaptability of the cleaning device to cleaning environments having obstacles on the periphery of the dock area, and effectively improving the cleaning capability of the cleaning device.

Description

Pile cleaning method and device, cleaning equipment, and computer-readable storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 28, 2023, with application number 202311278387.2 and application name “Pile cleaning method and device and cleaning equipment, computer-readable storage medium”, the entire contents of which are incorporated by reference into the application.

Technical field

[0002] The present application relates to the field of intelligent electrical appliance technology, and in particular to a pile cleaning method and device, cleaning equipment, and a computer-readable storage medium. [Background Technology]

[0003] After completing their automated cleaning, cleaning equipment like sweepers, mops, and scrubbers often need to automatically return to their designated charging stations for recharging. The area surrounding the charging station, known as the charging area, is typically designated as a restricted area for cleaning equipment. Furthermore, if there are obstacles around the charging station, cleaning equipment can easily miss areas near the charging area where it should be cleaned, hindered by both the charging area and the obstacles.

[0004] In one possible scenario, as shown in Figure 1, there's obstacle a in front of a charging station, and the charging station's area is b. After leaving the station, the cleaning device begins cleaning, following obstacle a to position c near area b. Because the distance between obstacle a and the edge of area b at position c is less than the maximum width of the cleaning device, the cleaning device's movement is limited, preventing it from passing through position c to clean area d in the diagram. This results in the cleaning device missing area d.

[0005] In another possible scenario, as shown in Figure 2, the charging pile is located in area b, with obstacles e and f on both sides in front of the charging pile. The cleaning device begins cleaning after leaving the pile. Due to the influence of obstacles e and f, and the fact that the distances between obstacles e and f and the edges of area b are less than the maximum width of the cleaning device, the cleaning device cannot pass through the gap between obstacle e and area b, nor can it pass through the gap between obstacle f and area b. Ultimately, the cleaning area only cleans a small area in front of area b before returning to the charging pile, resulting in a very low cleaning surface and poor cleaning results.

[0006] In summary, areas with obstacles nearby often affect the normal cleaning route of the cleaning equipment, causing the cleaning equipment to miss the cleanable area, reduce the cleaning area, and affect the final cleaning effect.

[0007] Therefore, how to prevent the cleaning equipment from missing the cleanable area due to obstacles around the pile area has become a technical problem that needs to be solved urgently.

[0008]

Contents of this application

[0009] The embodiments of the present application provide a pile periphery cleaning method and apparatus, a cleaning device, and a computer-readable storage medium, aiming to solve the technical problem in related technologies in which the cleaning device misses the cleanable area due to obstacles around the pile area.

[0010] In a first aspect, an embodiment of the present application provides a method for cleaning around a pile, including: detecting whether the pile area where the charging pile of the cleaning equipment is located has an intersection with the cleaned area; if the pile area has an intersection with the cleaned area, performing cleaning processing based on the peripheral points of the pile area.

[0011] In one embodiment of the present application, optionally, performing cleaning processing based on the peripheral points of the pile area includes: determining a cleanable area based on the peripheral points of the pile area; and cleaning the cleanable area according to a preset cleaning strategy.

[0012] In one embodiment of the present application, optionally, the determining of the cleanable area based on the peripheral points of the pile area includes: clustering the peripheral points of the pile area to obtain multiple clustering results; for each clustering result, if the area where the clustering result is located meets a preset cleaning condition, determining the area where the clustering result is located as a cleanable area, wherein the preset cleaning condition is used to reflect the characteristics of the area where the clustering result is located when it can be effectively cleaned by the cleaning equipment.

[0013] In one embodiment of the present application, optionally, the detection of whether the pile area where the charging pile of the cleaning equipment is located has an intersection with the cleaned area includes: when completing the cleaning work of the first area, detecting whether the first area and the pile area where the charging pile of the cleaning equipment is located have an intersection; or when completing the cleaning work of multiple second areas, detecting whether at least one of the second areas has an intersection with the pile area where the charging pile of the cleaning equipment is located; or when completing the cleaning work of a third area including a specified point, detecting whether the third area has an intersection with the pile area where the charging pile of the cleaning equipment is located, wherein the specified point is a point outside the pile area and a distance from the edge point of the pile area is less than or equal to a first specified distance.

[0014] In one embodiment of the present application, optionally, if the pile area and the cleaned area have an intersection, before clustering the peripheral points of the pile area, it also includes: determining an extended area of ​​the pile area based on the edge points of the pile area, wherein the extended area is distributed on the periphery of the pile area, and is obtained by extending each edge point of the pile area in the vertical direction of the corresponding edge by a second specified distance; obtaining points with cleanable characteristics in the extended area as peripheral points of the pile area, wherein the cleanable characteristics are used to reflect the characteristics of points located on the periphery of the pile area and not cleaned due to the joint obstruction of the pile area and obstacles.

[0015] In one embodiment of the present application, optionally, the cleanable features include one or more of the following: the width of the uncleaned area in at least one direction of the location of the point is greater than the maximum body width of the cleaning device; the point is an uncleaned non-obstacle point; the adjacent points of the point are all uncleaned non-obstacle points; the point is outside a preset restricted area, and the preset restricted area includes the carpet area, the pile area and the self-designated safety zone.

