Self-moving cleaning device and control method therefor

Abstract

A self-moving cleaning device and a control method therefor. The method comprises: acquiring the positions of all safe regions in a region to be cleaned (S101); when a self-moving cleaning device travels to any safe region, acquiring the current detection parameter of an optical sensor of the self-moving cleaning device (S102); adjusting the current detection parameter of the optical sensor to a target detection parameter, so as to reduce the detection precision of the optical sensor (S103); on the basis of the target detection parameter, determining whether there is a cliff in the safe region (S104), and if so, executing an avoidance policy (S105), and if not, completing a task corresponding to the safe region (S106); and when the self-moving cleaning device moves out of the safe region, adjusting a target calibration detection parameter to the current detection parameter, so as to recover the detection precision of the optical sensor (S107).

Description

Self-moving cleaning equipment and control method thereof

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese Patent Application No. 2023116346494 filed on December 1, 2023, and the contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as a part of this application. Technical Field

[0003] The present invention relates to the field of smart home technology, and in particular to a self-moving cleaning device and a control method thereof. Background Art

[0004] With the development of intelligent cleaning technology, autonomous cleaning devices (such as robot vacuums) are entering more and more homes, significantly reducing the burden of housecleaning. During their cleaning operations, autonomous cleaning devices may encounter areas with steps, stairs, or height differences. Therefore, autonomous cleaning devices need to be able to accurately detect cliffs and implement avoidance strategies to prevent falls.

[0005] Currently, optical sensors installed on self-propelled cleaning devices are typically used to detect whether there are cliffs in the area to be cleaned. However, when the self-propelled cleaning device tilts due to climbing over obstacles (such as thresholds), or encounters light-absorbing areas such as dark carpets, the optical sensors will mistakenly identify the area as a cliff, causing the self-propelled cleaning device to execute an avoidance strategy, making it unable to complete the task of climbing over the obstacle or cleaning the dark carpet and other light-absorbing areas, which is detrimental to the user's use of the self-propelled cleaning device.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to ordinary technicians in the field. Summary of the Invention

[0007] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0008] In a first aspect, an embodiment of the present invention provides a method for controlling a self-propelled cleaning device, comprising:

[0009] Get the locations of all safe areas in the area to be cleaned;

[0010] When the self-moving cleaning device travels to any of the safety areas, obtaining current detection parameters of the optical sensor of the self-moving cleaning device;

[0011] adjusting the current detection parameters of the optical sensor to target detection parameters to reduce the detection accuracy of the optical sensor;

[0012] Based on the target detection parameters, determine whether there is a cliff in the safety area, if so, execute an avoidance strategy, if not, complete the task corresponding to the safety area;

[0013] When the self-mobile cleaning device moves out of the safety area, the target calibration detection parameter is adjusted to the current detection parameter to restore the detection accuracy of the optical sensor.

[0014] Optionally, the current detection parameter includes a current detection threshold.

[0015] Optionally, adjusting the current detection parameter of the optical sensor to the target detection parameter to reduce the detection accuracy of the optical sensor includes:

[0016] Obtaining a first weight value corresponding to the current detection threshold;

[0017] Calculating an initial calibration threshold based on the current detection threshold and the first weight value;

[0018] Determine whether the initial calibration threshold is less than a preset threshold, if so, determine the preset threshold as the target calibration threshold, if not, determine the initial calibration threshold as the target calibration threshold;

[0019] The current detection threshold is adjusted to the target calibration threshold to reduce the detection accuracy of the optical sensor.

[0020] Optionally, adjusting the current detection parameter of the optical sensor to the target detection parameter to reduce the detection accuracy of the optical sensor includes:

[0021] Obtaining a correspondence between each preset detection threshold interval and each second weight value;

[0022] In the correspondence between the preset detection threshold intervals and the second weight values, finding the second weight value corresponding to the current detection threshold;

[0023] Calculating a target calibration threshold based on the current detection threshold and the corresponding second weight value;

[0024] The current detection threshold is adjusted to the target calibration threshold to reduce the detection accuracy of the optical sensor.

[0025] Optionally, the determining whether there is a cliff in the safety area based on the target detection parameter includes:

[0026] Obtaining the current light intensity value received by the optical sensor;

[0027] Determine whether the current received light intensity value is greater than or equal to the target calibration threshold; if so, determine that no cliff exists in the safety area; if not, determine that a cliff exists in the safety area.

[0028] Optionally, when the self-mobile cleaning device moves out of the safety area, adjusting the target calibration detection parameter to a current detection parameter to restore the detection accuracy of the optical sensor includes:

[0029] When the self-mobile cleaning device moves out of the safety area, the target calibration threshold is adjusted to the current detection threshold to restore the detection accuracy of the optical sensor.

[0030] Optionally, the current detection parameter includes a current received light intensity value.

[0031] Optionally, adjusting the current detection parameter of the optical sensor to the target detection parameter to reduce the detection accuracy of the optical sensor includes:

[0032] Obtaining a third weight value corresponding to the current received light intensity value;

[0033] Calculating a target received light intensity value based on the current received light intensity value and the corresponding third weight value;

[0034] The current received light intensity value is adjusted to the target received light intensity value to reduce the detection accuracy of the optical sensor.

[0035] Optionally, the determining whether there is a cliff in the safety area based on the target detection parameter includes:

[0036] Obtaining a current detection threshold received by the optical sensor;

[0037] Determine whether the target received light intensity value is greater than or equal to the current detection threshold; if so, determine that there is no cliff in the safety area; if not, determine that there is a cliff in the safety area.

[0038] Optionally, when the self-mobile cleaning device moves out of the safety area, adjusting the optical target calibration detection parameter to the current detection parameter to restore the detection accuracy of the optical sensor includes:

[0039] When the self-mobile cleaning device moves out of the safety area, the target received light intensity value is adjusted to the current received light intensity value to restore the detection accuracy of the optical sensor.

[0040] Optionally, in the area to be cleaned, the area within a preset distance from the cliff is a non-safe area.

[0041] Optionally, when the self-mobile cleaning device moves out of the safety area, after adjusting the target detection parameter to the current detection parameter to restore the detection accuracy of the optical sensor, the method further comprises:

[0042] When the area to be cleaned is updated, all the safe areas are eliminated.

[0043] In a second aspect, an embodiment of the present invention provides a self-moving cleaning device, comprising a main body, wherein the main body is provided with an optical sensor and a controller, wherein the optical sensor comprises a light emitting portion and a light receiving portion;

[0044] Among them, the light emitting part is used to emit outgoing light to the area to be cleaned; the light receiving part is used to receive at least part of the reflected light, and the reflected light is the light formed by the outgoing light of the light emitting part being reflected by the surface of the area to be cleaned; the controller is used to execute the control method of the above-mentioned self-moving cleaning equipment.

