Cleaning device control method and apparatus, program product, medium, and cleaning device

Abstract

Disclosed in the present application are a cleaning device control method and apparatus, a program product, a medium, and a cleaning device. The method comprises: obtaining a forbidden zone point set around an object to be avoided, wherein the distance between a forbidden zone point in the forbidden zone point set and the object to be avoided is greater than a first distance value and less than a second distance value; if, outside the forbidden zone defined by the forbidden zone point set, a circumscribed circle of the cleaning device comes into contact with any forbidden zone point in the forbidden zone point set, controlling the cleaning device to move along the edge of the forbidden zone in a preset rotational direction, so as to perform a cleaning task, wherein the circumscribed circle is defined as the circular area covered by the body of the cleaning device when the cleaning device rotates in place. The technical solutions provided in the present application can improve the obstacle avoidance reliability of the cleaning device when performing a cleaning task.

Description

Cleaning device control method, device, program product, medium and cleaning device

[0001] Cross-reference to Related Applications

[0002] The present application is based on and claims priority to Chinese Patent Application No. 202410851252.9, filed on June 27, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application belongs to the technical field of cleaning device control, and in particular relates to a cleaning device control method, device, program product, medium and cleaning device. BACKGROUND

[0004] When a cleaning device (such as a sweeping robot or a mopping robot) encounters an obstacle during the execution of a ground cleaning task, it generally performs a wall-following motion based on the obstacle point cloud data detected by a sensor. Therefore, whether the point cloud data correctly reflects the spatial position of the obstacle determines whether the cleaning device can accurately avoid the obstacle to some extent.

[0005] SUMMARY

[0006] Embodiments of the present application provide a cleaning device control method, device, computer program product, computer-readable storage medium and cleaning device, thereby at least to some extent improving the reliability of the cleaning device in avoiding obstacles during the execution of a cleaning task.

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

[0008] According to a first aspect of embodiments of the present application, a cleaning device control method is provided, the method comprising: obtaining a forbidden zone point set around an object to be avoided, a distance between a forbidden zone point in the forbidden zone point set and the object to be avoided being greater than a first distance value and less than a second distance value; if an outer circle of the cleaning device contacts any one of the forbidden zone points in the forbidden zone point set on the outside of a forbidden zone defined by the forbidden zone point set, controlling the cleaning device to move along the edge of the forbidden zone in a preset hour hand direction to perform a cleaning task, the outer circle being defined as a circular area covered by a body of the cleaning device when it rotates in place.

[0009] In some embodiments of the present application, based on the foregoing scheme, the obtaining of the forbidden zone point set around the object to be avoided comprises: obtaining position information and shape information of the object to be avoided; determining a plurality of forbidden zone point coordinates around the object to be avoided according to the position information and the shape information to obtain a forbidden zone point set.

[0010] In some embodiments of the present application, based on the foregoing scheme, the distance between any adjacent forbidden zone point in the forbidden zone point set is greater than a third distance value and less than a fourth distance value.

[0011] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: calculating the distance value between the circumcircle center and each forbidden zone point in the forbidden zone point set, wherein the circumcircle center is defined as the rotation center of the body of the cleaning device when it rotates in place; and if the distance value between the circumcircle center and any one of the forbidden zone points in the forbidden zone point set is equal to the radius of the circumcircle, it is determined that the circumcircle of the cleaning device contacts the any one of the forbidden zone points in the forbidden zone point set on the outside of the forbidden zone defined by the forbidden zone point set.

[0012] In some embodiments of the present application, based on the foregoing scheme, the control of the cleaning device to move along the edge of the forbidden zone in the preset clockwise direction comprises: controlling the cleaning device to rotate in place by a first angle, so that the cleaning device is oriented parallel to an initial forbidden zone line, wherein the initial forbidden zone line is a line connecting the any one of the forbidden zone points and its adjacent forbidden zone point in the orientation direction of the cleaning device; and controlling the cleaning device to move along each forbidden zone line in turn, so that the cleaning device moves along the edge of the forbidden zone in the preset clockwise direction, wherein the forbidden zone line is a line connecting adjacent forbidden zone points.

[0013] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: during the control of the cleaning device to rotate in place by the first angle, if the first angle is greater than a first angle threshold, controlling the cleaning device to retract the cleaning element close to the side of the object to be avoided; and after the control of the cleaning device to rotate in place by the first angle, controlling the cleaning device to extend the cleaning element close to the side of the object to be avoided.

[0014] In some embodiments of the present application, based on the foregoing scheme, the control of the cleaning device to move along each forbidden zone line in turn comprises: taking the initial forbidden zone line as a target forbidden zone line, and controlling the cleaning device to move along the target forbidden zone line; when the cleaning device moves to the corner position of the target forbidden zone line and its next forbidden zone line, controlling the cleaning device to adjust its own orientation to be parallel to the next forbidden zone line; taking the next forbidden zone line as a new target forbidden zone line, and returning to execute the step of controlling the cleaning device to move along the target forbidden zone line until a preset termination condition is met.

[0015] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: controlling the distance between the circumcircle center of the cleaning device and the target forbidden area boundary line to be kept at a preset distance threshold during the process of controlling the cleaning device to move along the target forbidden area boundary line.