[0016] In one embodiment of the present application, optionally, the preset cleaning conditions include one or more of the following: the width of the area where the clustering results are located in at least one direction is greater than the maximum body width of the cleaning device; the area of ​​the uncleaned area in the area where the clustering results are located is greater than or equal to a first specified area; the area of ​​the cleaned area in the area where the clustering results are located is less than or equal to a second specified area; the area where the clustering results are located includes at least a specified number of points whose distance from the obstacle is greater than or equal to a third specified distance.

[0017] In one embodiment of the present application, optionally, the cleaning of the cleanable area according to a preset cleaning strategy includes: performing a cross-area action on the cleanable area; when the cross-area action is successfully executed, cleaning the cleanable area; when the cross-area action fails, returning to the step of detecting whether the pile area where the charging pile of the cleaning equipment is located has an intersection with the cleaned area, so as to determine again whether the cleanable area exists around the pile area; and when it is determined again that the cleanable area exists around the pile area, cleaning the cleanable area.

[0018] In one embodiment of the present application, optionally, when it is determined again that the cleanable area exists around the pile area, the cleanable area is cleaned, including: obtaining an unclean area within a specified distance range centered on the current position of the cleaning device; if the area of ​​the unclean area is greater than or equal to a third specified area, cleaning the cleanable area.

[0019] In the second aspect, an embodiment of the present application provides a pile-around cleaning device, including: an area intersection detection unit, used to detect whether the pile area where the charging pile of the cleaning equipment is located has an intersection with the cleaned area; a cleaning execution unit, used to perform cleaning processing based on the peripheral points of the pile area if the pile area has an intersection with the cleaned area.

[0020] In one embodiment of the present application, optionally, the cleaning execution unit includes: a cleanable area determination unit, used to determine the cleanable area based on the peripheral points of the pile area; the cleaning execution unit is used to: clean the cleanable area according to a preset cleaning strategy.

[0021] In one embodiment of the present application, optionally, the cleanable area determination unit is used to: cluster the peripheral points of the pile area to obtain multiple clustering results; for each clustering result, if the area where the clustering result is located meets the preset cleaning conditions, the area where the clustering result is located is determined as a cleanable area, wherein the preset cleaning conditions are used to reflect the characteristics of the area where the clustering result is located when it can be effectively cleaned by the cleaning equipment.

[0022] In one embodiment of the present application, optionally, the area intersection detection unit is used to: when completing the cleaning work of the first area, detect whether the first area and the pile area where the charging pile of the cleaning equipment is located have an intersection; or when completing the cleaning work of multiple second areas, detect whether at least one of the second areas has an intersection with the pile area where the charging pile of the cleaning equipment is located; or when completing the cleaning work of a third area including a specified point, detect whether the third area has an intersection with the pile area where the charging pile of the cleaning equipment is located, wherein the specified point is a point outside the pile area and the distance from the edge point of the pile area is less than or equal to the first specified distance.

[0023] In one embodiment of the present application, optionally, the pile periphery cleaning device further includes: an extended area determination unit, for determining the extended area of ​​the pile area based on the edge points of the pile area before clustering the peripheral points of the pile area if the pile area has an intersection with the cleaned area, wherein the extended area is distributed on the periphery of the pile area, and is obtained by extending each edge point of the pile area in the vertical direction of the corresponding edge by a second specified distance; a peripheral point determination unit, for obtaining points with cleanable features in the extended area as peripheral points of the pile area, wherein the cleanable features are used to reflect the features of points located on the periphery of the pile area and not cleaned due to the joint obstruction of the pile area and obstacles.

[0024] In one embodiment of the present application, optionally, the cleanable features include one or more of the following: the width of the uncleaned area in at least one direction of the location of the point is greater than the maximum body width of the cleaning device; the point is an uncleaned non-obstacle point; the adjacent points of the point are all uncleaned non-obstacle points; the point is outside a preset restricted area, and the preset restricted area includes the carpet area, the pile area and the self-designated safety zone.

[0025] In one embodiment of the present application, optionally, the preset cleaning conditions include one or more of the following: the width of the area where the clustering results are located in at least one direction is greater than the maximum body width of the cleaning device; the area of ​​the uncleaned area in the area where the clustering results are located is greater than or equal to a first specified area; the area of ​​the cleaned area in the area where the clustering results are located is less than or equal to a second specified area; the area where the clustering results are located includes at least a specified number of points whose distance from the obstacle is greater than or equal to a third specified distance.

[0026] In one embodiment of the present application, optionally, the cleaning execution unit is also used to: perform a cross-region action on the cleanable area; when the cross-region action is successfully executed, clean the cleanable area; when the cross-region action fails to be executed, return to the step of detecting whether the pile area where the charging pile of the cleaning equipment is located has an intersection with the cleaned area, so as to determine again whether the cleanable area exists around the pile area; if it is determined again that the cleanable area exists around the pile area, clean the cleanable area.

[0027] In one embodiment of the present application, optionally, the cleaning execution unit is further used to: obtain an uncleaned area within a specified distance range centered on the current position of the cleaning device; if the area of ​​the uncleaned area is greater than or equal to a third specified area, clean the cleanable area.