[0045] In a third aspect, an embodiment of the present invention provides a self-moving cleaning device, including a controller;

[0046] The controller is configured to execute:

[0047] Get the locations of all safe areas in the area to be cleaned;

[0048] When the self-moving cleaning device travels to any of the safety areas, obtaining current detection parameters of the optical sensor of the self-moving cleaning device;

[0049] The current detection parameters of the optical sensor are adjusted to target detection parameters to reduce the detection accuracy of the optical sensor.

[0050] In a fourth aspect, an embodiment of the present invention provides a non-volatile readable storage medium, wherein the non-volatile readable storage medium stores computer program code, and when the computer program code is executed by a computing device, the computing device executes the method described in any one of the first to third aspects above.

[0051] In a fifth aspect, an embodiment of the present invention further provides a computer program product, which is stored in a storage medium, wherein when the computer program product is executed by at least one processor, it implements the method described in any one of the first to third aspects above.

[0052] According to a self-moving cleaning device and a control method thereof provided by an embodiment of the present invention, when the self-moving cleaning device moves to a safe area, the current detection parameters of the optical sensor of the self-moving cleaning device are adjusted to the target detection parameters to reduce the detection accuracy of the optical sensor. This can, on the one hand, prevent the optical sensor from misjudging the safe area as a cliff, thereby allowing the self-moving cleaning device to smoothly perform corresponding tasks (such as climbing over obstacles or cleaning dark carpets, etc.) in the safe area, which is beneficial for users to use the self-moving cleaning device. On the other hand, the optical sensor still has a certain detection capability. When the optical sensor detects the presence of a cliff in the safe area, the self-moving cleaning device is controlled to execute an avoidance strategy, thereby reducing the probability of the self-moving cleaning device falling due to the cliff in the safe area, thereby improving the reliability of the self-moving cleaning device operating in the safe area. In addition, when the self-moving cleaning device moves out of the safe area, the target calibration detection parameters are adjusted to the current detection parameters to restore the detection accuracy of the optical sensor, thereby ensuring the accuracy of the optical sensor's detection in other areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The following drawings of the present invention are used as part of the embodiments of the present invention for understanding the present invention. The embodiments of the present invention are shown in the drawings and the description thereof is used to explain the principle of the present invention.

[0054] In the attached figure:

[0055] FIG1 is a perspective view of a sweeping robot according to an optional embodiment of the present invention;

[0056] FIG2 is a bottom view of FIG1 ;

[0057] FIG3 is a perspective view of a wet cleaning system according to an alternative embodiment of the present invention;

[0058] FIG4 is a schematic diagram showing a principle of an optical sensor detecting an area to be cleaned according to an optional embodiment of the present invention;

[0059] FIG5 is a flow chart of a method for controlling a self-moving cleaning device according to an optional embodiment of the present invention;

[0060] FIG6 is a flow chart of step S103 according to an optional embodiment of the present invention;

[0061] FIG7 is a flow chart of step S103 according to another optional embodiment of the present invention;

[0062] FIG8 is a flow chart of step S104 according to an optional embodiment of the present invention;

[0063] FIG9 is a flowchart of step S103 according to another optional embodiment of the present invention;

[0064] FIG10 is a flowchart of step S104 according to an optional embodiment of the present invention.

[0065] Figure markings: 10-sweeping robot, 110-main body, 111-forward part, 112-rearward part, 120-perception module, 121 position determination sensor, 122-front collision structure, 130-human-computer interaction module, 140-left wheel, 141-right wheel, 142-driven wheel, 150-cleaning system, 151-dry cleaning system, 152-side brush, 153-wet cleaning system, 1531-cleaning head, 1532-driving unit, 1533-driving platform, 1534-support platform, 20-optical sensor, 210-light emitting part, 220-light receiving part, 230-first convex lens, 240-second convex lens, 250-partition, 30-area to be cleaned. DETAILED DESCRIPTION

[0066] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or at least three of these details. In other instances, certain technical features well known in the art are not described to avoid confusion with the present invention.

[0067] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or at least three other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0068] Exemplary embodiments of the present invention will now be described in greater detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0069] An optical sensor 20 provided in an embodiment of the present invention can be used in a self-propelled cleaning device. Specifically, the optical sensor 20 can be used as a cliff sensor. A self-propelled cleaning device is a device that automatically moves within a cleaning area 30 and automatically performs cleaning operations, such as a robot vacuum, a mopping robot, a sweeping and mopping robot, a sprinkler robot, a floor polishing robot, or a weeding robot. For ease of description, this embodiment uses a robot vacuum 10 as an example to illustrate the technical solution of the present disclosure.

[0070] 1 and 2 , the robot vacuum cleaner 10 includes a main body 110, a sensing module 120, a controller, a driving module, a cleaning system 150, an energy system, and a human-computer interaction module 130. As shown in FIG1 , the main body 110 includes a front portion 111 and a rear portion 112, and has an approximately circular shape (both the front and rear are circular). Other shapes are also possible, including but not limited to a D-shaped shape with a front and rear circular shape, and a rectangular or square shape with a front and rear circular shape.

[0071] As shown in Figure 1, the perception module 120 includes a position determination device 121 located on the main body 110, a collision sensor provided on the front collision structure 122 of the forward part 111 of the main body 110, a proximity sensor (wall sensor) located on the side of the machine, a cliff sensor provided at the bottom of the main body 110, and a magnetometer, accelerometer, gyroscope, odometer and other sensing devices provided inside the main body 110, which are used to provide the controller with various position information and motion state information of the machine. The various components in the perception module 120 can operate independently or together to more accurately achieve the purpose function. The position determination device 121 includes but is not limited to a camera and a laser distance measuring device (LDS, full name Laser Distance Sensor). In some preferred implementations, the position determination device 121 (such as a camera, a laser distance measuring device) is located on the front side of the main body 110, that is, at the front end of the forward part 111, so as to be able to more accurately sense the environment in front of the sweeping robot and achieve precise positioning. The controller is also used to execute the control method of the self-moving cleaning device provided in this application.

[0072] As shown in Figure 1, the forward part 111 of the main body 110 can carry the front collision structure 122. During the cleaning process, when the driving wheel module 141 propels the sweeping robot 10 to walk on the ground, the front collision structure 122 detects one or more events in the driving path of the sweeping robot 10 through the sensor system arranged thereon, such as a collision sensor or a proximity sensor (infrared sensor). The sweeping robot 10 can control the driving module to respond to the event, such as performing obstacle avoidance operations away from obstacles, through the events detected by the front collision structure 122.

