Mobile cleaning robot-based surface covering cleaning method and apparatus

Abstract

A mobile cleaning robot-based surface covering cleaning method, comprising: acquiring boundary information and a surface covering category of a surface covering to be cleaned (101); performing low-risk boundary detection on a boundary of the surface covering to be cleaned, so as to determine low-risk boundary information (102), the low-risk boundary information being used to represent boundary information beneficial for moving the mobile cleaning robot to the upper surface of the surface covering; on the basis of the acquired surface covering category, determining an upward moving strategy of the mobile cleaning robot, the upward moving strategy causing the surface covering to not be pushed in a process of the mobile cleaning robot moving to the upper surface of the surface covering (103); at a low-risk boundary position determined on the basis of the low-risk boundary information, moving to the upper surface of the surface covering to be cleaned according to the determined upward moving strategy (104); and, according to a planned cleaning path of the surface covering, performing cleaning on the upper surface of the surface covering to be cleaned (105). The method improves surface covering cleaning reliability and efficiency.

Description

Surface covering cleaning method and device based on mobile cleaning robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on March 1, 2024, with application number 202410234555.6 and invention name “Surface covering cleaning method and device based on mobile cleaning robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to the field of mobile robot cleaning, and in particular, to a method and device for cleaning surface coverings based on a mobile cleaning robot. Background Art

[0003] In recent years, mobile cleaning robots have gradually entered the end-use market, boasting increasingly diverse functions. However, their cleaning performance on surface coverings such as carpets and floor mats is often suboptimal. For example, mobile cleaning robots frequently become stuck on, push, or even crawl under surface coverings, resulting in a poor user experience.

[0004] Existing surface cleaning methods often struggle to perform their cleaning tasks effectively in real-world scenarios. Some methods, limited by the surface's boundary, simply forcibly move up to the surface and clean it, ignoring various factors influencing the robot's upward movement. Others determine whether to clean the surface based on the height of the surface's lint, ignoring the robot's ability to successfully reach the surface in practice. Summary of the Invention

[0005] The embodiments of the present application provide a surface covering cleaning method and device based on a mobile cleaning robot to improve the reliability of the mobile cleaning robot moving to the upper surface of the surface covering, thereby improving the reliability and efficiency of the mobile cleaning robot in cleaning the surface covering.

[0006] A first aspect of an embodiment of the present application provides a surface covering cleaning method based on a mobile cleaning robot, the method comprising: on the mobile cleaning robot side,

[0007] Get the boundary information and surface covering type of the surface to be cleaned,

[0008] Low-risk boundary detection is performed on the boundary of the surface covering to be cleaned to determine low-risk boundary information, which is used to represent boundary information that is conducive to the mobile cleaning robot moving to the upper surface of the surface covering to be cleaned.

[0009] According to the acquired surface covering category, an upward movement strategy of the mobile cleaning robot is determined, wherein the upward movement strategy ensures that the surface covering to be cleaned itself is not pushed during the upward movement of the mobile cleaning robot to the upper surface of the surface covering to be cleaned.

[0010] At the low-risk boundary position determined based on the low-risk boundary information, according to the determined upward movement strategy, move to the upper surface of the surface to be cleaned.

[0011] On the surface of the surface to be cleaned, clean according to the cleaning path planned on the surface.

[0012] In one embodiment, the above-mentioned determining the upward movement strategy of the mobile cleaning robot according to the acquired surface covering category includes:

[0013] Determine the strength of adhesion between the surface covering to be cleaned and the supporting surface for supporting the surface covering to be cleaned and the height of the surface covering according to the type of the surface covering.

[0014] According to the strength of the adhesion between the surface covering to be cleaned and the supporting surface and the height of the surface covering, the corresponding upward movement strategy is determined. The upward movement strategy is used to determine the contact state between the walking wheels of the mobile cleaning robot and the boundary of the surface covering during the upward movement, and / or to determine the angle relationship between the moving direction of the mobile cleaning robot and the boundary of the surface covering during the upward movement.

[0015] In one embodiment, the mobile cleaning robot comprises a driving wheel and a driven wheel, wherein the driven wheel is located near the front of the mobile cleaning robot and the driving wheel is located away from the front of the mobile cleaning robot. The upward movement strategy is determined according to the adhesion strength between the surface covering to be cleaned and the supporting surface and the height of the surface covering, including:

[0016] In the case of strong adhesion between the surface to be cleaned and the supporting surface,

[0017] If the height of the surface covering is not greater than the set first height threshold, the first method is adopted.

[0018] If the height of the surface covering is greater than the set first height threshold, the second method is used.

[0019] In case of weak adhesion between the covering and the supporting surface to be cleaned,

[0020] If the height of the surface covering is not greater than the set second height threshold, the third method is adopted.

[0021] If the height of the surface covering is greater than the set second height threshold, the fourth method is adopted.

[0022] in,

[0023] The first method is: during the upward movement, each driving wheel of the mobile cleaning robot simultaneously contacts the boundary of the surface covering and moves upward to the upper surface of the surface covering to be cleaned, and each driven wheel moves upward to the upper surface of the surface covering to be cleaned before the driving wheel contacts the boundary of the surface covering.

[0024] The second method is: during the upward movement, each driving wheel of the mobile cleaning robot sequentially contacts the boundary of the surface covering and moves upward to the upper surface of the surface covering to be cleaned, and each driven wheel contacts the boundary of the surface covering and moves upward to the upper surface of the surface covering to be cleaned before the above driving wheels.

[0025] The third method is: during the upward movement, each driving wheel of the mobile cleaning robot simultaneously contacts the boundary of the surface covering and moves upward to the upper surface of the surface covering to be cleaned, and each driven wheel subsequently contacts the boundary of the driving wheel and moves upward to the upper surface of the surface covering to be cleaned.

[0026] The fourth method is: during the upward movement, each driving wheel of the mobile cleaning robot contacts the boundary of the surface covering one by one in turn and moves upward to the upper surface of the surface covering to be cleaned, and each driven wheel contacts the boundary of the surface covering and moves upward to the upper surface of the surface covering to be cleaned.

[0027] In one embodiment, the first mode includes a straight-up mode, the second mode includes an oblique-up mode, the third mode includes an inverted straight-up mode, and the fourth mode includes an inverted oblique-up mode.

[0028] in,

[0029] The above method is: the moving direction of the mobile cleaning robot is consistent with the normal direction of the front of the mobile cleaning robot, and the moving direction is perpendicular to the boundary of the surface covering.

[0030] The oblique upward method is: the moving direction of the mobile cleaning robot is consistent with the normal direction of the front of the mobile cleaning robot, and the moving direction forms an angle with the boundary of the surface covering,

[0031] The reverse and correct method is: the moving direction of the mobile cleaning robot is opposite to the normal direction of the front of the mobile cleaning robot, and the moving direction is perpendicular to the boundary of the surface covering.