[0028] In a third aspect, an embodiment of the present application provides a cleaning device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are configured to execute the method described in the first aspect above.

[0029] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the method described in the first aspect above.

[0030] The above technical solution addresses the technical problem in related technologies that cleaning equipment misses cleanable areas due to obstacles around the pile area. By identifying whether the pile area where the charging pile of the cleaning equipment is located intersects with the cleaned area, it is determined whether the cleaned area is the pile area. When the cleaned area is the pile area, the points around the pile area that can reflect whether there are obstacles around the pile area are used to determine the cleanable areas that were missed due to the double obstruction of obstacles near the pile area and the pile area. In this way, cleanable areas that were missed due to the double obstruction of obstacles near the pile area and the pile area can be automatically identified, which improves the adaptability of the cleaning equipment to the cleaning environment with obstacles around the pile, increases the cleaning area of ​​the cleaning equipment, and effectively improves its cleaning ability, thereby increasing the overall cleaning effect and improving the user experience.

Brief Description of the Drawings

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] FIG1 is a schematic diagram showing a cleaning path of a cleaning device in the related art being blocked by obstacles around a pile area;

[0033] FIG2 is a schematic diagram showing another cleaning device in the related art where a cleaning path is blocked by obstacles around the pile area;

[0034] FIG3 shows a flow chart of a pile periphery cleaning method according to an embodiment of the present application;

[0035] FIG4 shows a flow chart of a pile periphery cleaning method according to another embodiment of the present application;

[0036] FIG5 shows a flow chart of a pile periphery cleaning method according to yet another embodiment of the present application;

[0037] FIG6 shows a block diagram of a pile perimeter cleaning device according to an embodiment of the present application;

[0038] FIG7 shows a block diagram of a computer device according to an embodiment of the present application;

[0039] FIG8 shows a block diagram of a computer device according to an embodiment of the present application. [Specific implementation method]

[0040] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] FIG3 shows a flow chart of a pile periphery cleaning method according to an embodiment of the present application.

[0042] As shown in FIG3 , a pile perimeter cleaning method according to an embodiment of the present application includes:

[0043] Step 302 : Detect whether the charging pile area of ​​the cleaning equipment intersects with the cleaned area.

[0044] The cleaned area is the area that has already been cleaned by the cleaning equipment. As described in the background technology section above, if there are obstacles in the area surrounding the pile area, the cleaning equipment may miss the cleanable area. Therefore, after cleaning the cleaned area, the cleaning equipment can determine whether the cleaned area is adjacent to the pile area by determining whether the cleaned area intersects with the pile area.

[0045] In a possible design, the cleaned area is all areas that have been cleaned by the cleaning equipment in the current cleaning process.

[0046] In another possible design, the cleaned area is any of the multiple cleaning zones that the cleaning device has already cleaned in the current cleaning process. Furthermore, optionally, the cleaned area is the current cleaning zone that the cleaning device has completed cleaning in real time. In this way, after each cleaning zone is cleaned, the cleaning device detects whether any cleanable areas were missed due to obstacles in the area surrounding the pile area. This allows for timely re-cleaning of any missed cleanable areas throughout the cleaning process, reducing the cleaning device's path length during the re-cleaning process and lowering power consumption.

[0047] In another possible design, the cleaned areas are all areas or cleaning partitions that have been cleaned by the cleaning equipment in the historical cleaning process, so that the cleaning equipment can supplement the cleaning areas that were missed in the historical cleaning process, thereby improving the cleaning effect.

[0048] Step 304 : If the pile area and the cleaned area have an intersection, a cleaning process is performed based on the peripheral points of the pile area.

[0049] If the area where the cleaning device's charging station is located intersects with an already cleaned area, it indicates that the cleaned area is adjacent to the charging station area. In this case, there is a possibility that obstacles exist in the area surrounding the charging station area. Consequently, the cleaning device may miss cleanable areas due to the double obstruction of obstacles near the charging station area and the charging station area. Therefore, if the area where the cleaning device's charging station is located intersects with the already cleaned area, further cleaning can be triggered to supplement the cleanable areas if any are missed.

[0050] Of course, if the charging pile area of ​​the cleaning equipment has no intersection with the cleaned area, it means that the cleaned area is not adjacent to the pile area, and there is no possibility of missing the cleanable area due to the double obstruction of obstacles near the pile area and the pile area. The next cleaning process can be carried out normally.

[0051] Furthermore, the peripheral points of the pile area can reflect the important feature of whether there are obstacles around the pile area. Therefore, based on the peripheral points of the pile area, the cleanable area around the pile area that is missed due to the double obstruction of obstacles and the pile area can be determined.

[0052] The above technical solution identifies whether the cleaned area is the area around the pile by identifying whether the area where the charging pile of the cleaning equipment is located intersects with the cleaned area. In this way, when the cleaned area is the area around the pile, the surrounding points of the pile area that can reflect whether there are obstacles around the pile area can be used to determine the cleanable area that was missed due to the double obstruction of obstacles near the pile area and the pile area. In this way, the cleanable area that was missed due to the double obstruction of obstacles near the pile area and the pile area can be automatically identified, which improves the adaptability of the cleaning equipment to the cleaning environment with obstacles around the pile, increases the cleaning area of ​​the cleaning equipment, effectively improves its cleaning ability, and thus increases the overall cleaning effect and improves the user experience.