[0073] The controller is located on a circuit board within the main body 110 and includes a computing processor, such as a central processing unit (CPU) or an application processor (APP), that communicates with non-volatile memory, such as a hard disk, flash memory, or random access memory. The APP utilizes a positioning algorithm, such as Simultaneous Localization and Mapping (SLAM), based on obstacle information fed back by the laser rangefinder to create a real-time map of the environment in which the robot vacuum 10 resides. Furthermore, the APP combines distance and speed information fed back by sensors provided on the front impact structure 122, the cliff sensor 123, a magnetometer, an accelerometer, a gyroscope, an odometer, and other sensing devices to comprehensively determine the current operating state and location of the robot vacuum 10, as well as its current posture, such as when the robot vacuum 10 is crossing a threshold, on a carpet, on a cliff, stuck above or below, a full dust box, or being lifted. The APP also provides specific next-step action strategies for different situations, thereby improving cleaning performance and user experience for the robot vacuum 10.

[0074] As shown in Figure 2, the drive module can steer the main body 110 across the ground based on drive commands containing distance and angle information. The drive module includes a main drive wheel module, which controls a left wheel 140 and a right wheel 141. To more precisely control the robot's movement, the main drive wheel module preferably includes a left drive wheel module and a right drive wheel module, respectively. The left and right drive wheel modules are arranged along the transverse axis defined by the main body 110. To ensure more stable movement on the ground or enhance mobility, the robot 10 can include one or more driven wheels 142, including but not limited to universal wheels. The main drive wheel module includes a drive motor and control circuitry for controlling the drive motor. The main drive wheel module may also be connected to circuitry for measuring the drive current and an odometer. The left and right wheels 140, 141 may have a biased drop-down suspension system, movably secured, for example, rotatably attached, to the main body 110 and spring-biased downward and away from the main body 110. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the cleaning robot 10 also contact the ground with a certain pressure.

[0075] The energy system includes rechargeable batteries, such as nickel-metal hydride (NiMH) and lithium-ion batteries. These batteries are connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to the microcontroller control circuit. The host computer is charged via charging electrodes 160 located on the side or bottom of the device.

[0076] The human-computer interaction module 130 includes buttons on the host panel, which are used by the user to select functions; it may also include a display screen and / or indicator lights and / or speakers, which display the current mode or function selection items of the machine to the user; it may also include a mobile client program. For a path navigation type sweeping robot 10, a map of the environment in which the device is located, as well as the location of the machine, can be displayed to the user on the mobile client, which can provide the user with more abundant and humanized function items. Specifically, the sweeping robot 10 has multiple modes, such as working mode, self-cleaning mode, etc. Among them, the working mode refers to the mode in which the sweeping robot 10 performs automatic cleaning operations, and the self-cleaning mode refers to the mode in which the sweeping robot 10 removes dirt from the roller brush and side brush 152 on the base, and automatically collects dirt, and / or automatically washes and dries the mop.

[0077] The cleaning system 150 may be a dry cleaning system 151 and / or a wet cleaning system 153 .

[0078] As shown in Figure 2, the dry cleaning system 151 provided in the embodiment of the present disclosure may include a roller brush, a dust box, a fan, and an air outlet. The roller brush, which has a certain degree of interference with the ground, sweeps up debris from the ground and carries it to the front of the dust suction port between the roller brush and the dust box. The air is then sucked into the dust box by the suction force generated by the fan and passing through the dust box. The dry cleaning system 151 may also include a side brush 152 with a rotating shaft that is angled relative to the ground to move debris into the roller brush area of ​​the cleaning system 150.

[0079] As shown in Figures 2 and 3, the wet cleaning system 153 provided in the embodiments of the present disclosure may include: a cleaning head 1531, a drive unit 1532, a water supply mechanism, a liquid storage tank, etc. Specifically, the cleaning head 1531 may be positioned below the liquid storage tank, with the cleaning liquid within the liquid storage tank being transferred to the cleaning head 1531 via the water supply mechanism, so that the cleaning head 1531 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid within the liquid storage tank may also be sprayed directly onto the surface to be cleaned, with the cleaning head 1531 cleaning the surface by evenly applying the cleaning liquid.

[0080] The cleaning head 1531 is used to clean the surface to be cleaned, and the drive unit 1532 is used to drive the cleaning head 1531 to reciprocate substantially along a target surface, which is a portion of the surface to be cleaned. The cleaning head 1531 reciprocates along the surface to be cleaned, and a mop is provided on the contact surface between the cleaning head 1531 and the surface to be cleaned. The reciprocating motion of the mop driven by the drive unit 1532 generates high-frequency friction with the surface to be cleaned, thereby removing stains on the surface to be cleaned; or the mop can be arranged to float, always maintaining contact with the cleaning surface during the cleaning process, without the need for the drive unit 1532 to drive its reciprocating motion.

[0081] As shown in Figure 3, the driving unit 1532 can also include a driving platform 1533 and a supporting platform 1534. The driving platform 1533 is connected to the bottom surface of the main body 110 for providing driving force. The supporting platform 1534 is detachably connected to the driving platform 1533 for supporting the cleaning head 1531 and can be raised and lowered under the drive of the driving platform 1533.

[0082] The wet cleaning system 153 can be connected to the main body 110 via an active lifting module. When the wet cleaning system 153 is temporarily not in use, for example, when the robot vacuum cleaner 10 docks at the base station to clean the cleaning head 1531 of the wet cleaning system 153 and fill the liquid storage tank; or when encountering a surface to be cleaned that cannot be cleaned by the wet cleaning system 153, the wet cleaning system 153 is raised via the active lifting module.

[0083] The optical sensor 20 on the self-propelled cleaning device is described in detail below. The optical sensor 20 may be a cliff sensor located on the bottom of the main body 110 and located in front of and behind the drive wheel module 141. The cliff sensor is used to prevent the self-propelled cleaning device from falling, thereby protecting the self-propelled cleaning device from damage. The aforementioned "front" refers to the side with the same direction of travel as the self-propelled cleaning device, and the aforementioned "rear" refers to the side opposite to the direction of travel of the self-propelled cleaning device.

[0084] Cliff sensors and ultrasonic sensors identify the surface being cleaned to determine its physical characteristics, including surface material and cleanliness level. They can be combined with cameras and laser rangefinders for more accurate determinations. For example, an ultrasonic sensor can determine whether the surface being cleaned is carpet. If so, the controller controls the self-propelled cleaning device to perform carpet cleaning.

[0085] As shown in Figure 4, the optical sensor 20 includes a light emitting unit 210 and a light receiving unit 220. The light emitting unit 210 is used to emit outgoing light toward the area to be cleaned 30; the light receiving unit 220 is used to receive at least a portion of reflected light, which is light formed by the outgoing light of the light emitting unit 210 being reflected by the surface of the area to be cleaned 30.