[0016] In some embodiments of the present application, based on the foregoing scheme, the control of the cleaning device to adjust its orientation to be parallel to the next forbidden area boundary line comprises: if the corner is greater than a second angle threshold, controlling the cleaning device to rotate and travel until the orientation of the cleaning device is parallel to the next forbidden area boundary line; if the corner is less than or equal to the second angle threshold, controlling the cleaning device to stop traveling, and then controlling the cleaning device to rotate in place until the orientation of the cleaning device is parallel to the next forbidden area boundary line.

[0017] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: controlling the linear speed of the cleaning device to be within a preset linear speed range and / or controlling the angular speed of the cleaning device to be within a preset angular speed range during the process of controlling the cleaning device to rotate and travel.

[0018] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: after controlling the cleaning device to move along each forbidden area boundary line in turn, controlling the cleaning device to rotate in place by a second angle to perform other cleaning tasks, wherein during the process of controlling the cleaning device to rotate in place by the second angle, the cleaning member on the side close to other objects is controlled to retract.

[0019] According to a second aspect of embodiments of the present application, a cleaning device control method is provided, which comprises: acquiring a forbidden area point set around an object to be avoided, wherein the distance between a forbidden area point in the forbidden area point set and the object to be avoided is greater than a first distance value and less than a second distance value; if the circumcircle of the cleaning device contacts the line segment between any adjacent forbidden area points in the forbidden area point set on the outside of the forbidden area defined by the forbidden area point set, controlling the cleaning device to move along the edge of the forbidden area in a preset hour hand direction to perform a cleaning task, wherein the circumcircle is defined as the circular area covered by the body of the cleaning device when it rotates in place.

[0020] According to a third aspect of embodiments of the present application, a cleaning device control apparatus is provided, the apparatus comprising: an obtaining unit configured to obtain a set of keep-out points around an object to be avoided, wherein a distance between each keep-out point in the set of keep-out points and the object to be avoided is greater than a first distance value and less than a second distance value; and a control unit configured to control the cleaning device to move along an edge of a keep-out area defined by the set of keep-out points in a preset clockwise direction to perform a cleaning task if an outer circle of the cleaning device contacts any one of the set of keep-out points outside the keep-out area, wherein the outer circle is defined as a circular area covered by a body of the cleaning device when the cleaning device rotates in place.

[0021] According to a fourth aspect of embodiments of the present application, a cleaning device control apparatus is provided, the apparatus comprising: an obtaining unit configured to obtain a set of keep-out points around an object to be avoided, wherein a distance between each keep-out point in the set of keep-out points and the object to be avoided is greater than a first distance value and less than a second distance value; and a control unit configured to control the cleaning device to move along an edge of a keep-out area defined by the set of keep-out points in a preset clockwise direction to perform a cleaning task if an outer circle of the cleaning device contacts a line between any two adjacent keep-out points in the set of keep-out points outside the keep-out area, wherein the outer circle is defined as a circular area covered by a body of the cleaning device when the cleaning device rotates in place.

[0022] According to a fifth aspect of embodiments of the present application, a computer program product is provided, the computer program product comprising computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform operations implemented by the method according to any one of the first aspect to the second aspect.

[0023] According to a sixth aspect of embodiments of the present application, a computer readable storage medium is provided, the computer readable storage medium storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by a processor to cause a computer device having the processor to perform operations implemented by the method according to any one of the first aspect to the second aspect.

[0024] According to a seventh aspect of embodiments of the present application, a cleaning device is provided, the cleaning device comprising one or more processors and one or more memories, the one or more memories storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by the one or more processors to cause the cleaning device to perform operations implemented by the method according to any one of the first aspect to the second aspect.

[0025] Based on the technical scheme provided in the present application, by acquiring the forbidden zone point set around the object to be avoided, when the circumscribed circle of the cleaning device contacts any one of the forbidden zone points in the forbidden zone defined by the forbidden zone point set, the cleaning device can be controlled to move along the edge of the forbidden zone in a preset hour hand direction. In this way, when avoiding the object to be avoided, the cleaning device does not need to refer to the point cloud data collected by the sensor installed on the cleaning device, but refers to the forbidden zone points around the object to be avoided to avoid the object to be avoided. On the one hand, the negative influence of the lack of point cloud data on the cleaning device avoiding the object to be avoided is not considered, avoiding the collision between the cleaning device and the object to be avoided or the problem of missing scanning. On the other hand, the distance between the forbidden zone point and the object to be avoided is greater than the first distance value and less than the second distance value, so that the forbidden zone point can limit the cleaning device to a certain distance range around the object to be avoided to perform the cleaning task, reducing the risk of collision between the cleaning device and the object to be avoided, and avoiding the existence of more missing scanning of the cleaning device around the object to be avoided, thereby improving the reliability of the cleaning device in avoiding obstacles during the cleaning task.