[0032] The inverted oblique upward method is that the moving direction of the mobile cleaning robot is opposite to the normal direction of the front of the mobile cleaning robot, and the moving direction forms an angle with the boundary of the surface covering.

[0033] In one embodiment, the mobile cleaning robot has only driving wheels but no driven wheels.

[0034] The above-mentioned upward movement strategy is determined based on the strength of the adhesion between the surface covering to be cleaned and the supporting surface and the height of the surface covering, including:

[0035] In the case of strong adhesion between the surface to be cleaned and the supporting surface,

[0036] If the height of the surface covering is not greater than the set first height threshold, the upward method is adopted.

[0037] If the height of the surface covering is greater than the set first height threshold, the inclined upward method is adopted.

[0038] In case of weak adhesion between the covering and the supporting surface to be cleaned,

[0039] If the height of the surface covering is not greater than the set second height threshold, the reverse-up method is adopted.

[0040] If the height of the surface covering is greater than the set second height threshold, the reverse slant upward method is adopted.

[0041] in,

[0042] The above method is: the moving direction of the mobile cleaning robot is consistent with the normal direction of the front of the mobile cleaning robot, and the moving direction is perpendicular to the boundary of the surface covering.

[0043] The oblique upward method is: the moving direction of the mobile cleaning robot is consistent with the normal direction of the front of the mobile cleaning robot, and the moving direction forms an angle with the boundary of the surface covering,

[0044] The reverse and correct method is: the moving direction of the mobile cleaning robot is opposite to the normal direction of the front of the mobile cleaning robot, and the moving direction is perpendicular to the boundary of the surface covering.

[0045] The inverted oblique upward method is that the moving direction of the mobile cleaning robot is opposite to the normal direction of the front of the mobile cleaning robot, and the moving direction forms an angle with the boundary of the surface covering.

[0046] In one embodiment, the angle is between 5° and 85°.

[0047] In one embodiment, the step of obtaining boundary information and surface covering type of the surface covering to be cleaned includes:

[0048] The mobile cleaning robot obtains current image data while performing a cleaning task, and obtains regional information of the surface covering to be cleaned and the type of the surface covering from the current image data;

[0049] In one embodiment, the cleaning of the upper surface of the surface covering to be cleaned according to the cleaning path planned for the surface covering includes:

[0050] Surface covering map data is acquired from the map data, and based on the surface covering map data, a bow-shaped cleaning path is planned with the long side of the surface covering to be cleaned, so as to perform cleaning according to the cleaning path.

[0051] In one embodiment, the angle is 45°.

[0052] In one embodiment, the step of obtaining the area information of the surface covering to be cleaned and the type of the surface covering from the current image data includes:

[0053] The trained deep learning segmentation network model is used to identify the current image data and obtain the surface covering area information in the current image data.

[0054] Using the trained deep neural network model, the surface covering area in the current image data is identified to obtain the surface covering category;

[0055] In one embodiment, the determining of low-risk boundary information based on the acquired surface covering area information includes:

[0056] Extracting the boundary information of the surface covering from the acquired surface covering area information,

[0057] For the extracted surface covering boundary information, the boundary gradients in more than one sliding window are calculated to obtain more than one boundary gradient.

[0058] For each boundary gradient, if the boundary gradient is not greater than a set boundary gradient threshold, the boundary in the sliding window corresponding to the boundary gradient is determined to be a low-risk boundary.

[0059] In one embodiment, there are multiple sliding windows, each of which has the same size, and each of which is continuously adjacent to the other along the boundary.

[0060] In one embodiment, the boundary gradient is calculated as follows:

[0061] The ratio between the one-dimensional position change and the other-dimensional position change of the extracted surface covering boundary within a sliding window is calculated to obtain the boundary gradient within the sliding window.

[0062] In one embodiment, the second aspect of the present application provides a surface covering cleaning device based on a mobile cleaning robot, the device comprising a memory and a processor, the memory storing a computer program, and the processor being configured to execute the computer program to perform any of the steps of the above-mentioned surface covering cleaning method based on a mobile cleaning robot.

[0063] In one embodiment, the third aspect of the present application provides a mobile cleaning robot, comprising a surface covering cleaning device based on the above-mentioned mobile cleaning robot.

[0064] An embodiment of the present application further provides a mobile cleaning robot, comprising the above-mentioned surface covering cleaning device based on the mobile cleaning robot.

[0065] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the surface covering cleaning method based on the mobile cleaning robot are implemented.

[0066] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the steps of the above-mentioned surface covering cleaning method based on a mobile cleaning robot.

[0067] An embodiment of the present application further provides a computer program comprising instructions, which, when executed on a computer, enables the computer to execute the steps of the above-mentioned surface covering cleaning method based on a mobile cleaning robot.

[0068] The surface covering cleaning method based on the mobile cleaning robot provided in the embodiment of the present application can identify uneven risk points such as warped edges and bulges on the surface covering boundaries through low-risk boundary detection, and can effectively avoid the cleaning risk problems caused by uneven risk boundaries; that is, the low-risk boundary information determined by the low-risk boundary detection can avoid uneven risk points such as warped edges and bulges on the surface covering boundaries to be cleaned, thereby effectively avoiding the cleaning risk problems caused by uneven risk boundaries; at the low-risk boundary position, by adopting corresponding upward movement strategies for different surface covering categories, the mobile cleaning robot can stably move up to the surface covering area for cleaning, which can not only avoid the mobile cleaning robot from pushing the surface covering, but also improve the reliability and efficiency of surface covering cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0070] FIG1 is a flow chart of a surface covering cleaning method based on a mobile cleaning robot according to an embodiment of the present application.

[0071] FIG2 is a schematic diagram of a process for cleaning a surface covering according to an embodiment of the present application.

[0072] FIG3 is a schematic diagram of a visual image and a surface covering segmented based on the visual image according to an embodiment of the present application.

[0073] FIG4 a is a schematic diagram showing a method of projecting carpet boundary line information extracted from the segmented surface covering image of FIG3 into a two-dimensional space coordinate system according to an embodiment of the present application.

[0074] FIG4 b is a schematic diagram of calculating a boundary gradient according to an embodiment of the present application.

[0075] FIG4 c is another schematic diagram of projecting the extracted carpet boundary according to an embodiment of the present application.

[0076] FIG5 is a schematic diagram of an upward shift strategy according to an embodiment of the present application.

[0077] FIG6 is a schematic diagram of a surface covering cleaning device based on a mobile cleaning robot according to an embodiment of the present application.

[0078] FIG7 is another schematic diagram of a surface covering cleaning device based on a mobile cleaning robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0079] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clearly understood, the embodiments of the present application are further described in detail below with reference to the accompanying drawings and examples. Obviously, the embodiments described are only part of the embodiments of the present application, not all of them. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field fall within the scope of protection of the embodiments of the present application.