[0086] Among them, the area to be cleaned 30 is the area where the self-mobile cleaning equipment needs to perform cleaning operations. This area can be set by the user. In this application, the light emitting unit 210 emits outgoing light to the entire area to be cleaned 30, that is, the light emitting unit 210 emits outgoing light to the safe area in the area to be cleaned 30, and also emits outgoing light to other areas in the area to be cleaned (i.e., non-safe areas).

[0087] Furthermore, as shown in FIG4 , a first convex lens 230 is provided on the emitting light path of the light emitting unit 210. The first convex lens 230 is used to convert the outgoing light emitted by the light emitting unit 210 into approximately parallel light. A second convex lens 240 is provided on the receiving light path of the light receiving unit 220. The second convex lens 240 is used to convert the light directed toward the light receiving unit 220 into convergent light. Furthermore, a partition 250 is provided between the light emitting unit 210 and the light receiving unit 220. The partition 250 is made of an opaque material, thereby preventing the outgoing light emitted from the light emitting unit 210 from being directly received by the light receiving unit 220 without being reflected by the surface of the area to be cleaned 30 of the self-mobile cleaning device.

[0088] As shown in Figure 4, when the optical sensor 20 is working, the light emitting part 210 emits outgoing light, and the outgoing light is converted into approximately parallel light through the first convex lens 230. The parallel light is reflected by the surface of the area to be cleaned 30 of the self-moving cleaning equipment to form approximately parallel reflected light, and then at least part of the reflected light is converted into convergent light through the second convex lens 240 and received by the light receiving part 220. The controller determines whether there is a cliff in the area to be cleaned 30 based on the light intensity value of the reflected light received by the light receiving part 220, that is, if the light intensity value of the reflected light received by the light receiving part 220 is greater than or equal to the light intensity threshold, it is determined that there is no cliff in the area to be cleaned 30; if the light intensity value of the reflected light received by the light receiving part 220 is less than the light intensity threshold, it is determined that there is a cliff in the area to be cleaned 30.

[0089] The following is a detailed description of a control method for a self-moving cleaning device provided by an embodiment of the present invention. Specifically, as shown in Figures 4 and 5, an embodiment of the present invention provides a control method for a self-moving cleaning device, including:

[0090] Step S101: Acquire the positions of all safe areas in the area to be cleaned 30.

[0091] Safe zones are areas that are prone to misjudgment by the optical sensor 20. For example, obstacles higher than the surface of the area to be detected, such as doorstones and thresholds, or light-absorbing areas such as dark carpets. Safe zones can be set by the user within the area to be cleaned 30. For example, the areas surrounding doorstones, thresholds, and dark carpets can be designated as safe zones. The number of safe zones can be determined by the user based on actual circumstances and is not strictly limited in this embodiment.

[0092] Step S102: When the self-moving cleaning device travels to any safe area, the current detection parameters of the optical sensor 20 of the self-moving cleaning device are obtained.

[0093] Step S103 : adjusting the current detection parameters of the optical sensor 20 to target detection parameters to reduce the detection accuracy of the optical sensor 20 .

[0094] Lowering the detection accuracy of the optical sensor 20 in the safe area can prevent the optical sensor 20 from misjudging the safe area as a cliff, thereby allowing the self-moving cleaning device to smoothly perform corresponding tasks in the safe area (such as climbing over obstacles or cleaning dark carpets, etc.), which is beneficial for users to use the self-moving cleaning device. The optical sensor 20 with reduced detection accuracy still has a certain detection capability. In this way, when the optical sensor 20 detects the existence of a cliff in the safe area, the self-moving cleaning device is controlled to execute an avoidance strategy, thereby reducing the probability of the self-moving cleaning device falling due to the cliff in the safe area, thereby improving the reliability of the self-moving cleaning device operating in the safe area.

[0095] Step S104: Based on the target detection parameters, determine whether there is a cliff in the safety area. If so, execute step S105; if not, execute step S106.

[0096] Step S105: Execute the avoidance strategy.

[0097] When the optical sensor 20 determines that there is a cliff in the safety area, the self-moving cleaning device is controlled to execute an avoidance strategy, thereby preventing the self-moving cleaning device from being damaged due to falling off the cliff.

[0098] The avoidance strategy may be a strategy for controlling the self-moving cleaning device to retreat. Of course, other avoidance strategies may also be used, and this embodiment does not impose a strict limitation thereto.

[0099] Step S106: completing the tasks corresponding to the safe area.

[0100] When the optical sensor 20 determines that there is no cliff in the safety area, the self-moving cleaning device is controlled to complete the task corresponding to the safety area, for example, climbing over obstacles such as door stones and thresholds, or cleaning dark carpets.

[0101] Step S107: When the self-mobile cleaning device moves out of the safe area, the target calibration detection parameters are adjusted to current detection parameters to restore the detection accuracy of the optical sensor.

[0102] When the self-mobile cleaning device moves out of the safe area, the target calibration detection parameters are adjusted to the current detection parameters to restore the detection accuracy of the optical sensor, thereby ensuring the accuracy of the optical sensor 20 in detection in other areas.

[0103] In specific applications, for different current detection parameters, the corresponding methods of reducing the detection accuracy of the optical sensor 20 are also different.

[0104] In some embodiments, the current detection parameter includes a current detection threshold, which is used to compare the current detection threshold with the intensity of the reflected light received by the light receiving unit 220 to determine whether there is a cliff in areas other than the safe area (i.e., the non-safe area) within the area to be operated. The current detection threshold can be set by the operator based on actual conditions and is not strictly limited in this embodiment.

[0105] In the case where the current detection parameter includes a current detection threshold, in one implementation, as shown in FIG6 , step S103 includes:

[0106] Step S1031a: Obtain a first weight value corresponding to the current detection threshold.

[0107] The first weight value corresponding to the current detection threshold can be set by the staff, and this embodiment does not impose a strict limit. The first weight values ​​corresponding to different current detection thresholds can be the same, thereby reducing the workload of the staff.

[0108] Step S1032a: Calculate an initial calibration threshold based on the current detection threshold and the first weight value.

[0109] Specifically, the initial calibration threshold can be obtained by multiplying the current detection threshold by the first weight value. For example, assuming that the current detection threshold is 90 and the first weight value is 0.5, the initial calibration threshold is 90*0.5=45.

[0110] Step S1033a: Determine whether the initial calibration threshold is less than the preset threshold. If so, execute step S1034a; if not, execute step S1035a.

[0111] The preset threshold value can be set by the operator and is not strictly limited in this embodiment. The initial calibration threshold value is compared with the preset threshold value, and the target calibration threshold value is determined based on the comparison result, so that the target calibration threshold value is not too low. This avoids the situation where the target calibration threshold value is too low, resulting in low detection accuracy of the optical sensor 20 and failure to detect cliffs in the safe area, thereby ensuring that the optical sensor 20 still has a certain detection accuracy.