[0053] Specifically, it is possible to determine the cleanable area based on the peripheral points of the pile area, and then clean the cleanable area according to the preset cleaning strategy to achieve supplementary cleaning of the cleanable area, improve the adaptability of the cleaning equipment to the environment, and obtain better cleaning results.

[0054] In one possible design, the surrounding points of the pile area can be directly connected in pairs to form a peripheral area. If the maximum width of this peripheral area is greater than the maximum width of the cleaning device, it means that the cleaning device can pass through the peripheral area. The peripheral area is then considered cleanable and the cleaning device is moved to the peripheral area for additional cleaning.

[0055] In another possible design, the surrounding points can be clustered, and the cleaning feasibility of each clustering result can be judged. This solution is described in detail below using Figure 4.

[0056] As shown in FIG4 , a method for cleaning around a pile according to another embodiment of the present application includes:

[0057] Step 402 : Detect whether the charging pile area of ​​the cleaning equipment intersects with the cleaned area.

[0058] Step 404: If the pile area and the cleaned area have an intersection, cluster the peripheral points of the pile area to obtain multiple clustering results.

[0059] If the charging area of ​​the cleaning device's charging station intersects with the cleaned area, it indicates that the cleaned area is adjacent to the charging area. In this case, the area surrounding the charging area is likely to contain obstacles, and the cleaning device may miss the cleanable area due to the dual obstruction of the charging area and the charging area. Because the peripheral points of the charging area are important indicators of whether there are obstacles around the charging area, the area containing these peripheral points is likely to be a cleanable area that was missed.

[0060] At this point, the peripheral points of the pile area are clustered to obtain a plurality of clustering results, and the area where each clustering result is located has the possibility of being an omitted cleanable area.

[0061] Optionally, the method of clustering the surrounding points includes but is not limited to k-means clustering algorithm, k-means++ clustering algorithm, bi-kmeans clustering algorithm, kernel k-means clustering algorithm, DBSCAN clustering algorithm, OPTICS clustering algorithm, and any other calculation method that can cluster points.

[0062] Step 406 : For each clustering result, if the area where the clustering result is located meets a preset cleaning condition, the area where the clustering result is located is determined as a cleanable area.

[0063] The preset cleaning condition is used to reflect the characteristics of the area where the cluster result is located when it can be effectively cleaned by the cleaning device. If a cluster result meets the preset cleaning condition, it means that the area where the cluster result is located can be effectively cleaned by the cleaning device, and the area where the cluster result is located can be determined as a cleanable area.

[0064] Furthermore, the preset cleaning conditions include one or more of the following: the width of the area where the clustering results are located in at least one direction is greater than the maximum body width of the cleaning device; the area of ​​the uncleaned area in the area where the clustering results are located is greater than or equal to a first specified area; the area of ​​the cleaned area in the area where the clustering results are located is less than or equal to a second specified area; the area where the clustering results are located includes at least a specified number of points whose distance from the obstacle is greater than or equal to a third specified distance.

[0065] The width of the area where the clustering result is located in at least one direction is greater than the maximum body width of the cleaning device, indicating that the area where the clustering result is located can accommodate the cleaning device in at least one direction and has the necessary conditions for effective cleaning.

[0066] The first designated area is the minimum area that is large enough to drive the cleaning equipment for supplementary cleaning. If the area of ​​the uncleaned area in the area where the clustering result is located is greater than or equal to the first designated area, it means that the area where the clustering result is located is large enough and needs to be supplemented for cleaning.

[0067] The second designated area is the maximum area of ​​the cleaned area within the area when it is necessary for the cleaning equipment to supplement the cleaning. If the area of ​​the cleaned area in the area where the clustering result is located is less than or equal to the second designated area, it means that although the area where the clustering result is located has a cleaned part, its remaining part is still large enough and needs to be supplemented with cleaning.

[0068] The third specified distance refers to the minimum distance between a point and an obstacle when it can be effectively cleaned without being affected by the obstacle. If the area where the clustering result is located includes at least a specified number of points whose distance from the obstacle is greater than or equal to the third specified distance, it means that the area where the clustering result is located has enough points that are far enough away from the obstacle, and this area has the necessary conditions to be effectively cleaned by the cleaning equipment.

[0069] Optionally, the first designated area is 10 cm 2 , 30cm 2 or 50cm 2 .

[0070] Optionally, the second designated area is 5 cm 2 , 25cm 2 or 10cm 2 .

[0071] Optionally, specify a quantity of 30, 45, or 70.

[0072] Optionally, the third designated distance is 0.5 cm, 1 cm or 1.5 cm.

[0073] Of course, the above values ​​can be any size that meets actual cleaning needs and are not limited to the above examples.

[0074] Step 408: Clean the cleanable area according to a preset cleaning strategy.