[0026] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0027] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the present application, and together with the specification, serve to explain the principles of the present application. It is obvious that the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings from these drawings without creative labor. In the drawings:

[0028] FIG. 1 shows a schematic diagram of a scene in which a cleaning device cleans the ground, to which the embodiments of the present application can be applied;

[0029] FIG. 2 shows a flowchart of a cleaning device control method in the embodiments of the present application;

[0030] FIG. 3 shows a schematic diagram of a scene in which a cleaning device cleans the ground, to which the embodiments of the present application can be applied;

[0031] FIG. 4 shows a schematic diagram of a scene in which a cleaning device cleans the ground, to which the embodiments of the present application can be applied;

[0032] FIG. 5 shows a block diagram of a cleaning device control apparatus in the embodiments of the present application;

[0033] FIG. 6 shows a structural schematic diagram of a cleaning device in the embodiments of the present application. DETAILED DESCRIPTION

[0034] With reference to the drawings, the technical solutions in the embodiments of the present application will be clearly and completely described, obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0035] In addition, the described features, structures or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to give a full understanding of the embodiments of the present application. However, one skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be used. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0036] The block diagrams shown in the drawings are only functional entities, which do not necessarily have to correspond to physically independent entities. That is, these functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. It should be noted that in the drawings, in order to ensure the simplicity of the drawings, some components in the drawings are omitted, which do not affect the explanation of the technical solutions of the present application.

[0037] The flowcharts shown in the drawings are only exemplary illustrations, which do not necessarily include all contents and operations / steps, and are not necessarily executed in the order described. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to the actual situation.

[0038] In the description of the present application, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0039] During the execution of the floor cleaning task, if an obstacle is encountered, the cleaning device (such as a sweeper or a mop) will generally make a wall-following movement based on the obstacle point cloud data detected by the sensor, therefore, whether the point cloud data can correctly reflect the spatial position of the obstacle determines whether the cleaning device can accurately avoid the obstacle to a certain extent.

[0040] In practical applications, there are often some irregularly shaped obstacles in the ground, such as baby strollers, and charging bases of cleaning equipment. These obstacles are different from obstacles similar to walls, and some parts do not present a regular and flat vertical surface, such as a ramp at the entrance of the charging base. For this type of obstacle, the sensor on the cleaning equipment may have missing point cloud data due to the limitations of its installation position, which can cause the cleaning equipment to collide with the obstacle or miss scanning when performing obstacle avoidance actions for this type of obstacle, and the reliability is not high. Therefore, how to improve the reliability of the cleaning equipment in performing obstacle avoidance during the cleaning task is a technical problem to be solved.

[0041] In order to better understand the present application, first, the application scenario involved in the present application will be briefly described in conjunction with FIG. 1.

[0042] Referring to FIG. 1, a schematic diagram of a scenario in which a cleaning equipment cleans the ground is shown.

[0043] In the present application, the cleaning equipment involved can be a sweeping machine, a mopping machine, or a sweeping and mopping integrated machine, and the present application does not make specific limitations thereto.

[0044] As shown in FIG. 1, the cleaning equipment 101 can be installed with a sensor 102 and a sensor 103, wherein the sensor 102 can be used to collect point cloud data in the environment around the cleaning equipment, such as a binocular light sensor, a structured light sensor, a laser radar sensor, a millimeter wave radar sensor, and an ultrasonic wave radar sensor. The sensor 103 can be used to collect distance data between the cleaning equipment and the side obstacle, such as an ultrasonic ranging sensor, an infrared ranging sensor, and a laser ranging sensor. The cleaning equipment 101 can also be installed with a cleaning element C, which can be used for mopping or sweeping.

[0045] Specifically, in some embodiments, the cleaning element C can be retracted at the bottom of the cleaning equipment body when it is not necessary to perform cleaning actions, and the cleaning element C can be extended at a certain angle from the bottom of the cleaning equipment body when it is necessary to perform cleaning actions, thereby cleaning the ground. It should be noted that the number of cleaning elements in the cleaning equipment can be one or more, which can be determined according to the actual situation of the cleaning equipment model, and the present application does not make specific limitations thereto.

[0046] In the process of performing a ground cleaning task, if an obstacle is encountered, the cleaning device 101 will generally make a wall-following movement based on the obstacle point cloud data detected by the sensor. However, in actual applications, there are often irregularly shaped obstacles in the ground, such as the charging base station 104 shown in FIG. 1, and the entrance 105 of which is a slope. For this case, the sensor on the cleaning device may miss the entrance 105 due to the limitations of its installation position, resulting in a lack of environmental data reference for the cleaning device when performing an avoidance action, which may cause the cleaning device to collide with the charging base station or miss scanning at the entrance 105 of the charging base station, and the reliability is not high. Based on this, the present application proposes a cleaning device control scheme to improve the reliability of obstacle avoidance of the cleaning device during the execution of the cleaning task.

[0047] Referring to FIG. 2, a flowchart of a cleaning device control method in an embodiment of the present application is shown, which can be executed by a device with computing processing function. Referring to FIG. 2, the cleaning device control method includes at least steps 210 to 220, which are described in detail as follows:

[0048] In step 210, a forbidden zone point set around the object to be avoided is obtained, and the distance between the forbidden zone point in the forbidden zone point set and the object to be avoided is greater than a first distance value and less than a second distance value.