[0080] In order to make the purpose, technical means and advantages of this application more clear, this application is further described in detail below with reference to the accompanying drawings.

[0081] In an embodiment of the present application, at a low-risk boundary position, the mobile cleaning robot moves from the supporting surface for supporting the surface covering body to the upper surface of the surface covering with an upward movement strategy corresponding to the category of the surface covering, so that the mobile cleaning robot can reliably clean the upper surface of the surface covering.

[0082] It should be understood that in the embodiments of the present application, for example, the surface covering can be a carpet or mat on the ground in an indoor environment or an outdoor environment, or it can be a covering on any plane, for example, a specific covering on a display plane, that is, a covering on any display plane, the display plane can be a tabletop, a tabletop of different heights, etc., and the specific covering can also be a carpet, a mat, etc. The lower surface of the surface covering is in contact with a bearing surface for bearing the main body of the surface covering, and the upper surface of the surface covering is the area to be cleaned. For surface coverings with a certain thickness, this causes a height difference between the bearing surface and the upper surface of the covering, and the process of the mobile cleaning robot moving from the bearing surface to the upper surface of the covering is a process of moving from a low place to a high place, which is referred to as an upward movement process in the present application.

[0083] Referring to FIG1 , FIG1 is a flow chart of a surface cleaning method based on a mobile cleaning robot according to an embodiment of the present application. The method comprises: on the mobile cleaning robot side,

[0084] Step 101: Obtain boundary information and surface covering type of the surface covering to be cleaned.

[0085] In one embodiment, the user can input the boundary information and surface covering category of the surface covering to be cleaned through the user interaction interface. For example, the boundary position information of the surface covering to be cleaned is marked in the map data, and the surface covering category of the surface covering to be cleaned is selected through the user interaction interface.

[0086] In another embodiment, the mobile cleaning robot is capable of collecting image data. When performing a cleaning task, the mobile cleaning robot obtains the collected current image data and obtains the area information of the surface covering to be cleaned and the category of the surface covering from the current image data.

[0087] The boundary information of the surface covering to be cleaned can be analyzed through the obtained regional information of the surface covering to be cleaned; and, exemplarily, the surface covering categories may include: silica gel algae mud carpet, plush carpet, velvet carpet, Saxony carpet, strong twist carpet, long pile carpet, flat loop pile carpet, Thai Yuan carpet, cut loop pile carpet, etc.

[0088] It should be noted that the above description of obtaining boundary information of the surface covering to be cleaned and the category of the surface covering, as well as the description of the category of the surface covering, are merely examples and should not constitute a limitation on the embodiments of the present application.

[0089] In addition, the surface covering cleaning method based on a mobile cleaning robot provided in the embodiment of the present application can be applied to a mobile cleaning robot, that is, the surface covering cleaning method based on a mobile cleaning robot provided in the embodiment of the present application is performed by a mobile cleaning robot. Exemplarily, the mobile cleaning robot can be a sweeping robot (such as a sweeper) and the like. Moreover, the surface covering to be cleaned is the surface covering to be cleaned. The specific form of the surface covering to be cleaned and the cleaning scene to which it belongs can be referred to the corresponding introduction to the surface covering mentioned above, which will not be elaborated here.

[0090] In step 102, a low-risk boundary detection is performed on the boundary of the covering on the surface to be cleaned to determine low-risk boundary information. The low-risk boundary information is used to represent boundary information that is conducive to the mobile cleaning robot moving to the upper surface of the covering on the surface to be cleaned; that is, boundary information that is unlikely to cause the mobile cleaning robot to be unable to move to the upper surface of the covering on the surface to be cleaned.

[0091] In this step, low-risk boundary detection is used to detect whether the boundary of the surface covering to be cleaned has curling edges, protrusions, or the like that would prevent the mobile cleaning robot from moving to the boundary of the upper surface of the surface covering to be cleaned, such as an uneven boundary. That is, when performing low-risk boundary detection, it is possible to detect whether the boundary of the surface covering to be cleaned has curling edges, protrusions, or the like that would prevent the mobile cleaning robot from moving to the boundary of the upper surface of the surface covering to be cleaned, thereby obtaining low-risk boundary information by avoiding such boundaries. Furthermore, when performing low-risk boundary detection, the boundary of the surface covering to be cleaned is determined based on the acquired boundary information of the surface covering to be cleaned, thereby detecting whether the boundary of the surface covering to be cleaned has uneven boundaries such as curling edges, protrusions, or the like, thereby obtaining low-risk boundary information.

[0092] The low-risk boundary information is used to represent boundary information that facilitates the mobile cleaning robot's movement to the upper surface of the surface to be cleaned. The so-called low-risk boundary information facilitates the mobile cleaning robot's movement to the upper surface of the surface to be cleaned, which can be understood as information about the boundary without uneven edges, ridges, or other irregularities. Thus, the mobile cleaning robot will not be hindered by uneven edges, ridges, or other irregularities during its movement to the upper surface of the surface to be cleaned. In other words, the low-risk boundary information refers to boundary information other than uneven boundaries, and uneven boundaries are boundaries that hinder the mobile cleaning robot's upward movement.

[0093] In one embodiment, low-risk boundary detection can be performed using boundary gradients. For example, boundary gradients within one or more sliding windows are calculated (i.e., boundary gradients within at least one sliding window are calculated) to obtain one or more boundary gradients (at least one boundary gradient). For each boundary gradient, if the boundary gradient is not greater than a set boundary gradient threshold, the boundary within the sliding window corresponding to the boundary gradient is determined to be a low-risk boundary. The size of the sliding window and the step size of the sliding window can be set according to actual conditions. For example, to improve analysis efficiency, the sliding size and window size of the sliding window can be the same, but this is not limited to this.

[0094] In one embodiment, the boundary gradient is calculated as follows:

[0095] The ratio of the position change of the extracted surface covering boundary in one dimension to the position change in another dimension within a sliding window is calculated (for example, the ratio of the longitudinal position change to the lateral position change of the extracted surface covering boundary within the sliding window is calculated, i.e., the longitudinal direction can be one dimension and the lateral direction can be another dimension), to obtain the boundary gradient within the sliding window. The sliding window is used to divide the projected surface covering boundary into a plurality of line segments, which is equivalent to fitting the projected surface covering boundary with a plurality of line segments to facilitate the calculation of the boundary gradient.

[0096] For example, in the image coordinate system, the ratio between the one-dimensional pixel position change and the other-dimensional pixel position change of the extracted surface covering boundary within a sliding window is calculated (that is, the position change can be reflected by the pixel position change) to obtain the boundary gradient within the sliding window.

[0097] For another example, the extracted surface covering boundary is projected into a two-dimensional coordinate system (i.e., projected into a two-dimensional coordinate system), and the two-dimensional coordinate system is used to correspond the image pixel position information of the surface covering boundary to the two-dimensional coordinate position information.