[0075] The preset cleaning strategy refers to a preset cleaning method used to supplement the cleanable areas that have been missed. Cleaning the cleanable areas according to the preset cleaning strategy can achieve supplementary cleaning of the cleanable areas that have been missed due to the double obstruction of obstacles near the pile area and the pile area, thereby improving the adaptability of the cleaning equipment to the cleaning environment with obstacles around the piles, increasing the cleaning area of ​​the cleaning equipment, and effectively improving its cleaning ability, thereby increasing the overall cleaning effect and improving the user experience.

[0076] Specifically, the preset cleaning strategy includes: performing a cross-area action on the cleanable area; and cleaning the cleanable area when the cross-area action is successfully performed.

[0077] Cross-area action refers to the movement of the cleaning device from the current cleaned area to other uncleaned areas. When the cross-area action is successfully executed, it means that the cleaning device has successfully entered the cleanable area, and at this time, the cleanable area can be directly supplemented with cleaning.

[0078] When the cross-area action fails to be executed, return to the step of detecting whether the pile area where the charging pile of the cleaning equipment is located has an intersection with the cleaned area to determine again whether there is the cleanable area around the pile area; if it is determined again that there is the cleanable area around the pile area, clean the cleanable area.

[0079] At this time, the cross-region action fails to execute, indicating that the cleanable area may be too small in the direction of travel of the cleaning device to accommodate the smooth passage of the cleaning device. In this case, the cleanable area can be redefined.

[0080] Among them, when it is determined again that there is a cleanable area around the pile area, the cleanable area is cleaned, including: obtaining an unclean area within a specified distance range centered on the current position of the cleaning device; if the area of ​​the unclean area is greater than or equal to a third specified area, the cleanable area is cleaned.

[0081] That is, only when the uncleaned area near the cleaning equipment is large enough, the cleanable area near it will be cleaned. Among them, the third specified area refers to the minimum area of ​​the cleanable area when cleaning is necessary, which can be selected as 50cm 2 , 80cm 2 or 90cm 2 Of course, the third designated area can be any area size that meets actual cleaning requirements and is not limited to the aforementioned examples.

[0082] In any of the above embodiments, optionally, adjacent points of the pile area can be randomly selected as the peripheral points of the pile area, or points between the pile area and obstacles around the pile can be randomly selected as the peripheral points of the pile area. As shown in FIG5 , a method for cleaning around a pile according to another embodiment of the present application includes:

[0083] Step 502 : Detect whether the area where the charging pile of the cleaning equipment is located intersects with the cleaned area.

[0084] Step 504 : If the pile area and the cleaned area have an intersection, determine an extension area of ​​the pile area based on edge points of the pile area, wherein the extension area is distributed around the periphery of the pile area.

[0085] The extended area of ​​the pile area may include a cleanable area that is missed due to the double obstruction of obstacles near the pile area and the pile area.

[0086] In a possible design, the extended area is obtained by extending each edge point of the pile area in a direction perpendicular to the corresponding edge by a second specified distance.

[0087] In a possible design, the extended area is obtained by extending each edge point of the pile area by a second specified distance in a direction offset 30° clockwise in a perpendicular direction to the corresponding edge.

[0088] The second designated distance can be any distance greater than the maximum width of the cleaning device, thus indicating that the width of the extended area is wide enough to accommodate the passage of the cleaning device. An area can only be cleaned if it can be passed through by the cleaning device. Therefore, the second designated distance can be any distance greater than the maximum width of the cleaning device, thus satisfying the necessary condition for the cleaning device to perform additional cleaning on the extended area.

[0089] Optionally, the second specified distance is 35m, 45cm or 48cm. Of course, this value can be any size that meets actual cleaning needs and is not limited to the above examples.

[0090] Step 506: Acquire points with cleanable features in the extended area as peripheral points of the pile area, wherein the cleanable features are used to reflect the features of points located on the periphery of the pile area that are not cleaned due to the combined obstruction of the pile area and the obstacles.

[0091] Among them, the cleanable features include one or more of the following: the width of the uncleaned area in at least one direction of the point is greater than the maximum body width of the cleaning device; the point is an uncleaned non-obstacle point; the adjacent points of the point are all uncleaned non-obstacle points; the point is outside the preset restricted area, and the preset restricted area includes the carpet area, the pile area and the self-designated safety zone.

[0092] The width of the uncleaned area in at least one direction of the point is greater than the maximum body width of the cleaning equipment, indicating that the location of the point can accommodate the smooth passage of the cleaning equipment and has the basis for being effectively cleaned. Screening out uncleaned non-obstruction points can avoid repeated cleaning of cleaned points and reduce repeated work of the cleaning equipment. Furthermore, if the adjacent points of the point are all uncleaned non-obstruction points, it means that the cleaning feasibility and cleaning demand of the area where the point is located are both high enough. In addition, the point is outside the preset restricted area, which can avoid the preset restricted area restricting the movement of the cleaning equipment and affecting the re-sweeping effect. The preset restricted area includes but is not limited to the carpet area, the pile area and the self-set safety zone.

[0093] Step 508: cluster the peripheral points of the pile area to obtain multiple clustering results.

[0094] Step 510 : For each clustering result, if the area where the clustering result is located meets a preset cleaning condition, the area where the clustering result is located is determined as a cleanable area.