[0049] In the present application, the object to be avoided can be an object that affects the passage of the cleaning device, such as furniture, children's toys, or a charging base station of the cleaning device. Specifically, the present application does not limit this.

[0050] In the present application, the forbidden zone point set around the object to be avoided can be obtained according to the following steps 211 to 212:

[0051] Step 211, obtaining position information and shape information of the object to be avoided.

[0052] Step 212, determining a plurality of forbidden zone point coordinates around the object to be avoided according to the position information and the shape information, to obtain a forbidden zone point set.

[0053] In the present application, the cleaning device can pre-construct a map of the area to be cleaned, and the position information and shape information of the object to be avoided can be recorded in the map. Specifically, the position information can include the coordinates of one or more points on the object to be avoided in the map, and the shape information can include the contour of the object to be avoided in the map. For example, if the object to be avoided is a charging base of the cleaning device, the position information of the charging base can be the coordinates of the peg point of the charging base, and the shape information can be the shape contour of the charging base. After obtaining the position information and shape information of the object to be avoided, a plurality of forbidden zone point coordinates (i.e., a plurality of forbidden zone points) can be calculated around the object to be avoided according to a pre-designed calculation rule.

[0054] In the present application, the pre-designed calculation rule can include that the distance between the forbidden zone points in the forbidden zone point set and the object to be avoided is greater than a first distance value and less than a second distance value. For example, the distance between the forbidden zone points and the object to be avoided is limited within a certain range, which is greater than 1.5 cm and less than 2.5 cm. In the subsequent process of the cleaning device moving along the forbidden zone edge defined by the forbidden zone point set, the cleaning device can be prevented from being too close to the object to be avoided, thereby reducing the risk of the cleaning device colliding with the object to be avoided. At the same time, it can also be avoided that the cleaning device is too far away from the object to be avoided, which can cause the cleaning device to have more missed scanning around the object to be avoided.

[0055] In some embodiments of the present application, for some models of cleaning devices, the distance between the forbidden zone points and the object to be avoided can be determined as 2 cm. It can be understood by those skilled in the art that in actual application, the distance between the forbidden zone points in the forbidden zone point set and the object to be avoided can be determined according to the specific model or specific structural features of the cleaning device, and the present application does not limit the specific distance value.

[0056] In the present application, after determining a plurality of forbidden zone point coordinates around the object to be avoided, the map pre-constructed can be marked, and further, the connection between each adjacent forbidden zone point can be marked in the map as a forbidden zone edge line. It can be understood that if the object to be avoided exists independently on the ground, each forbidden zone edge line can form a closed polygon around the object to be avoided. If the object to be avoided is attached to a wall, each forbidden zone edge line can form a half-opened polygon around the object to be avoided.

[0057] In the present application, the pre-design calculation rule can further include that the distance between any adjacent forbidden zone points in the set of forbidden zone points is greater than a third distance value and less than a fourth distance value, such as greater than 3.5 cm and less than 4.5 cm. Limiting the distance between any adjacent forbidden zone points in the set of forbidden zone points to a certain range (i.e., controlling the density of forbidden zone points within a certain range) can avoid the case where the distance between any adjacent forbidden zone points is set too large (i.e., the density of forbidden zone points is too small), thereby reducing the risk that the trigger timing of the subsequent movement of the cleaning device along the forbidden zone edge defined by the set of forbidden zone points is too late (i.e., there is a risk that the cleaning device body has already crossed a large part of the forbidden zone without triggering the cleaning device to move in the preset time direction along the forbidden zone edge), thereby avoiding the case where the cleaning device collides with the object to be avoided. At the same time, it can also avoid the case where the distance between any adjacent forbidden zone points is set too small (i.e., the density of forbidden zone points is too large), thereby avoiding the case where the cleaning device needs to calculate a large number of coordinates of forbidden zone points, resulting in an increase in the processing load of the cleaning device processor, thereby improving the processing efficiency of the forbidden zone point coordinate data.

[0058] In some embodiments of the present application, for some models of cleaning devices, the distance between any adjacent forbidden zone points can be determined as 4 cm. It can be understood by those skilled in the art that in actual application, the distance between any adjacent forbidden zone points can be determined according to the specific model or specific structural features of the cleaning device, and the present application does not limit the specific distance value.

[0059] In order for those skilled in the art to better understand the present application, the following will be described in conjunction with FIG. 3 in the application scenario of the object to be avoided as a charging base station attached to a wall.

[0060] Referring to FIG. 3, a schematic diagram of a scenario in which a cleaning device of the present application can clean the ground is shown.

[0061] As shown in subgraph (a) of FIG. 3, a plurality of forbidden zone points are determined around the charging base station 104, such as forbidden zone point A. The forbidden zone edge between each adjacent forbidden zone point, such as forbidden zone edge B. The distance between each forbidden zone point and the charging base station 104 is x, wherein x is greater than a first distance value and less than a second distance value. The distance between any adjacent forbidden zone points is y, wherein y is greater than a third distance value and less than a fourth distance value.