[0098] In a two-dimensional coordinate system, the ratio between the one-dimensional coordinate change of the projected surface covering boundary within a sliding window and the other-dimensional coordinate change is calculated (i.e., the pixel position change can be reflected by the coordinate change, for example: the ratio between the longitudinal coordinate change and the transverse coordinate change of the projected surface covering boundary within a sliding window is calculated) to obtain the boundary gradient within the sliding window.

[0099] Step 103: Determine the upward movement strategy of the mobile cleaning robot based on the acquired surface covering category. The upward movement strategy ensures that the surface covering to be cleaned itself is not pushed during the upward movement of the mobile cleaning robot to the upper surface of the surface covering to be cleaned.

[0100] In one embodiment, the strength of the adhesion between the surface covering to be cleaned and the supporting surface for supporting the surface covering to be cleaned, as well as the height of the surface covering, are determined based on the type of surface covering. Based on the strength of the adhesion between the surface covering to be cleaned and the supporting surface, as well as the height of the surface covering, a corresponding upward movement strategy is determined. The upward movement strategy is used to determine the angle relationship between the moving direction of the mobile cleaning robot and the boundary of the surface covering during the upward movement, and / or to determine the contact state between the running wheels of the mobile cleaning robot and the boundary of the surface covering during the upward movement. The running wheels of the mobile cleaning robot, i.e., the pulleys used to enable the mobile cleaning robot to move, may include a driving wheel, or a driving wheel and a driven wheel; illustratively, the contact state of the running wheels of the mobile cleaning robot with the boundary of the surface covering, i.e., the order in which the running wheels of the mobile cleaning robot contact the boundary of the surface covering during the upward movement, may be, for example, simultaneous contact or wheel-by-wheel contact, etc.

[0101] For example, the magnitude of the adhesion between the supporting surfaces corresponding to the surface covering category for supporting the surface covering to be cleaned and the surface covering height of the surface covering to be cleaned can be determined based on the mapping relationship between the surface covering category, adhesion and surface covering height.

[0102] In one embodiment, the mobile cleaning robot has driving wheels and driven wheels, for example, a pair of driving wheels and a pair of driven wheels, the driving wheels are evenly distributed on the chassis of the mobile cleaning robot, the driven wheels are located close to the front face of the mobile cleaning robot, and the driving wheels are located away from the front face of the mobile cleaning robot, that is, the distance from the driven wheels to the front face is smaller than the distance from the driving wheels to the front face, wherein the front face of the mobile cleaning robot is the front of the mobile cleaning robot.

[0103] In the case of strong adhesion between the surface to be cleaned and the supporting surface,

[0104] If the height of the surface covering is not greater than the set first height threshold, the first method is adopted to determine the corresponding upward movement strategy (that is, the first method is determined as the corresponding upward movement strategy).

[0105] If the height of the surface covering is greater than the set first height threshold, the second method is used to determine the corresponding upward movement strategy (that is, the second method is determined as the corresponding upward movement strategy).

[0106] In case of weak adhesion between the covering and the supporting surface to be cleaned,

[0107] If the height of the surface covering is not greater than the set second height threshold, the third method is adopted to determine the corresponding upward movement strategy (that is, the third method is determined as the corresponding upward movement strategy).

[0108] If the height of the surface covering is greater than the set second height threshold, the fourth method is adopted to determine the corresponding upward movement strategy (that is, the fourth method is determined as the corresponding upward movement strategy).

[0109] In an embodiment of the present application, the magnitude of the adhesion between the surface covering and the load-bearing surface can be classified. For example, a mapping relationship between the surface covering category and the strength of the adhesion is pre-set, and the strength of the adhesion can be divided into a first type of strength and a second type of strength. The first type of strength has a greater adhesion than the second type of strength, and the first type of strength is used to characterize a strong adhesion between the surface covering and the load-bearing surface, and the second type of strength is used to characterize a weak adhesion between the surface covering and the load-bearing surface; that is, for a surface covering of the first type of strength, when the mobile cleaning robot is moving forward toward the surface covering, the universal wheel or side brush of the mobile cleaning robot will not push the surface covering to move.

[0110] Similarly, for a surface covering of the second intensity category, when the mobile cleaning robot moves forward toward the surface covering, the universal wheels or side brushes of the mobile cleaning robot will push the surface covering to move.

[0111] When the adhesion between the surface covering to be cleaned and the supporting surface is strong, it can be considered that the category of the surface covering is determined to be the first type of strength; when the adhesion between the surface covering to be cleaned and the supporting surface is weak, it can be considered that the category of the surface covering is determined to be the second type of strength.

[0112] in,

[0113] The first method is: during the upward movement, each driving wheel of the mobile cleaning robot contacts the boundary of the surface covering at the same time and moves upward to the upper surface of the surface covering to be cleaned, and each driven wheel contacts the boundary of the surface covering before the driving wheel and moves upward to the upper surface of the surface covering to be cleaned. In this way, by the driven wheel contacting the boundary of the surface covering before the driving wheel, it is possible to use the sensor installed on the front face for detection (the installed sensor may include: laser radar, ultrasonic sensor, etc., and the environmental information can be identified by the installed sensor), and the strong adhesion of the surface covering can be used without fear of pushing the surface covering. By contacting the boundary of the surface covering at the same time, it is beneficial to improve the efficiency of the mobile cleaning robot in moving up to the surface covering at a low height (that is, the height of the surface covering is not greater than the set first height threshold).

[0114] The second method is: during the upward movement, the driving wheels of the mobile cleaning robot sequentially contact the boundary of the surface covering and move upward to the upper surface of the surface covering to be cleaned, and the driven wheels contact the boundary of the surface covering before the driving wheels and move upward to the upper surface of the surface covering to be cleaned. In this way, by sequentially contacting the boundary of the surface covering one by one, it is helpful to reduce the difficulty of the mobile cleaning robot moving up to a surface covering at a high height (i.e., the height of the surface covering is greater than the set first height threshold), avoid the increase in the power of the driving motor used to drive the driving wheels, and help reduce the crushing pressure on the surface covering.

[0115] The third method is: during the upward movement, each driving wheel of the mobile cleaning robot contacts the boundary of the surface covering at the same time and moves upward to the upper surface of the surface covering to be cleaned, and each driven wheel moves upward to the upper surface of the surface covering to be cleaned after the driving wheel contacts the boundary of the surface covering. In this way, the driving wheel contacts the boundary of the surface covering before the driven wheel, so that the driving wheel can actively form a direct crushing force on the surface covering, thereby avoiding pushing the surface covering with weak adhesion during the upward movement. By contacting the boundary of the surface covering at the same time, it is beneficial to improve the efficiency of the mobile cleaning robot in moving up to the surface covering of a low height (that is, the height of the surface covering is not greater than the set second height threshold), and it is beneficial to increase the crushing force formed by the driving wheel on the surface covering, thereby reducing the possibility of the surface covering being pushed.