[0112] Step S1034a: Determine the preset threshold as the target calibration threshold.

[0113] For example, assuming that the preset threshold is 20, the initial calibration threshold is 18, and the initial calibration threshold is less than the preset threshold, then the target calibration threshold is 20.

[0114] Step S1035a: Determine the initial calibration threshold as the target calibration threshold.

[0115] For example, assuming that the preset threshold is 20, the initial calibration threshold is 50, and the initial calibration threshold is greater than the preset threshold, then the target calibration threshold is 50.

[0116] Step S1036a: Adjust the current detection threshold to the target calibration threshold to reduce the detection accuracy of the optical sensor 20.

[0117] Adjust the current detection threshold to the target calibration threshold, that is, lower the current detection threshold, so as to achieve the purpose of reducing the detection accuracy of the optical sensor 20. In this way, when the self-moving cleaning device performs the corresponding task in the safe area and causes the light intensity value of the reflected light received by the optical sensor 20, that is, the current received light intensity value to decrease, the detection result obtained by using the optical sensor 20 is still that there is no cliff in the safe area, so that the self-moving cleaning device will not execute the avoidance strategy to ensure the smooth progress of the corresponding task.

[0118] For example, in the prior art, when the self-mobile cleaning device climbs over an obstacle in a safe area, the main body of the self-mobile cleaning device will tilt, causing the outgoing light emitted by the light emitting part 210 of the optical sensor 20 to diffuse a lot, causing the light intensity value of the reflected light received by the light receiving part 220 of the optical sensor 20 to be greatly reduced, for example, from 120 to 55. Then, assuming that the current detection threshold is 90, when the self-mobile cleaning device climbs over the obstacle, the light intensity value of 55 of the reflected light received by the light receiving part 220 is less than the current detection threshold of 90. In this way, the detection result of the optical sensor 20 is that there is a cliff, causing the self-mobile cleaning device to execute an avoidance strategy, thereby interrupting the task of climbing over the obstacle, and making it impossible for the self-mobile cleaning device to successfully climb over the obstacle.

[0119] In the present application, the current detection threshold 90 is adjusted to the target calibration threshold 45. In this way, when the self-mobile cleaning device climbs over an obstacle in the safe area, the light intensity value of the reflected light received by the light receiving part 220 of the optical sensor 20 is reduced from 120 to 55. The light intensity value 55 of the reflected light received by the light receiving part 220 is still greater than the target calibration threshold 45, so that the detection result of the optical sensor 20 is that there is no cliff. Therefore, the self-mobile cleaning device will not execute the avoidance strategy, that is, the self-mobile cleaning device can continue to climb over the obstacle.

[0120] As another example, in the prior art, when the self-mobile cleaning device travels to a safe area covered with dark carpet, due to the light absorption of the dark carpet, the light intensity value of the reflected light received by the light receiving part 220 of the optical sensor 20 is greatly reduced, for example, from 120 to 60. Then, assuming that the current detection threshold is 90, the light intensity value 60 of the reflected light received by the light receiving part 220 is less than the current detection threshold 90. In this way, the detection result of the optical sensor 20 is that there is a cliff, causing the self-mobile cleaning device to execute an avoidance strategy, thereby interrupting the task of cleaning the dark carpet and making it impossible for the self-mobile cleaning device to clean the dark carpet smoothly.

[0121] In the present application, the current detection threshold 90 is adjusted to the target calibration threshold 45. In this way, when the self-moving cleaning device cleans the dark carpet, the light intensity value of the reflected light received by the light receiving part 220 of the optical sensor 20 is reduced from 120 to 60. The light intensity value 60 of the reflected light received by the light receiving part 220 is still greater than the target calibration threshold 45, so that the detection result of the optical sensor 20 is that there is no cliff. Therefore, the self-moving cleaning device will not execute the avoidance strategy, that is, the self-moving cleaning device can continue to clean the dark carpet.

[0122] In another implementation, as shown in FIG7 , step S103 includes:

[0123] Step S1031b: Obtain the corresponding relationship between each preset detection threshold interval and each second weight value.

[0124] Each detection threshold interval and its corresponding second weight value can be set by the staff and is not strictly limited in this embodiment. The second weight values ​​corresponding to each detection threshold interval can be partially the same or completely different. In some embodiments, the second weight value increases as the value of the detection threshold interval decreases to avoid the situation where the target calibration threshold is too small, resulting in the optical sensor 20 having too low detection accuracy and being unable to detect cliffs in the safe area. This ensures that the optical sensor 20 still has a certain degree of detection accuracy. For example, for the detection threshold interval of 80-100, the corresponding second weight value is 0.5; for the detection threshold interval of 30-50, the corresponding second weight value is 0.7.

[0125] Step S1032b: Find the second weight value corresponding to the current detection threshold in the correspondence between each preset detection threshold interval and each second weight value.

[0126] For example, assuming that the current detection threshold is 35, if the second weight value corresponding to the detection threshold interval 30-50 is 0.7, then the second weight threshold corresponding to the current detection threshold 35 is 0.7.

[0127] Step S1033b: Calculate the target calibration threshold based on the current detection threshold and the corresponding second weight value.

[0128] Specifically, the initial calibration threshold can be obtained by multiplying the current detection threshold by the second weight value. For example, assuming that the current detection threshold is 35 and the first weight value is 0.7, the initial calibration threshold is 35*0.7=22.5.

[0129] Step S1034b: adjusting the current detection threshold to the target calibration threshold to reduce the detection accuracy of the optical sensor 20.

[0130] In this embodiment, by setting different detection threshold intervals, the second weight value corresponding to the current detection threshold can be accurately matched, and the target calibration threshold can be directly obtained, thereby improving processing efficiency and the accuracy of the target calibration threshold.

[0131] As shown in FIG8 , step S104 determines whether there is a cliff in the safety area based on the target detection parameters, including:

[0132] Step S1041a: Obtain the current light intensity value received by the optical sensor 20.

[0133] The current received light intensity value of the optical sensor 20 is a current light intensity value of the reflected light received by the light receiving portion of the optical sensor 20 .

[0134] Step S1042a: Determine whether the current received light intensity value is greater than or equal to the target calibration threshold; if so, execute step S1043a; if not, execute step S1044a.

[0135] Step S1043a: Determine whether there is no cliff in the safety area.

[0136] Step S1044a: Determine whether there is a cliff in the safety area.

[0137] For example, assuming that the target calibration threshold is 45, if the current received light intensity value is 60, that is, the current received light intensity value is greater than the target calibration threshold, then it indicates that there is no cliff in the safe area, and the self-moving cleaning device can continue to complete its task in the safe area.

[0138] If the current received light intensity value is 30, that is, the current received light intensity value is less than the target calibration threshold, then it is indicated that there is a cliff in the safe area, and the self-mobile cleaning device executes an avoidance strategy to avoid falling off the cliff and causing damage.