[0062] With reference back to FIG. 2, in step 220, if the circumscribed circle of the cleaning device contacts any one of the forbidden zone points on the outside of the forbidden zone defined by the set of forbidden zone points, the cleaning device is controlled to move along the edge of the forbidden zone in a preset clockwise direction to perform a cleaning task, wherein the circumscribed circle is defined as a circular area covered by the cleaning device when it rotates in place.

[0063] In the present application, it should be noted that in some of the drawings provided by the present application, the body shape of the cleaning device is circular, but in actual applications, there are cases where the body shape of the cleaning device is other shapes, such as a rectangular body shape, a trapezoidal body shape, or an irregular body shape. Therefore, the body shape of the cleaning device is not limited in the present application. Further, in the present application, the circular area covered by the cleaning device when it rotates in place can be defined as the circumscribed circle of the cleaning device.

[0064] In the present application, during the execution of the ground cleaning task by the cleaning device, it can be detected in real time or at regular intervals whether the circumscribed circle of the cleaning device contacts any one of the forbidden zone points on the outside of the forbidden zone defined by the set of forbidden zone points. If so, the cleaning device is controlled to move along the edge of the forbidden zone in a preset clockwise direction to perform a ground cleaning task around the object to be avoided.

[0065] Specifically, in the present application, detecting whether the circumscribed circle of the cleaning device contacts any one of the forbidden zone points on the outside of the forbidden zone defined by the set of forbidden zone points can be performed according to steps 221 to 222 as follows:

[0066] Step 221, calculate the distance value between the circumscribed circle center and each forbidden zone point in the set of forbidden zone points, wherein the circumscribed circle center is defined as the rotation center of the body of the cleaning device when it rotates in place.

[0067] Step 222, if the distance value between the circumscribed circle center and any one of the forbidden zone points in the set of forbidden zone points is equal to the radius of the circumscribed circle, it is determined that the circumscribed circle of the cleaning device contacts the any one of the forbidden zone points on the outside of the forbidden zone defined by the set of forbidden zone points.

[0068] Based on the above steps 221 to 222, it can be understood that if the distance value between the circumscribed circle center and any one of the forbidden zone points in the set of forbidden zone points is equal to the radius of the circumscribed circle, it means that the circumscribed circle of the cleaning device contacts the any one of the forbidden zone points on the outside of the forbidden zone defined by the set of forbidden zone points. At this time, the cleaning device can be controlled to move along the edge of the forbidden zone in a preset clockwise direction to perform a cleaning task.

[0069] In the present application, by calculating whether the distance value between the circumcircle center and the forbidden area point is equal to the radius of the circumcircle, it can be accurately judged whether the circumcircle of the cleaning device contacts the forbidden area point. Meanwhile, the judging scheme is simple, and the calculation logic is simple, so that the data processing efficiency of the cleaning device processor can be improved to a certain extent.

[0070] In the present application, the control of the cleaning device to move along the edge of the forbidden area in the preset hour direction can be performed according to the following steps 223 to 224:

[0071] Step 223, control the cleaning device to rotate by a first angle to make the cleaning device face the initial forbidden area edge line, the initial forbidden area edge line being a line between the arbitrary forbidden area point and the adjacent forbidden area point thereof in the cleaning device facing direction.

[0072] Step 224, control the cleaning device to move along each forbidden area edge line in turn to make the cleaning device move along the edge of the forbidden area in the preset hour direction, the forbidden area edge line being a line between adjacent forbidden area points.

[0073] It should be noted that the cleaning device facing direction described in the present application can specifically refer to the advancing direction of the cleaning device in the normal execution of the cleaning task.

[0074] In the present application, in order to enable those skilled in the art to better understand the present application, the following will continue to be described in combination with FIG. 3, taking the application scene of the object to be avoided as a charging base station attached to a wall.

[0075] As shown in subgraph (a) to subgraph (d) in FIG. 3, the cleaning device 101 moves along the edge of the forbidden area in the clockwise direction (in other embodiments, it can also move along the edge of the forbidden area in the counterclockwise direction, which is not specifically limited in the present application). In the process of the cleaning device 101 moving along the edge of the forbidden area in the clockwise direction, as shown in subgraph (b) in FIG. 3, first control the cleaning device 101 to rotate by a first angle in the counterclockwise direction, as shown in subgraph (c) to subgraph (d) in FIG. 3, after the cleaning device 101 faces the initial forbidden area edge line B, control the cleaning device 101 to move along each forbidden area edge line in turn.

[0076] In the present application, it is to be noted that in some embodiments, the first angle can be calculated according to the included angle between the orientation of the circumscribed circle of the cleaning device 101 when it contacts the forbidden zone point A and the direction of the initial forbidden zone edge B away from the wall, and it can be understood that if the included angle between the orientation of the circumscribed circle of the cleaning device 101 when it contacts the forbidden zone point A and the direction of the initial forbidden zone edge B away from the wall is 90°, the first angle is 90°. If the included angle between the orientation of the circumscribed circle of the cleaning device 101 when it contacts the forbidden zone point A and the direction of the initial forbidden zone edge B away from the wall is 30°, the first angle is 30°.