[0116] A fourth method is as follows: during the upward movement process, each driving wheel of the mobile cleaning robot sequentially contacts the boundary of the surface covering and moves upward to the upper surface of the surface covering to be cleaned, and each driven wheel moves upward to the upper surface of the surface covering after the driving wheel contacts the boundary of the surface covering. In this way, by sequentially contacting the boundary of the surface covering, the difficulty of the mobile cleaning robot ascending to a surface covering at a high height (i.e., a surface covering height greater than a set second height threshold) is reduced, thereby avoiding an increase in drive motor power and a reduction in the likelihood of the surface covering being pushed. It should be understood that the aforementioned simultaneous contact of each driving wheel with the boundary of the surface covering refers to the contact of each driving wheel with the boundary of the surface covering sequentially, and can be understood as synchronous, i.e., each driving wheel contacts the boundary of the surface covering synchronously, and sequentially can be understood as asynchronous, i.e., each driving wheel contacts the boundary of the surface covering asynchronously.

[0117] The first method includes a straight-up method, the second method includes an oblique-up method, the third method includes an inverted straight-up method, and the fourth method includes an inverted oblique-up method.

[0118] in,

[0119] The above method is: the moving direction of the mobile cleaning robot is consistent with the normal direction of the front of the mobile cleaning robot, and the moving direction is perpendicular to the boundary of the surface covering.

[0120] The oblique upward method is: the moving direction of the mobile cleaning robot is consistent with the normal direction of the front of the mobile cleaning robot, and the moving direction forms an angle with the boundary of the surface covering,

[0121] The reverse and correct method is: the moving direction of the mobile cleaning robot is opposite to the normal direction of the front of the mobile cleaning robot, and the moving direction is perpendicular to the boundary of the surface covering.

[0122] The inverted upward method is: the moving direction of the mobile cleaning robot is opposite to the normal direction of the front of the mobile cleaning robot, and the moving direction forms an angle with the edge of the surface covering. (The angle between the moving direction and the edge of the surface covering is an angle between 0° and 90°. When vertical, the angle between the moving direction and the edge of the surface covering is 90°.)

[0123] In the case where the mobile cleaning robot has only driving wheels and no driven wheels, for example, a pair of driving wheels,

[0124] In the case of strong adhesion between the surface to be cleaned and the supporting surface,

[0125] If the height of the surface covering is not greater than the set first height threshold, the upward method is adopted to determine the corresponding upward movement strategy.

[0126] If the height of the surface covering is greater than the set first height threshold, the oblique upward method is adopted to determine the corresponding upward movement strategy.

[0127] In case of weak adhesion between the covering and the supporting surface to be cleaned,

[0128] If the height of the surface covering is not greater than the set second height threshold, the reverse upward method is adopted to determine the corresponding upward movement strategy.

[0129] If the height of the surface covering is greater than the set second height threshold, the reverse oblique upward method is adopted to determine the corresponding upward movement strategy. Steps 102 and 103 may not be in a strict order and may be executed in parallel.

[0130] in,

[0131] The above method is: the moving direction of the mobile cleaning robot is consistent with the normal direction of the front of the mobile cleaning robot, and the moving direction is perpendicular to the boundary of the surface covering.

[0132] The oblique upward method is: the moving direction of the mobile cleaning robot is consistent with the normal direction of the front of the mobile cleaning robot, and the moving direction forms an angle with the boundary of the surface covering,

[0133] The reverse and correct method is: the moving direction of the mobile cleaning robot is opposite to the normal direction of the front of the mobile cleaning robot, and the moving direction is perpendicular to the boundary of the surface covering.

[0134] The inverted oblique upward method is that the moving direction of the mobile cleaning robot is opposite to the normal direction of the front of the mobile cleaning robot, and the moving direction forms an angle with the boundary of the surface covering.

[0135] Step 104: at the low-risk boundary position determined based on the low-risk boundary information, move to the upper surface of the surface to be cleaned according to the determined upward movement strategy.

[0136] Step 105 : Cleaning the upper surface of the surface covering to be cleaned according to the cleaning path planned for the surface covering.

[0137] In one embodiment, the surface covering to be cleaned is treated as an independent area, and a bow-shaped cleaning path (the path can be a route) is planned according to the long side of the upper surface size of the surface covering to be cleaned, and the cleaning path planned for the surface covering can also include cleaning paths of other shapes. The present application does not limit the planning method of the cleaning path for the surface covering. The embodiment of the present application performs low-risk boundary detection on the boundary of the surface covering to be cleaned, thereby preventing the mobile cleaning robot from moving from the boundary of the surface covering with curling, protrusions, etc. to the upper surface of the surface covering, and moves up to the upper surface of the surface covering to be cleaned through an upward movement strategy that matches the category of the surface covering, thereby preventing the surface covering from being pushed, and improving the efficiency and reliability of cleaning the upper surface of the surface covering.

[0138] To facilitate understanding of this application, the following description uses a sweeper cleaning a carpet as an example. In this example, the side brush is mounted on the front of the sweeper, and the sweeper's travel wheels include drive wheels but not driven wheels. It should be understood that this embodiment is not limited to the specific structure of a sweeper or carpets themselves, but may also include other surface coverings such as carpets and floor mats.

[0139] Referring to FIG2 , FIG2 is a schematic diagram of a process for carpet cleaning according to an embodiment of the present application. The method includes:

[0140] Step 201: The mobile cleaning robot obtains current image data while performing a cleaning task, and obtains the carpet area location information and carpet category of the carpet to be cleaned from the current image data.

[0141] In one embodiment, a trained deep learning segmentation network model such as HRNet-18 (High-Resolution Network, a deep convolutional neural network for human posture estimation and image segmentation) is used to recognize the current visual image, wherein the deep learning segmentation network model is an image semantic segmentation model. By training the deep learning segmentation network model with different types of carpet visual images as samples, the carpet image contained in the image can be segmented from the visual image. For example, referring to FIG3 , FIG3 is a schematic diagram of a carpet segmented based on a visual image. The upper half of the figure is a frame of visual image obtained by a sweeper, and the lower half is an image segmented by the deep learning segmentation network model, wherein the gray area is the segmented carpet image. When it is detected that a carpet image is contained in the visual image, the current positioning is triggered, and the carpet area location information is obtained from the map data. After the carpet area location information is determined, the carpet boundary information can be determined.