[0139] In this embodiment, by comparing the current received light intensity value with the target detection threshold, it is determined whether there is a cliff in the safe area. This can avoid the misjudgment of the optical sensor 20 due to the self-moving cleaning device climbing over obstacles or dark carpets, and can also ensure that the optical sensor 20 with reduced detection accuracy still has a certain detection capability. In this way, when the optical sensor 20 detects the existence of a cliff in the safe area, the self-moving cleaning device is controlled to execute an avoidance strategy, thereby reducing the probability of the self-moving cleaning device falling due to the cliff in the safe area, thereby improving the reliability of the self-moving cleaning device operating in the safe area.

[0140] Furthermore, in the above embodiment, step S107 includes:

[0141] When the self-mobile cleaning device moves out of the safe area, the target calibration threshold is adjusted to the current detection threshold to restore the detection accuracy of the optical sensor.

[0142] When the self-mobile cleaning device moves out of the safe area, the target calibration threshold is adjusted to the current detection threshold to restore the detection accuracy of the optical sensor. That is to say, when the self-mobile cleaning device moves out of the safe area, the light intensity value of the reflected light received by the optical sensor 20 is compared with the current detection threshold to determine whether there is a cliff, thereby ensuring the accuracy of the optical sensor 20 in detection in other areas.

[0143] In some embodiments, the current detection parameter includes a current received light intensity value, that is, a current light intensity value of the reflected light received by the light receiving unit 220 .

[0144] In the case where the current detection parameter includes the current received light intensity value, as shown in FIG9 , step S103 includes:

[0145] Step S1031c: Obtain a third weight value corresponding to the current received light intensity value.

[0146] The third weight value can be set by the staff, and is not strictly limited in this embodiment.

[0147] Step S1032c: Calculate and obtain a target received light intensity value based on the current received light intensity value and the corresponding third weight value.

[0148] Specifically, the target received light intensity value can be obtained by multiplying the current received light intensity value by the third weight value. For example, assuming that the current received light intensity value is 30 and the third weight value is 2, the target received light intensity value is 30*2=60.

[0149] Step S1033c: Adjust the current received light intensity value to the target received light intensity value to reduce the detection accuracy of the optical sensor 20.

[0150] The current received light intensity value is adjusted to the target received light intensity, that is, the current detection threshold is lowered, so as to achieve the purpose of reducing the detection accuracy of the optical sensor 20. In this way, when the self-moving cleaning equipment performs the corresponding task in the safe area and causes the light intensity value of the reflected light received by the optical sensor 20, that is, the current received light intensity value to decrease, the detection result obtained by using the optical sensor 20 is still that there is no cliff in the safe area, so that the self-moving cleaning equipment will not execute the avoidance strategy to ensure the smooth progress of the corresponding task.

[0151] For example, in the prior art, when the self-mobile cleaning device climbs over an obstacle in a safe area, the main body of the self-mobile cleaning device will tilt, causing the outgoing light emitted by the light emitting part 210 of the optical sensor 20 to diffuse a large amount, causing the current light intensity value of the reflected light received by the light receiving part 220 of the optical sensor 20 (i.e., the current received light intensity value) to be greatly reduced, for example, from 120 to 60. Then, assuming that the current detection threshold is 90, when the self-mobile cleaning device climbs over the obstacle, the current received light intensity value 60 is less than the current detection threshold 90. In this way, the detection result of the optical sensor 20 is that there is a cliff, causing the self-mobile cleaning device to execute an avoidance strategy, thereby interrupting the task of climbing over the obstacle, and making it impossible for the self-mobile cleaning device to successfully climb over the obstacle.

[0152] In the present application, the current received light intensity value is 60, and the target received light intensity value is calculated to be 120 by multiplying it by the third weight value 2. In this way, when the self-mobile cleaning device climbs over an obstacle in the safe area, the target received light intensity value 120 is compared with the current detection threshold 90. The target received light intensity value is greater than the current detection threshold, so that the detection result of the optical sensor 20 is that there is no cliff, and the self-mobile cleaning device will not execute the avoidance strategy, that is, the self-mobile cleaning device can continue to climb over the obstacle.

[0153] As another example, in the prior art, when the self-mobile cleaning device travels to a safe area covered with dark carpet, due to the light absorption of the dark carpet, the light intensity value of the reflected light received by the light receiving part 220 of the optical sensor 20 (i.e., the current received light intensity value) is greatly reduced, for example, from 100 to 50. Then, assuming that the current detection threshold is 90, the current received light intensity value 50 is less than the current detection threshold 90. In this way, the detection result of the optical sensor 20 is that there is a cliff, causing the self-mobile cleaning device to execute an avoidance strategy, thereby interrupting the task of cleaning the dark carpet and making it impossible for the self-mobile cleaning device to clean the dark carpet smoothly.

[0154] In the present application, the current received light intensity value is 50, and by multiplying it by the third weight value 2, the target received light intensity value is calculated to be 100. In this way, the target received light intensity value 100 is compared with the current detection threshold 90. The target received light intensity value is greater than the current detection threshold, so that the detection result of the optical sensor 20 is that there is no cliff. Therefore, the self-moving cleaning device will not execute the avoidance strategy, that is, the self-moving cleaning device can continue to clean the dark carpet.

[0155] As shown in FIG10 , step S104 determines whether there is a cliff in the safety area based on the target detection parameters, including:

[0156] Step S1041b: Acquire the current detection threshold received by the optical sensor 20.

[0157] Step S1042b: Determine whether the target received light intensity value is greater than or equal to the current detection threshold. If so, execute step S1043b; if not, execute step S1044b.

[0158] Step S1043b: Determine whether there is no cliff in the safety area.

[0159] Step S1044b: Determine whether there is a cliff in the safety area.

[0160] For example, assuming that the current calibration threshold is 90, if the target received light intensity value is 100, that is, the current received light intensity value is greater than the target calibration threshold, then it indicates that there is no cliff in the safe area, and the self-moving cleaning device can continue to complete its task in the safe area.

[0161] If the current received light intensity value is 70, that is, the current received light intensity value is less than the target calibration threshold, then it is indicated that there is a cliff in the safe area, and the self-mobile cleaning device executes an avoidance strategy to avoid falling off the cliff and causing damage.

[0162] In this embodiment, by comparing the target received light intensity value with the current detection threshold, it is determined whether there is a cliff in the safe area. This can avoid the misjudgment of the optical sensor 20 due to the self-moving cleaning device climbing over obstacles or dark carpets, and can also ensure that the optical sensor 20 with reduced detection accuracy still has a certain detection capability. In this way, when the optical sensor 20 detects the existence of a cliff in the safe area, the self-moving cleaning device is controlled to execute an avoidance strategy, thereby reducing the probability of the self-moving cleaning device falling due to the cliff in the safe area, thereby improving the reliability of the self-moving cleaning device operating in the safe area.