[0077] In the present application, the following steps 2231 to 2232 can also be performed:

[0078] Step 2231, during the process of controlling the cleaning device to rotate by the first angle, if the first angle is greater than the first angle threshold, the cleaning device is controlled to retract the cleaning element close to the side of the object to be avoided.

[0079] Step 2232, after controlling the cleaning device to rotate by the first angle, the cleaning device is controlled to extend the cleaning element close to the side of the object to be avoided.

[0080] In the present application, in order for those skilled in the art to better understand the present application, the following will continue to be described in combination with FIG. 3 in the application scenario of the object to be avoided as a charging base attached to the wall.

[0081] Specifically, during the process of controlling the cleaning device 101 to rotate by the first angle, if the first angle is greater than the first angle threshold, as shown in subgraph (a) to subgraph (c) in FIG. 3, the cleaning device 101 is controlled to retract the cleaning element (i.e., cleaning element C) close to the side of the object to be avoided, and after the cleaning device 101 is controlled to rotate by the first angle, the cleaning device 101 is controlled to extend the cleaning element close to the side of the object to be avoided. Conversely, if the first angle is less than or equal to the first angle threshold, the cleaning device 101 does not need to be controlled to retract the cleaning element close to the side of the object to be avoided during the process of rotating. The advantage of this is that if the first angle is large, the risk of hard collision of the extended cleaning element of the cleaning device with the wall or the charging base during the rotation process can be reduced, thereby improving the safety of the cleaning device in performing the cleaning task.

[0082] In the present application, the first angle threshold can be set to 60°, or 65°, or 70°, and can be determined according to the model or structural features of the cleaning device, which is not limited in the present application. In the above step 224 of the present application, the control of the cleaning device to move along each forbidden zone edge in turn can be performed according to the following steps 2241 to 2243:

[0083] Step 2241, taking the initial forbidden area boundary line as a target forbidden area boundary line, and controlling the cleaning device to move along the target forbidden area boundary line.

[0084] Step 2242, when the cleaning device moves to a corner position of the target forbidden area boundary line and its next forbidden area boundary line, controlling the cleaning device to adjust its own orientation to be parallel to the next forbidden area boundary line.

[0085] Step 2243, taking the next forbidden area boundary line as a new target forbidden area boundary line, and returning to execute the step of controlling the cleaning device to move along the target forbidden area boundary line until a preset termination condition is met.

[0086] In the present application, based on the above steps 2241 to 2243, it can be understood that controlling the cleaning device to move along each forbidden area boundary line in turn is actually to control the cleaning device to traverse each forbidden area boundary line in turn. When traversing a certain forbidden area boundary line, the orientation of the cleaning device is first adjusted to be parallel to the traversed forbidden area boundary line at the corner position of the previous forbidden area boundary line and the traversed forbidden area boundary line (such as the corner θ in subgraph (a) of FIG. 3), and then the cleaning device is controlled to move along the traversed forbidden area boundary line. When the preset termination condition is met, the traversal is terminated.

[0087] In the present application, the preset termination condition can be that the collision sensor of the cleaning device is triggered to collide, or the cleaning device completes movement along all forbidden area boundary lines.

[0088] In the present application, the following step 2244 can also be executed:

[0089] Step 2244, during the process of controlling the cleaning device to move along the target forbidden area boundary line, controlling the distance between the circumcircle center of the cleaning device and the target forbidden area boundary line to be kept at a preset distance threshold.

[0090] In the present application, controlling the distance between the circumcircle center of the cleaning device and the target forbidden area boundary line to be kept at a preset distance threshold is actually to control the distance between the body of the cleaning device and the object to be avoided. Its advantage is that it can prevent the body of the cleaning device from colliding with the object to be avoided, thereby improving the safety of the cleaning device when performing a cleaning task along the forbidden area boundary line.

[0091] In the present application, the preset distance threshold can be set to 21 cm, or 22 cm, or 23 cm. It can be determined according to the model or structural features of the cleaning device, which is not limited in the present application.

[0092] In step 2242 of the above embodiment, the controlling the cleaning device to adjust its orientation to be parallel to the next forbidden area boundary line can be performed according to the following steps 22421 and 22422.

[0093] In step 22421, if the corner is greater than the second angle threshold, the controlling the cleaning device to rotate and travel until the orientation of the cleaning device is parallel to the next forbidden area boundary line.

[0094] In step 22422, if the corner is less than or equal to the second angle threshold, the controlling the cleaning device to stop traveling, and then controlling the cleaning device to rotate in place until the orientation of the cleaning device is parallel to the next forbidden area boundary line.

[0095] In the present application, in order to make the skilled in the art better understand the present application, the following is described in a specific embodiment in combination with FIG. 4.

[0096] Referring to FIG. 4, a schematic diagram of a scenario in which a cleaning device cleans a ground surface is shown.

[0097] Specifically, referring to subgraph (a) in FIG. 4, if the corner θ1 is greater than the second angle threshold, the orientation of the cleaning device can be adjusted according to the strategy shown in subgraph (a) in FIG. 4, i.e., the cleaning device is controlled to rotate and travel until the orientation of the cleaning device is parallel to the next forbidden area boundary line. Specifically, during the process of controlling the cleaning device to rotate and travel, the linear speed of the cleaning device can be controlled within a preset linear speed range by a PID controller, and / or the angular speed of the cleaning device can be controlled within a preset angular speed range. This has the advantage that the smoothness of the cleaning device during the adjustment of its orientation can be ensured, and the situation that the cleaning device is stuck during the adjustment of its orientation can be avoided, thereby improving the user experience.