[0142] In one embodiment, when a carpet image is identified in a visual image, a trained deep neural network can be used to detect the carpet category of the current visual image. Generally, carpet categories based on carpet texture and production process include: silica algae mud carpet, plush carpet, velvet carpet, Saxony carpet, strong twist carpet, long pile carpet, flat loop pile carpet, Thai yuan carpet, cut loop pile carpet, etc. Given that the carpet cleaning process in this embodiment is primarily affected by the adhesion between the carpet and the ground, as well as the carpet thickness, the lower the adhesion, the more difficult it is for the sweeper to move from the ground to the carpet's upper surface. The thicker the carpet, the more likely it is to encounter difficulties in moving the carpet. These difficulties in moving the carpet up are all considered difficulties in moving the carpet up. Therefore, in this embodiment, carpet category detection can be distinguished by silica algae mud carpet, thick pile carpet, loop carpet, and thin pile carpet. Among them, silica algae mud carpet has the strongest adhesion to the ground, while thin pile carpet has weaker adhesion to the ground. The adhesion between thick pile carpet and loop carpet lies between silica algae mud carpet and thin pile carpet, respectively. The deep neural network can be trained using carpet visual image samples so that the deep neural network has the ability to detect carpet categories based on carpet visual images.

[0143] Step 202 : performing low-risk carpet boundary detection on the carpet boundary of the carpet to be cleaned to obtain low-risk carpet boundary information.

[0144] After obtaining the carpet area location information, the carpet area and the carpet boundary line can be determined based on the carpet area location information; alternatively, the discrete boundary points of the carpet can be obtained through the radar data reflected by the radar sensor, and then the carpet boundary line can be fitted based on the discrete boundary points. In addition, the radar data reflected by the radar sensor can also be used to identify the category of the carpet to verify the carpet category detected in step 201.

[0145] In this step, low-risk carpet boundary information refers to boundary information that is unlikely to cause the sweeper to be unable to move to the upper surface of the carpet, including the boundary position information of the carpet that can be moved, for example, the edge position information of the carpet boundary that does not have curling or raised areas and is conducive to the sweeper moving to the upper surface of the carpet.

[0146] To obtain low-risk carpet boundary information, the segmented carpet boundary image can be detected in the following way:

[0147] Using a line extraction operator, such as the Candy operator, the carpet boundary information is extracted from the segmented carpet image and projected into a two-dimensional coordinate system, such as a Cartesian coordinate system, to obtain a boundary information set R. The Cartesian coordinate system corresponds to the image coordinate system. This allows the image pixel position information to be mapped to two-dimensional coordinate position information. For example, using a line extraction operator to extract boundary line information for the gray area in Figure 3, the lower boundary of the extracted boundary line information is projected into the Cartesian coordinate system, as shown in Figure 4a.

[0148] The projected boundary line is shown in FIG4b, which is a schematic diagram of calculating the boundary gradient. The boundary gradient of the carpet boundary extraction line is calculated with a sliding window size delta, which is expressed as: Dz = Δy / Δx,

[0149] Among them, Dz represents the boundary gradient, Δy represents the coordinate change of the y-axis in the sliding window delta, and Δx represents the coordinate change of the x-axis in the sliding window delta.

[0150] Obtain boundary gradients Dz = (Dz_1, Dz_2, ..., Dz_n) of n sliding windows of size Delta = (delta_1, delta_2, ..., delta_n); where n is a natural number greater than 1. The sizes of the sliding windows can be the same or different, and the positions of the sliding windows are different. To improve detection accuracy, the sliding windows are continuously adjacent along the boundaries. In this way, the boundaries of the carpet can be detected.

[0151] For any Dz_i in the boundary gradient Dz, if the Dz_i is greater than the set boundary gradient threshold sigma, it is considered that there is a risk in the boundary within the sliding window, and the risk boundary set R1 is obtained.

[0152] Eliminating the risk boundary, the low-risk carpet boundary is R2 = R–R1.

[0153] Given that the boundary gradient is related to the coordinate change, the extracted boundary line can be projected onto the x-axis, as shown in Figure 4c. The thick black line segment in the figure is the projected boundary, most of which coincides with the x-axis. The raised part of the black line segment is the curling boundary. The boundary gradient is calculated by sliding window 1 to sliding window n. The grid part represents the carpet. In this way, for the flat boundary line part, the coordinate change of the y-axis in the sliding window is 0, and the boundary gradient is 0. For the uneven boundary line part, the coordinate change of the y-axis is obvious, and the boundary gradient is obvious. This can greatly reduce the amount of calculation and improve the accuracy of detection.

[0154] Step 203 : Based on the low-risk carpet boundary information, different carpet placement strategies, ie, upward movement strategies, are adopted for different carpet categories, and the carpet is moved upward from the low-risk area boundary position to the carpet upper surface using the corresponding upward movement strategies.

[0155] In one embodiment, based on the low-risk carpet boundary information, a carpet boundary location is selected as the upper carpet location information. For example, locations within a set range of carpet boundaries that are all low-risk carpet boundaries are selected as the upper carpet location. Then, different upward movement strategies are employed for different carpet types. The upper carpet location information selected from the determined low-risk carpet boundary information is moved upward to the carpet's upper surface.

[0156] If the adhesion between the carpet and the ground is strong, for example, silica gel carpet, then when the sweeper moves forward towards the carpet, its universal wheels or side brushes will not push the carpet.

[0157] When the carpet height is less than the first height threshold h_1, the carpet is placed in a straight-up manner, as shown in a in FIG5 .

[0158] When the carpet height is greater than or equal to the first height threshold h_1, the carpet is placed in an oblique manner, as shown in b in FIG5 ;

[0159] If the carpet has weak adhesion to the ground, such as a thin pile carpet, when the sweeper moves forward towards the carpet, its universal wheels or side brushes will push the carpet.

[0160] When the carpet height is less than the second height threshold g_1, the carpet is placed upside down, as shown in c in FIG5 ;

[0161] When the height of the carpet is greater than the second height threshold g_1, the carpet is placed in an inverted and oblique manner, as shown in d in FIG5 .

[0162] The thick black arrow in Figure 5 indicates the moving direction of the sweeper.

[0163] in,

[0164] Forward driving means: the moving direction of the sweeper is perpendicular to the front of the sweeper.

[0165] The straight-up method for sweeping the carpet refers to a method in which the sweeper moves in the same direction as the normal direction of the front face of the sweeper and is perpendicular to the edge of the carpet. That is, when the normal direction of the front face of the sweeper points to the edge of the carpet and is perpendicular to the edge of the carpet, the sweeper moves in the same direction as the normal direction of the front face of the sweeper, so that the driving wheels of the sweeper move simultaneously to the upper surface of the carpet.

[0166] Obliquely ascending the carpet means that the moving direction of the sweeper is consistent with the normal direction of the front face of the sweeper, and the moving direction forms an angle with the edge of the carpet. That is to say, when the normal direction of the front face of the sweeper forms an angle with the edge of the carpet, the moving direction of the sweeper is consistent with the normal direction of the front face of the sweeper, so that the driving wheels of the sweeper move to the upper surface of the carpet one by one in sequence, rather than moving to the upper surface of the carpet at the same time.