[0163] Furthermore, in the above embodiment, step S107 includes:

[0164] When the self-mobile cleaning device moves out of the safe area, the target received light intensity value is adjusted to the current received light intensity value to restore the detection accuracy of the optical sensor.

[0165] When the self-mobile cleaning device moves out of the safe area, the target received light intensity value is adjusted to the current received light intensity value to restore the detection accuracy of the optical sensor. That is to say, when the self-mobile cleaning device moves out of the safe area, the current light intensity value of the reflected light received by the optical sensor 20 is compared with the current detection threshold to determine whether there is a cliff, thereby ensuring the accuracy of the optical sensor 20 in detection in other areas.

[0166] Furthermore, in the area to be cleaned 30, the area within a preset distance from the cliff is a non-safe area, so the optical sensor 20 cannot reduce the detection accuracy in this area, thereby avoiding the situation where the optical sensor 20 reduces the detection accuracy in areas near cliffs such as steps and their vicinity and fails to detect cliffs formed by steps.

[0167] The preset distance can be set by the staff and is not strictly limited in this embodiment. In some embodiments, the preset distance is 1m.

[0168] Furthermore, in the above embodiment, step S107 includes:

[0169] When the area to be cleaned 30 is updated, all safe areas are eliminated.

[0170] When the area to be cleaned 30 is updated, the original safety area is also eliminated, that is, the user needs to set a new safety area in the new area to be cleaned 30 , so that the safety area changes with the change of the area to be cleaned 30 .

[0171] An embodiment of the present invention also provides a self-moving cleaning device, comprising a controller; wherein the controller is used to execute: obtaining the positions of all safety areas in the area to be cleaned; when the self-moving cleaning device moves to any one of the safety areas, obtaining the current detection parameters of the optical sensor of the self-moving cleaning device; adjusting the current detection parameters of the optical sensor to the target detection parameters to reduce the detection accuracy of the optical sensor.

[0172] In one embodiment, the controller is further configured to: determine whether there is a cliff in the safety area based on the target detection parameters; if so, execute an avoidance strategy; if not, complete a task corresponding to the safety area.

[0173] In one embodiment, the controller is further configured to: when the self-moving cleaning device moves out of the safety area, adjust the target calibration detection parameter to the current detection parameter to restore the detection accuracy of the optical sensor.

[0174] In one embodiment, the current detection parameter includes a current detection threshold.

[0175] In one embodiment, the controller is further used to perform: obtaining a first weight value corresponding to the current detection threshold; calculating an initial calibration threshold based on the current detection threshold and the first weight value; determining whether the initial calibration threshold is less than a preset threshold, and if so, determining the preset threshold as the target calibration threshold, and if not, determining the initial calibration threshold as the target calibration threshold; adjusting the current detection threshold to the target calibration threshold to reduce the detection accuracy of the optical sensor.

[0176] In one embodiment, the controller is further used to perform: obtaining the correspondence between each preset detection threshold interval and each second weight value; finding the second weight value corresponding to the current detection threshold in the correspondence between each preset detection threshold interval and each second weight value; calculating the target calibration threshold based on the current detection threshold and the corresponding second weight value; adjusting the current detection threshold to the target calibration threshold to reduce the detection accuracy of the optical sensor.

[0177] In one embodiment, the controller is further used to execute: obtaining the current received light intensity value of the optical sensor; determining whether the current received light intensity value is greater than or equal to the target calibration threshold; if so, determining that there is no cliff in the safety area; if not, determining that there is a cliff in the safety area.

[0178] In one embodiment, the controller is further configured to: when the self-moving cleaning device moves out of the safety area, adjust the target calibration threshold to the current detection threshold to restore the detection accuracy of the optical sensor.

[0179] In one embodiment, the current detection parameter includes a current received light intensity value.

[0180] In one embodiment, the controller is also used to perform: obtaining a third weight value corresponding to the current received light intensity value; calculating a target received light intensity value based on the current received light intensity value and the corresponding third weight value; adjusting the current received light intensity value to the target received light intensity value to reduce the detection accuracy of the optical sensor.

[0181] In one embodiment, the controller is further used to execute: obtaining the current detection threshold received by the optical sensor; determining whether the target received light intensity value is greater than or equal to the current detection threshold; if so, determining that there is no cliff in the safety area; if not, determining that there is a cliff in the safety area.

[0182] In one embodiment, the controller is further configured to: when the self-mobile cleaning device moves out of the safety area, adjust the target received light intensity value to a current received light intensity value to restore the detection accuracy of the optical sensor.

[0183] In one embodiment, in the area to be cleaned, the area within a preset distance from the cliff is a non-safe area.

[0184] In one embodiment, the controller is further configured to execute: when the area to be cleaned is updated, eliminating all the safe areas.

[0185] An embodiment of the present invention also provides a non-volatile readable storage medium, wherein the non-volatile readable storage medium stores computer program code. When the computer program code is executed by a computing device, the computing device executes the control method of the self-moving cleaning device as described in any of the above embodiments.

[0186] An embodiment of the present invention further provides a computer program product, which is stored in a storage medium. When the computer program product is executed by at least one processor, the control method of the self-moving cleaning device as described in any of the above embodiments is implemented.

[0187] Those skilled in the art will appreciate that all or part of the steps in the above-mentioned method embodiments can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments can be performed. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as random access memory (RAM), static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, hard disk drive (HDD), solid-state drive (SSD) or optical disk, etc. The storage medium can also include a combination of the above-mentioned types of memory.

[0188] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0189] The present invention has been described through the above-described embodiments. However, it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present invention to the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments and that various variations and modifications may be made based on the teachings of the present invention, all of which fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for controlling a self-moving cleaning device, comprising: Get the locations of all safe areas in the area to be cleaned; When the self-moving cleaning device moves to any of the safety areas, obtaining current detection parameters of the optical sensor of the self-moving cleaning device; The current detection parameters of the optical sensor are adjusted to target detection parameters to reduce the detection accuracy of the optical sensor.

2. The method according to claim 1, further comprising: Based on the target detection parameters, it is determined whether there is a cliff in the safety area. If so, an avoidance strategy is executed; if not, the task corresponding to the safety area is completed.

3. The method according to claim 2, further comprising: When the self-mobile cleaning device moves out of the safety area, the target calibration detection parameter is adjusted to the current detection parameter to restore the detection accuracy of the optical sensor.