[0098] Further, referring to subgraph (b) in FIG. 4, if the corner θ2 is less than or equal to the second angle threshold, the orientation of the cleaning device can be adjusted according to the strategy shown in subgraph (b) in FIG. 4, i.e., the cleaning device is controlled to stop traveling, and then the cleaning device is controlled to rotate in place until the orientation of the cleaning device is parallel to the next forbidden area boundary line. This has the advantage that, since the corner θ2 is small, the adjustment range of the orientation of the cleaning device is large. At this time, instead of adjusting the orientation of the cleaning device by rotating and traveling, the orientation of the cleaning device is adjusted by rotating in place. This can avoid the situation that the cleaning device is stuck during the adjustment of its orientation due to the difficulty of the PID controller in controlling a large adjustment angle of the orientation, ensure the smoothness of the cleaning device during the adjustment of its orientation, and thereby improve the user experience.

[0099] Further, in the present application, the following step 231 can also be performed:

[0100] Step 231, after controlling the cleaning device to move along each forbidden area boundary line in turn, control the cleaning device to rotate by a second angle in place to perform other cleaning tasks, wherein during the process of controlling the cleaning device to rotate by the second angle in place, control the cleaning device to retract the cleaning element close to the side of the other object.

[0101] In the present application, during the process of controlling the cleaning device to rotate by the second angle in place, by controlling the cleaning device to retract the cleaning element close to the side of the other object, it can be prevented that the cleaning element of the cleaning device collides hard with the wall body or the object to be avoided during the rotation process, thereby improving the safety of the cleaning device performing the cleaning task.

[0102] Based on the technical solutions proposed in the present application, by acquiring the forbidden area point set around the object to be avoided, when the circumscribed circle of the cleaning device contacts any one of the forbidden area points in the forbidden area defined by the forbidden area point set, the cleaning device can be controlled to move along the edge of the forbidden area in a preset hour hand direction. In this way, when avoiding the object to be avoided, the cleaning device does not need to refer to the point cloud data collected by the sensor installed on the cleaning device, but refers to the forbidden area points around the object to be avoided to avoid the object to be avoided. On the one hand, the negative impact of the lack of point cloud data on the cleaning device avoiding the object to be avoided is not considered, avoiding the collision between the cleaning device and the object to be avoided or the problem of missing scanning. On the other hand, the distance between the forbidden area point and the object to be avoided is greater than the first distance value and less than the second distance value, so that the forbidden area point can limit the cleaning device within a certain distance range around the object to be avoided to perform the cleaning task, reduce the risk of collision between the cleaning device and the object to be avoided, and at the same time, can avoid the situation that the cleaning device has more missing scanning around the object to be avoided, thereby improving the reliability of the cleaning device in obstacle avoidance during the cleaning task.

[0103] In actual application, the technical solutions proposed in the present application have good scalability for the shape of the ground area occupied by the object to be avoided. No matter whether the shape of the ground area occupied by the object to be avoided is square, circular or irregular, as long as multiple forbidden area points are set on the periphery of the shape, the avoidance effect of the object to be avoided can be achieved.

[0104] In the present application, based on the same inventive concept, the present application also proposes a cleaning device control method, which can be executed by a device with computing processing function, and at least includes steps 240 to 250, which are introduced as follows:

[0105] In step 240, a forbidden zone point set around the object to be avoided is obtained, and a forbidden zone point in the forbidden zone point set has a distance from the object to be avoided greater than a first distance value and less than a second distance value.

[0106] In step 250, if the circumscribed circle of the cleaning device contacts a line between any two adjacent forbidden zone points in the forbidden zone point set on the outside of a forbidden zone defined by the forbidden zone point set, the cleaning device is controlled to move along the edge of the forbidden zone in a preset clockwise direction to perform a cleaning task, and the circumscribed circle is defined as a circular area covered by the cleaning device when it rotates in place.

[0107] It can be understood that, compared with the control method of the cleaning device shown in FIG. 2, the difference between the control method of the cleaning device in steps 240 to 250 is that the triggering time of controlling the cleaning device to move along the edge of the forbidden zone in the preset clockwise direction is when the circumscribed circle of the cleaning device contacts a line between any two adjacent forbidden zone points in the forbidden zone point set.

[0108] The device embodiment of the present application is described below, which can be used to execute the cleaning device control method in the above-mentioned embodiments of the present application. For details not disclosed in the device embodiment of the present application, refer to the above-mentioned embodiments of the cleaning device control method of the present application.

[0109] Referring to FIG. 5, a block diagram of a cleaning device control device in an embodiment of the present application is shown.

[0110] As shown in FIG. 5, the cleaning device control device 500 according to an embodiment of the present application includes an obtaining unit 501 and a control unit 502.