[0095] Step 512: Clean the cleanable area according to a preset cleaning strategy.

[0096] The preset cleaning condition is used to reflect the characteristics of the area where the cluster result is located when it can be effectively cleaned by the cleaning device. If a cluster result meets the preset cleaning condition, it means that the area where the cluster result is located can be effectively cleaned by the cleaning device, and the area where the cluster result is located can be determined as a cleanable area.

[0097] The preset cleaning strategy refers to a preset cleaning method used to supplement the cleanable areas that have been missed. Cleaning the cleanable areas according to the preset cleaning strategy can achieve supplementary cleaning of the cleanable areas that have been missed due to the double obstruction of obstacles near the pile area and the pile area, thereby improving the adaptability of the cleaning equipment to the cleaning environment with obstacles around the piles, increasing the cleaning area of ​​the cleaning equipment, and effectively improving its cleaning ability, thereby increasing the overall cleaning effect and improving the user experience.

[0098] Based on any of the above embodiments, in a possible design, the method of detecting whether the pile area where the charging pile of the cleaning equipment is located has an intersection with the cleaned area can be selected as follows: when the cleaning work of the first area is completed, detecting whether the first area and the pile area where the charging pile of the cleaning equipment is located have an intersection.

[0099] The first area is the area of ​​the cleaning device in the cleaning process that has the possibility of additional cleaning.

[0100] Optionally, the user may manually circle an area that is likely to be missed in cleaning or an area that was missed in cleaning in a historical cleaning process as the first area.

[0101] Optionally, all cleaned areas in the current cleaning process are set as the first area, so as to perform an overall inspection on the necessity of additional cleaning on all cleaned areas.

[0102] In another possible design, the method for detecting whether the area where the charging pile of the cleaning equipment is located intersects with the cleaned area can be selected as follows: when the cleaning work of multiple second areas is completed, detecting whether at least one of the second areas intersects with the area where the charging pile of the cleaning equipment is located.

[0103] During the cleaning process, the cleaning device divides the entire area to be cleaned into multiple cleaning zones. The second zone refers to a single cleaning zone of the cleaning device during the cleaning process. This allows the cleaning device to promptly detect the need for additional cleaning of any cleaning zone after completing cleaning that zone and / or other cleaning zones that were previously cleaned. This allows for timely detection of any missed cleanable areas during the cleaning process and for prompt additional cleaning of those areas.

[0104] In another possible design, the method for detecting whether the area where the charging pile of the cleaning equipment is located intersects with the cleaned area can be selected as follows: when the cleaning work of the third area including the specified point is completed, detecting whether the third area and the area where the charging pile of the cleaning equipment is located intersect.

[0105] The designated point is a point outside the pile area whose distance from an edge point of the pile area is less than or equal to a first designated distance. Optionally, the first designated distance is 0.5 cm, 1 cm, or 1.5 cm. Of course, this value can be any value that meets actual cleaning needs and is not limited to the aforementioned examples.

[0106] That is to say, the necessity of additional cleaning can be detected in a targeted manner in the designated area around the pile, so as to timely discover the cleanable area that is missed due to the double obstruction of obstacles near the pile area and the pile area.

[0107] FIG6 shows a block diagram of a pile periphery cleaning device according to an embodiment of the present application.

[0108] As shown in Figure 6, a pile periphery cleaning device 600 according to an embodiment of the present application includes: an area intersection detection unit 602, which is used to detect whether the pile area where the charging pile of the cleaning equipment is located has an intersection with the cleaned area; a cleaning execution unit 604, which is used to perform cleaning processing based on the peripheral points of the pile area if the pile area has an intersection with the cleaned area.

[0109] In one embodiment of the present application, optionally, the cleaning execution unit 604 includes: a cleanable area determination unit, configured to determine a cleanable area based on peripheral points of the pile area; and the cleaning execution unit is configured to clean the cleanable area according to a preset cleaning strategy.

[0110] In one embodiment of the present application, optionally, the cleanable area determination unit is used to: cluster the peripheral points of the pile area to obtain multiple clustering results; for each clustering result, if the area where the clustering result is located meets the preset cleaning conditions, the area where the clustering result is located is determined as a cleanable area, wherein the preset cleaning conditions are used to reflect the characteristics of the area where the clustering result is located when it can be effectively cleaned by the cleaning equipment.

[0111] In one embodiment of the present application, optionally, the area intersection detection unit 602 is used to: when completing the cleaning work of the first area, detect whether the first area and the pile area where the charging pile of the cleaning equipment is located have an intersection; or when completing the cleaning work of multiple second areas, detect whether at least one of the second areas has an intersection with the pile area where the charging pile of the cleaning equipment is located; or when completing the cleaning work of a third area including a specified point, detect whether the third area has an intersection with the pile area where the charging pile of the cleaning equipment is located, wherein the specified point is a point outside the pile area and the distance from the edge point of the pile area is less than or equal to the first specified distance.