[0167] The reverse-upward-upward method of sweeping the carpet refers to a method in which the sweeper moves in the opposite direction to the normal direction of the front face of the sweeper and is perpendicular to the edge of the carpet. That is, when the normal direction of the front face of the sweeper is away from the edge of the carpet and perpendicular to the edge of the carpet, the sweeper moves in the direction perpendicular to the edge of the carpet and away from the normal direction of the front face, so that the driving wheels of the sweeper move to the upper surface of the carpet at the same time.

[0168] Laying the carpet in an inverted oblique manner means that the moving direction of the sweeper is opposite to the normal direction of the front face of the sweeper, and the moving direction forms an angle with the boundary of the carpet. That is to say, when the normal direction of the front face of the sweeper forms an angle with the boundary of the carpet, the moving direction of the sweeper deviates from the normal direction of the front face of the sweeper, so that the driving wheels of the sweeper move to the upper surface of the carpet one by one in sequence, instead of moving to the upper surface of the carpet at the same time. In this way, the driving wheels move to the upper surface of the carpet in a rolling manner, which can avoid pushing the carpet.

[0169] The included angle is between 5° and 85°. In one embodiment, the included angle is 45°.

[0170] It should be understood that the carpet height can be the carpet thickness, which can be set according to the carpet type. For example, the height of the silica gel algae mud carpet is about 3 mm, the height of the thin pile carpet is less than 10 mm, and the height of the thick pile carpet is above 10 mm and below 20 mm.

[0171] In one embodiment, after determining the upper carpet position information and the upward movement strategy, the sweeping robot determines the spatial position corresponding to the upper carpet position information based on the upper carpet position information, based on the current positioning result and map data, and moves to the upper surface of the carpet at this position using the upward movement strategy.

[0172] Step 204: After the sweeper moves to the upper surface of the carpet, it plans the cleaning path based on the acquired carpet area location information.

[0173] In one embodiment, the size information of the carpet surface area is determined based on the obtained carpet area position information, and a bow-shaped planning path is determined based on the long side. Cleaning is performed according to the determined planning path to improve carpet cleaning efficiency.

[0174] The sweeper in this embodiment can stably move up to the top of the carpet and clean it efficiently, effectively avoiding the problem of the sweeper being unable to reach the carpet due to the sweeping brush, chassis, drive wheel and other structures. The carpet in this embodiment is universal and can be competent for cleaning carpets with different sweeper structural designs.

[0175] Referring to FIG6 , FIG6 is a schematic diagram of a surface cleaning device based on a mobile cleaning robot according to an embodiment of the present application. The device comprises:

[0176] The surface covering information acquisition module is configured to obtain the boundary information and surface covering category of the surface covering to be cleaned.

[0177] The low-risk boundary detection module is configured to perform low-risk boundary detection on the boundary of the surface to be cleaned to determine low-risk boundary information. The low-risk boundary information is used to represent boundary information that is unlikely to cause the mobile cleaning robot to be unable to move to the upper surface of the surface to be cleaned, that is, boundary information that is conducive to the mobile cleaning robot moving to the upper surface of the surface to be cleaned.

[0178] The upward movement strategy determination module is configured to determine an upward movement strategy of the mobile cleaning robot according to the acquired surface covering category, wherein the upward movement strategy ensures that the surface covering to be cleaned itself is not pushed during the upward movement of the mobile cleaning robot to the upper surface of the surface covering to be cleaned.

[0179] The movement control module is configured to move to the upper surface of the surface to be cleaned according to the determined upward movement strategy at the low-risk boundary position determined based on the low-risk boundary information,

[0180] The task execution module is configured to clean the surface of the surface covering according to the cleaning path planned for the surface covering.

[0181] In one embodiment, the surface covering information acquisition module includes:

[0182] The boundary information acquisition module is configured to use the trained deep learning segmentation network model to identify the current image data and obtain the surface covering area information in the current image data.

[0183] The surface covering category recognition module is configured to use the trained deep neural network model to identify the surface covering area in the current image data to obtain the surface covering category.

[0184] Referring to Figure 7, another schematic diagram of a surface covering cleaning device based on a mobile cleaning robot according to an embodiment of the present application is shown. The device includes a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement any of the steps of the surface covering cleaning method based on a mobile cleaning robot.

[0185] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0186] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0187] In another embodiment provided in the present application, a mobile cleaning robot is further provided, comprising the above-mentioned surface covering cleaning device based on the mobile cleaning robot.

[0188] In another embodiment provided in the present application, a computer-readable storage medium is further provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned surface covering cleaning methods based on a mobile cleaning robot are implemented.

[0189] In another embodiment provided by the present application, a computer program product comprising instructions is also provided, which, when executed on a computer, enables the computer to execute any of the surface covering cleaning methods based on a mobile cleaning robot in the above embodiments.

[0190] In another embodiment provided by the present application, a computer program comprising instructions is also provided. When the computer program is run on a computer, the computer is caused to execute any of the surface covering cleaning methods based on a mobile cleaning robot in the above embodiments.

[0191] As for the apparatus / network-side device / storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0192] In this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0193] The above description is only a preferred embodiment of the embodiment of the present application and is not intended to limit the embodiment of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the embodiment of the present application should be included in the scope of protection of the embodiment of the present application.

Claims

1. A method for cleaning surface coverings using a mobile cleaning robot, the method comprising: On the mobile cleaning robot side, Get the boundary information and surface covering type of the surface to be cleaned, Low-risk boundary detection is performed on the boundary of the surface covering to be cleaned to determine low-risk boundary information, which is used to represent boundary information that is conducive to the mobile cleaning robot moving to the upper surface of the surface covering to be cleaned. According to the acquired surface covering category, an upward movement strategy of the mobile cleaning robot is determined, wherein the upward movement strategy ensures that the surface covering to be cleaned itself is not pushed during the upward movement of the mobile cleaning robot to the upper surface of the surface covering to be cleaned. At the low-risk boundary position determined based on the low-risk boundary information, according to the determined upward movement strategy, move to the upper surface of the surface to be cleaned. On the surface of the surface to be cleaned, clean according to the cleaning path planned on the surface.

2. The surface covering cleaning method according to claim 1, wherein: The step of determining the upward movement strategy of the mobile cleaning robot according to the acquired surface covering category includes: Determine the strength of adhesion between the surface covering to be cleaned and the supporting surface for supporting the surface covering to be cleaned and the height of the surface covering according to the type of the surface covering. According to the strength of the adhesion between the surface covering to be cleaned and the supporting surface and the height of the surface covering, the corresponding upward movement strategy is determined. The upward movement strategy is used to determine the contact state between the walking wheels of the mobile cleaning robot and the boundary of the surface covering during the upward movement, and / or to determine the angle relationship between the moving direction of the mobile cleaning robot and the boundary of the surface covering during the upward movement.