4. The method according to claim 3, wherein: The current detection parameters include a current detection threshold.

5. The method according to claim 4, wherein: The step of adjusting the current detection parameter of the optical sensor to the target detection parameter to reduce the detection accuracy of the optical sensor includes: Obtaining a first weight value corresponding to the current detection threshold; Calculating an initial calibration threshold based on the current detection threshold and the first weight value; Determine whether the initial calibration threshold is less than a preset threshold, if so, determine the preset threshold as a target calibration threshold, if not, determine the initial calibration threshold as a target calibration threshold; The current detection threshold is adjusted to the target calibration threshold to reduce the detection accuracy of the optical sensor.

6. The method according to claim 4, wherein: The step of adjusting the current detection parameter of the optical sensor to the target detection parameter to reduce the detection accuracy of the optical sensor includes: Obtaining a corresponding relationship between each preset detection threshold interval and each second weight value; In the correspondence between the preset detection threshold intervals and the second weight values, find the second weight value corresponding to the current detection threshold; Calculating a target calibration threshold based on the current detection threshold and the corresponding second weight value; The current detection threshold is adjusted to the target calibration threshold to reduce the detection accuracy of the optical sensor.

7. The method according to any one of claims 5 to 6, wherein: The determining, based on the target detection parameter, whether there is a cliff in the safety area includes: Obtaining the current light intensity value received by the optical sensor; Determine whether the current received light intensity value is greater than or equal to the target calibration threshold value. If so, determine that there is no cliff in the safety area. If not, determine that there is a cliff in the safety area.

8. The method according to claim 7, wherein: When the self-moving cleaning device moves out of the safety area, adjusting the target calibration detection parameter to the current detection parameter to restore the detection accuracy of the optical sensor includes: When the self-mobile cleaning device moves out of the safety area, the target calibration threshold is adjusted to the current detection threshold to restore the detection accuracy of the optical sensor.

9. The method according to claim 3, wherein: The current detection parameter includes the current received light intensity value.

10. The method according to claim 9, wherein: The step of adjusting the current detection parameter of the optical sensor to the target detection parameter to reduce the detection accuracy of the optical sensor includes: Obtaining a third weight value corresponding to the current received light intensity value; Based on the current received light intensity value and the corresponding third weight value, a target received light intensity value is calculated; The current received light intensity value is adjusted to the target received light intensity value to reduce the detection accuracy of the optical sensor.

11. The method according to claim 9 or 10, wherein: The determining, based on the target detection parameter, whether there is a cliff in the safety area includes: Obtaining a current detection threshold received by the optical sensor; It is determined whether the target received light intensity value is greater than or equal to the current detection threshold. If so, it is determined that there is no cliff in the safety area. If not, it is determined that there is a cliff in the safety area.

12. The method according to claim 11, wherein: When the self-mobile cleaning device moves out of the safety area, adjusting the optical target calibration detection parameter to the current detection parameter to restore the detection accuracy of the optical sensor includes: When the self-mobile cleaning device moves out of the safety area, the target received light intensity value is adjusted to the current received light intensity value to restore the detection accuracy of the optical sensor.

13. The method according to claim 3, wherein: In the area to be cleaned, the area within a preset distance from the cliff is a non-safe area.

14. The method according to claim 3, wherein: When the self-mobile cleaning device moves out of the safety area, after adjusting the target detection parameter to the current detection parameter to restore the detection accuracy of the optical sensor, the method further comprises: When the area to be cleaned is updated, all the safe areas are eliminated.

15. A self-propelled cleaning device, comprising a controller; in, The controller is used to perform: Get the locations of all safe areas in the area to be cleaned; When the self-moving cleaning device moves to any of the safety areas, obtaining current detection parameters of the optical sensor of the self-moving cleaning device; The current detection parameters of the optical sensor are adjusted to target detection parameters to reduce the detection accuracy of the optical sensor.

16. According to the device of claim 15, the controller is further used to execute: based on the target detection parameters, determine whether there is a cliff in the safety area, if so, execute an avoidance strategy, and if not, complete the task corresponding to the safety area.

17. The device according to claim 16, wherein the controller is further configured to: when the self-moving cleaning device moves out of the safety area, adjust the target calibration detection parameter to the current detection parameter to restore the detection accuracy of the optical sensor.

18. The apparatus according to claim 17, wherein: The current detection parameters include a current detection threshold.

19. The apparatus according to claim 18, wherein: The controller is also used to execute: Obtaining a first weight value corresponding to the current detection threshold; Calculating an initial calibration threshold based on the current detection threshold and the first weight value; Determine whether the initial calibration threshold is less than a preset threshold, if so, determine the preset threshold as a target calibration threshold, if not, determine the initial calibration threshold as a target calibration threshold; The current detection threshold is adjusted to the target calibration threshold to reduce the detection accuracy of the optical sensor.

20. The apparatus of claim 18, wherein: The controller is also used to execute: Obtaining a corresponding relationship between each preset detection threshold interval and each second weight value; In the correspondence between the preset detection threshold intervals and the second weight values, find the second weight value corresponding to the current detection threshold; Calculating a target calibration threshold based on the current detection threshold and the corresponding second weight value; The current detection threshold is adjusted to the target calibration threshold to reduce the detection accuracy of the optical sensor.

21. The device according to any one of claims 19-20, wherein: The controller is also used to execute: Obtaining the current light intensity value received by the optical sensor; Determine whether the current received light intensity value is greater than or equal to the target calibration threshold value. If so, determine that there is no cliff in the safety area. If not, determine that there is a cliff in the safety area.

22. The apparatus according to claim 21, wherein The controller is also used to execute: When the self-mobile cleaning device moves out of the safety area, the target calibration threshold is adjusted to the current detection threshold to restore the detection accuracy of the optical sensor.

23. The apparatus of claim 17, wherein: The current detection parameter includes the current received light intensity value.

24. The apparatus of claim 23, wherein: The controller is also used to execute: Obtaining a third weight value corresponding to the current received light intensity value; Based on the current received light intensity value and the corresponding third weight value, a target received light intensity value is calculated; The current received light intensity value is adjusted to the target received light intensity value to reduce the detection accuracy of the optical sensor.

25. Apparatus according to claim 23 or 24, wherein The controller is also used to execute: Obtaining a current detection threshold received by the optical sensor; It is determined whether the target received light intensity value is greater than or equal to the current detection threshold. If so, it is determined that there is no cliff in the safety area. If not, it is determined that there is a cliff in the safety area.

26. The apparatus of claim 15, wherein: The controller is also used to execute: When the self-mobile cleaning device moves out of the safety area, the target received light intensity value is adjusted to the current received light intensity value to restore the detection accuracy of the optical sensor.

27. The apparatus of claim 17, wherein: In the area to be cleaned, the area within a preset distance from the cliff is a non-safe area.

28. The apparatus of claim 17, wherein: The controller is also used to execute: When the area to be cleaned is updated, all the safe areas are eliminated.

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