[0112] In one embodiment of the present application, optionally, the pile periphery cleaning device 600 further includes: an extended area determination unit, for determining an extended area of ​​the pile area based on the edge points of the pile area before clustering the peripheral points of the pile area if the pile area has an intersection with the cleaned area, wherein the extended area is distributed on the periphery of the pile area, and is obtained by extending each edge point of the pile area in the vertical direction of the corresponding edge by a second specified distance; a peripheral point determination unit, for obtaining points with cleanable features in the extended area as peripheral points of the pile area, wherein the cleanable features are used to reflect the features of points located on the periphery of the pile area and not cleaned due to the joint obstruction of the pile area and obstacles.

[0113] In one embodiment of the present application, optionally, the cleanable features include one or more of the following: the width of the uncleaned area in at least one direction of the location of the point is greater than the maximum body width of the cleaning device; the point is an uncleaned non-obstacle point; the adjacent points of the point are all uncleaned non-obstacle points; the point is outside a preset restricted area, and the preset restricted area includes the carpet area, the pile area and the self-designated safety zone.

[0114] In one embodiment of the present application, optionally, the preset cleaning conditions include one or more of the following: the width of the area where the clustering results are located in at least one direction is greater than the maximum body width of the cleaning device; the area of ​​the uncleaned area in the area where the clustering results are located is greater than or equal to a first specified area; the area of ​​the cleaned area in the area where the clustering results are located is less than or equal to a second specified area; the area where the clustering results are located includes at least a specified number of points whose distance from the obstacle is greater than or equal to a third specified distance.

[0115] In one embodiment of the present application, optionally, the cleaning execution unit 604 is also used to: perform a cross-region action on the cleanable area; when the cross-region action is successfully executed, clean the cleanable area; when the cross-region action fails to be executed, return to the step of detecting whether the pile area where the charging pile of the cleaning equipment is located has an intersection with the cleaned area, so as to determine again whether the cleanable area exists around the pile area; if it is determined again that the cleanable area exists around the pile area, clean the cleanable area.

[0116] In one embodiment of the present application, optionally, the cleaning execution unit 604 is also used to: obtain an uncleaned area within a specified distance range centered on the current position of the cleaning device; if the area of ​​the uncleaned area is greater than or equal to a third specified area, clean the cleanable area.

[0117] The pile periphery cleaning device 600 uses any one of the solutions in the above embodiments, and therefore has all the above technical effects, which will not be described in detail here.

[0118] In addition, in one embodiment, the present application provides a computer device, which can be a server, and its internal structure diagram can be shown in Figure 7. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external client through a network connection. When the computer program is executed by the processor, it can implement the pile cleaning method described in any of the above embodiments.

[0119] In one embodiment, the present application also provides a computer device, which can be a client, and its internal structure diagram can be shown in Figure 8. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external server through a network connection. When the computer program is executed by the processor, it can implement the pile cleaning method described in any of the above embodiments.

[0120] Any of the cleaning devices described above in the embodiments of the present application may be any device with a cleaning function, such as a sweeper, a mop, a scrubber, a sweeper-and-mop machine, a self-propelled vacuum cleaner, or the like. Furthermore, the cleaning device may be provided in various forms and used to control a device with a cleaning function, including but not limited to:

[0121] (1) Mobile communication devices: These devices are characterized by their mobile communication capabilities and are primarily designed to provide voice and data communications. These terminals include smartphones (e.g., iPhones), multimedia phones, feature phones, and low-end phones.

[0122] (2) Ultra-mobile personal cleaning devices: These devices fall under the category of personal computers, have computing and processing capabilities, and generally also have mobile Internet access. These terminals include PDAs, MIDs, and UMPCs, such as the iPad.

[0123] (3) Portable entertainment devices: These devices can display and play multimedia content. These devices include audio and video players (such as iPods), handheld game consoles, e-books, as well as smart toys, wearable devices, and portable car navigation devices.

[0124] (4) Server: A device that provides computing services. The server consists of a processor, hard disk, memory, system bus, etc. The server is similar to a general computer architecture, but because it needs to provide highly reliable services, it has higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0125] (5) Other electronic devices with data interaction functions.

[0126] In addition, an embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions, which are used to perform the following steps: detecting whether the pile area where the charging pile of the cleaning equipment is located has an intersection with the cleaned area; if the pile area has an intersection with the cleaned area, performing cleaning processing based on the peripheral points of the pile area.

[0127] It should be noted that the functions or steps that can be implemented by the computer-readable storage medium or cleaning device can be found in the corresponding descriptions in the aforementioned method embodiments. To avoid repetition, they will not be described one by one here.

[0128] The above describes the technical solution of the present application in detail in conjunction with the accompanying drawings. Through the technical solution of the present application, by identifying whether the pile area where the charging pile of the cleaning equipment is located has an intersection with the cleaned area, it is identified whether the cleaned area is the pile surrounding area, so that when the cleaned area is the pile surrounding area, the pile area surrounding points that can reflect whether there are obstacles around the pile area can be used to determine the cleanable area that was missed due to the double obstruction of obstacles near the pile area and the pile area. In this way, the cleanable area that was missed due to the double obstruction of obstacles near the pile area and the pile area can be automatically identified, which improves the adaptability of the cleaning equipment to the cleaning environment with obstacles around the pile, increases the cleaning area of ​​the cleaning equipment, and effectively improves its cleaning ability, thereby increasing the overall cleaning effect and improving the user experience.