3. The surface covering cleaning method of claim 2, wherein: The mobile cleaning robot has a driving wheel and a driven wheel, wherein the driven wheel is located close to the front of the mobile cleaning robot, and the driving wheel is located away from the front of the mobile cleaning robot. The method of determining a corresponding upward movement strategy based on the strength of the adhesion between the surface covering to be cleaned and the supporting surface and the height of the surface covering includes: In the case of strong adhesion between the surface to be cleaned and the supporting surface, If the height of the surface covering is not greater than the set first height threshold, the first method is adopted. If the height of the surface covering is greater than the set first height threshold, the second method is used. In case of weak adhesion between the covering and the supporting surface to be cleaned, If the height of the surface covering is not greater than the set second height threshold, the third method is adopted. If the height of the surface covering is greater than the set second height threshold, the fourth method is adopted. in, The first method is: during the upward movement, each driving wheel of the mobile cleaning robot simultaneously contacts the boundary of the surface covering and moves upward to the upper surface of the surface covering to be cleaned, and each driven wheel moves upward to the upper surface of the surface covering to be cleaned before the driving wheel contacts the boundary of the surface covering. The second method is: during the upward movement, each driving wheel of the mobile cleaning robot sequentially contacts the boundary of the surface covering and moves upward to the upper surface of the surface covering to be cleaned, and each driven wheel contacts the boundary of the surface covering and moves upward to the upper surface of the surface covering to be cleaned before the driving wheel. The third method is: during the upward movement, each driving wheel of the mobile cleaning robot simultaneously contacts the boundary of the surface covering and moves upward to the upper surface of the surface covering to be cleaned, and each driven wheel moves upward to the upper surface of the surface covering to be cleaned after the driving wheel contacts the boundary of the surface covering. The fourth method is: during the upward movement, each driving wheel of the mobile cleaning robot contacts the boundary of the surface covering one by one in turn and moves up to the upper surface of the surface covering to be cleaned, and each driven wheel contacts the boundary of the surface covering and moves up to the upper surface of the surface covering to be cleaned.

4. The surface covering cleaning method of claim 3, wherein: The first method includes a straight-up method, the second method includes an oblique-up method, the third method includes an inverted straight-up method, and the fourth method includes an inverted oblique-up method. in, The above method is: the moving direction of the mobile cleaning robot is consistent with the normal direction of the front of the mobile cleaning robot, and the moving direction is perpendicular to the boundary of the surface covering. The oblique upward method is: the moving direction of the mobile cleaning robot is consistent with the normal direction of the front of the mobile cleaning robot, and the moving direction forms an angle with the boundary of the surface covering, The reverse and correct method is: the moving direction of the mobile cleaning robot is opposite to the normal direction of the front of the mobile cleaning robot, and the moving direction is perpendicular to the boundary of the surface covering. The inverted oblique upward method is that the moving direction of the mobile cleaning robot is opposite to the normal direction of the front of the mobile cleaning robot, and the moving direction forms an angle with the boundary of the surface covering.

5. The surface covering cleaning method of claim 2, wherein: The mobile cleaning robot has only driving wheels but no driven wheels. The method of determining a corresponding upward movement strategy based on the strength of the adhesion between the surface covering to be cleaned and the supporting surface and the height of the surface covering includes: In the case of strong adhesion between the surface to be cleaned and the supporting surface, If the height of the surface covering is not greater than the set first height threshold, the upward method is adopted. If the height of the surface covering is greater than the set first height threshold, the inclined upward method is adopted. In case of weak adhesion between the covering and the supporting surface to be cleaned, If the height of the surface covering is not greater than the set second height threshold, the reverse-up method is adopted. If the height of the surface covering is greater than the set second height threshold, the reverse slant upward method is adopted. in, The above method is: the moving direction of the mobile cleaning robot is consistent with the normal direction of the front of the mobile cleaning robot, and the moving direction is perpendicular to the boundary of the surface covering. The oblique upward method is: the moving direction of the mobile cleaning robot is consistent with the normal direction of the front of the mobile cleaning robot, and the moving direction forms an angle with the boundary of the surface covering, The reverse and correct method is: the moving direction of the mobile cleaning robot is opposite to the normal direction of the front of the mobile cleaning robot, and the moving direction is perpendicular to the boundary of the surface covering. The inverted oblique upward method is that the moving direction of the mobile cleaning robot is opposite to the normal direction of the front of the mobile cleaning robot, and the moving direction forms an angle with the boundary of the surface covering.

6. A method for cleaning a surface covering according to claim 4 or 5, wherein: The angle is between 5° and 85°, The step of obtaining boundary information and surface covering category of the surface covering to be cleaned includes: The mobile cleaning robot obtains current image data while performing a cleaning task, and obtains regional information of the surface covering to be cleaned and the type of the surface covering from the current image data; The cleaning of the upper surface of the surface covering to be cleaned according to the cleaning path planned for the surface covering includes: Surface covering map data is acquired from the map data, and based on the surface covering map data, a bow-shaped cleaning path is planned with the long side of the surface covering to be cleaned, so as to perform cleaning according to the cleaning path.

7. The surface covering cleaning method of claim 6, wherein: The angle is 45°, The step of obtaining the area information of the surface covering to be cleaned and the type of the surface covering from the current image data includes: The trained deep learning segmentation network model is used to identify the current image data and obtain the surface covering area information in the current image data. Using the trained deep neural network model, the surface covering area in the current image data is identified to obtain the surface covering category; The determining of low-risk boundary information based on the acquired surface covering area information includes: Extracting the boundary information of the surface covering from the acquired surface covering area information, For the extracted surface covering boundary information, the boundary gradients in more than one sliding window are calculated to obtain more than one boundary gradient. For each boundary gradient, if the boundary gradient is not greater than a set boundary gradient threshold, the boundary in the sliding window corresponding to the boundary gradient is determined to be a low-risk boundary.

8. The surface covering cleaning method of claim 7, wherein: There are multiple sliding windows, each of which has the same size, and each of which is continuously adjacent to the other at the boundary. The boundary gradient is calculated as follows: The ratio between the one-dimensional position change and the other-dimensional position change of the extracted surface covering boundary within a sliding window is calculated to obtain the boundary gradient within the sliding window.

9. A surface covering cleaning device based on a mobile cleaning robot, the device comprising a memory and a processor, the memory storing a computer program, the processor being configured to execute the computer program to implement the steps of the surface covering cleaning method based on a mobile cleaning robot as described in any one of claims 1 to 8.

10. A mobile cleaning robot comprising the surface covering cleaning device based on the mobile cleaning robot according to claim 9.

11. A computer-readable storage medium having a computer program stored therein, wherein the computer program, when executed by a processor, implements the steps of the surface covering cleaning method based on a mobile cleaning robot according to any one of claims 1 to 8.

12. A computer program product comprising instructions, which, when executed on a computer, causes the computer to perform the steps of the surface covering cleaning method based on a mobile cleaning robot according to any one of claims 1 to 8.

13. A computer program comprising instructions, which, when run on a computer, enables the computer to perform the steps of the surface covering cleaning method based on a mobile cleaning robot according to any one of claims 1 to 8.

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