[0129] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0130] It should be understood that although the terms "first," "second," etc. may be used to describe regions in the embodiments of the present application, these regions should not be limited to these terms. These terms are merely used to distinguish regions from one another. For example, without departing from the scope of the embodiments of the present application, a first region may also be referred to as a second region, and similarly, a second region may also be referred to as a first region.

[0131] The word "if," as used herein, may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0132] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0133] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interface, indirect coupling or communication connection of the device or unit, which may be electrical, mechanical or other forms.

[0134] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0135] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0136] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for cleaning around a pile, wherein: include: Detect whether the charging pile area of ​​the cleaning equipment intersects with the cleaned area; If the pile area and the cleaned area have an intersection, a cleaning process is performed based on the peripheral points of the pile area.

2. The method for cleaning around piles according to claim 1, wherein: The cleaning process is performed based on the peripheral points of the pile area, including: determining a cleanable area based on the perimeter points of the pile area; The cleanable area is cleaned according to a preset cleaning strategy.

3. The method for cleaning around piles according to claim 2, wherein: The step of determining the cleanable area based on the peripheral points of the pile area comprises: Clustering the peripheral points of the pile area to obtain multiple clustering results; For each clustering result, if the area where the clustering result is located meets the preset cleaning conditions, the area where the clustering result is located is determined as a cleanable area, wherein the preset cleaning conditions are used to reflect the characteristics of the area where the clustering result is located when it can be effectively cleaned by the cleaning device.

4. The method for cleaning around piles according to claim 1, wherein: The step of detecting whether the charging pile area of ​​the cleaning equipment and the cleaned area have an intersection includes: When the cleaning work of the first area is completed, detecting whether the first area and the charging pile area of ​​the cleaning device have an intersection; or When the cleaning work of the plurality of second areas is completed, detecting whether at least one of the second areas intersects with the area where the charging pile of the cleaning device is located; or When the cleaning work of the third area including the designated point is completed, it is detected whether the third area has an intersection with the pile area where the charging pile of the cleaning equipment is located, wherein the designated point is a point outside the pile area and whose distance from the edge point of the pile area is less than or equal to the first designated distance.

5. The method for cleaning around piles according to claim 1, wherein: If the pile area and the cleaned area have an intersection, before clustering the peripheral points of the pile area, the method further includes: Based on the edge points of the pile area, determining an extended area of ​​the pile area, wherein the extended area is distributed at the periphery of the pile area and is obtained by extending each edge point of the pile area in a direction perpendicular to the corresponding edge by a second specified distance; Points with cleanable characteristics are obtained in the extended area as peripheral points of the pile area, wherein the cleanable characteristics are used to reflect the characteristics of points located at the periphery of the pile area and not cleaned due to the combined obstruction of the pile area and obstacles.

6. The method for cleaning around a pile according to claim 5, wherein: The cleanable features include one or more of the following: The width of the uncleaned area in at least one direction of the point is greater than the maximum body width of the cleaning device; The point is an uncleaned non-obstruction point; The adjacent points of a point are all uncleaned non-obstacle points; The point is outside a preset prohibited area, and the preset prohibited area includes a carpet area, the stake area, and a self-set safety area.

7. The method for cleaning around a pile according to any one of claims 1 to 6, wherein: The preset cleaning conditions include one or more of the following: The width of the region where the clustering result is located in at least one direction is greater than the maximum body width of the cleaning device; The area of ​​the uncleaned region in the region where the clustering result is located is greater than or equal to the first specified area; The area of ​​the cleaned region in the region where the clustering result is located is less than or equal to the second specified area; The area where the clustering result is located includes at least a specified number of points whose distances from the obstacle are greater than or equal to a third specified distance.

8. The method for cleaning around a pile according to claim 1, wherein: The cleaning of the cleanable area according to a preset cleaning strategy includes: performing a cross-region action on the cleanable region; When the cross-region action is successfully executed, cleaning the cleanable region; When the cross-region action fails to be executed, returning to the step of detecting whether the pile area where the charging pile of the cleaning device is located intersects with the cleaned area, so as to determine again whether there is the cleanable area around the pile area; When it is determined again that the cleanable area exists around the pile area, the cleanable area is cleaned.

9. The method for cleaning around a pile according to claim 8, wherein: When it is determined again that the cleanable area exists around the pile area, cleaning the cleanable area comprises: Acquire an uncleaned area within a specified distance range centered on a current position of the cleaning device; If the area of ​​the uncleaned region is greater than or equal to the third specified area, the cleanable region is cleaned.

10. A cleaning device around a pile, wherein: include: The area intersection detection unit is used to detect whether the area where the charging pile of the cleaning equipment is located has an intersection with the cleaned area. set; The cleaning execution unit is configured to execute a cleaning process based on peripheral points of the pile area if the pile area and the cleaned area have an intersection.

11. A cleaning device, wherein: include: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions executable by the at least one processor, wherein the instructions are configured to execute the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, wherein: Computer executable instructions are stored, and the computer executable instructions are used to execute the method according to any one of claims 1 to 9.

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