[0111] The obtaining unit 501 is configured to obtain a forbidden zone point set around the object to be avoided, and a forbidden zone point in the forbidden zone point set has a distance from the object to be avoided greater than a first distance value and less than a second distance value. The control unit 502 is configured to control the cleaning device to move along the edge of the forbidden zone in a preset clockwise direction to perform a cleaning task if the circumscribed circle of the cleaning device contacts any one forbidden zone point in the forbidden zone point set on the outside of a forbidden zone defined by the forbidden zone point set, and the circumscribed circle is defined as a circular area covered by the cleaning device when it rotates in place.

[0112] In some embodiments of the present application, based on the foregoing scheme, the obtaining unit 501 is configured to obtain position information and shape information of the object to be avoided, determine a plurality of forbidden zone point coordinates around the object to be avoided according to the position information and the shape information, and obtain a forbidden zone point set.

[0113] In some embodiments of the present application, based on the foregoing scheme, the distance between any two adjacent forbidden zone points in the forbidden zone point set is greater than a third distance value and less than a fourth distance value.

[0114] In some embodiments of the present application, based on the foregoing scheme, the device further comprises a determination unit configured to calculate the distance between the circumcircle center and each forbidden zone point in the forbidden zone point set, wherein the circumcircle center is defined as the rotation center of the body of the cleaning device when it rotates in place; if the distance between the circumcircle center and any one of the forbidden zone points in the forbidden zone point set is equal to the radius of the circumcircle, it is determined that the circumcircle of the cleaning device contacts the any one of the forbidden zone points in the forbidden zone point set outside the forbidden zone defined by the forbidden zone point set.

[0115] In some embodiments of the present application, based on the foregoing scheme, the control unit 502 is configured to: control the cleaning device to rotate in place by a first angle, so that the cleaning device is oriented parallel to an initial forbidden zone edge, wherein the initial forbidden zone edge is a line segment between the any one of the forbidden zone points and its adjacent forbidden zone point in the orientation direction of the cleaning device; and control the cleaning device to move along each forbidden zone edge in turn, so that the cleaning device moves along the edge of the forbidden zone in a preset hour hand direction, wherein the forbidden zone edge is a line segment between adjacent forbidden zone points.

[0116] In some embodiments of the present application, based on the foregoing scheme, the control unit 502 is further configured to: if the first angle is greater than a first angle threshold during the control of the cleaning device to rotate in place by the first angle, control the cleaning device to retract the cleaning element close to the side of the object to be avoided; and after the control of the cleaning device to rotate in place by the first angle, control the cleaning device to extend the cleaning element close to the side of the object to be avoided.

[0117] In some embodiments of the present application, based on the foregoing scheme, the control unit 502 is further configured to: take the initial forbidden zone edge as a target forbidden zone edge, and control the cleaning device to move along the target forbidden zone edge; when the cleaning device moves to the corner position of the target forbidden zone edge and its next forbidden zone edge, control the cleaning device to adjust its own orientation to be parallel to the next forbidden zone edge; take the next forbidden zone edge as a new target forbidden zone edge, and return to execute the step of controlling the cleaning device to move along the target forbidden zone edge until a preset termination condition is met.

[0118] In some embodiments of the present application, based on the foregoing scheme, the control unit 502 is further configured to: during the control of the cleaning device to move along the target forbidden zone edge, control the distance between the circumcircle center of the cleaning device and the target forbidden zone edge to be kept within a preset distance threshold.

[0119] In some embodiments of the present application, based on the foregoing scheme, the control unit 502 is further configured to: if the corner is greater than a second angle threshold, control the cleaning device to rotate and travel until the orientation of the cleaning device is parallel to the next forbidden area sideline; if the corner is less than or equal to the second angle threshold, control the cleaning device to stop traveling, and then control the cleaning device to rotate in place until the orientation of the cleaning device is parallel to the next forbidden area sideline.

[0120] In some embodiments of the present application, based on the foregoing scheme, the control unit 502 is further configured to: during the control of the cleaning device to rotate and travel, control the linear speed of the cleaning device to be within a preset linear speed range, and / or control the angular speed of the cleaning device to be within a preset angular speed range.

[0121] In some embodiments of the present application, based on the foregoing scheme, the control unit 502 is further configured to: after controlling the cleaning device to move along each forbidden area sideline in turn, control the cleaning device to rotate in place by a second angle to perform other cleaning tasks, wherein during the control of the cleaning device to rotate in place by the second angle, the cleaning member on the side close to other objects is controlled to retract.

[0122] In the present application, based on the same inventive concept, the present application further proposes a control device of a cleaning device, comprising: an acquisition unit and a control unit.

[0123] The acquisition unit is configured to acquire a forbidden area point set around the object to be avoided, wherein the distance between the forbidden area points in the forbidden area point set and the object to be avoided is greater than a first distance value and less than a second distance value; and the control unit is configured to: if the circumscribed circle of the cleaning device contacts the line segment between any adjacent forbidden area points in the forbidden area point set on the outside of the forbidden area defined by the forbidden area point set, control the cleaning device to move along the edge of the forbidden area in a preset hourglass direction to perform a cleaning task, wherein the circumscribed circle is defined as the circular area covered by the body of the cleaning device when the cleaning device rotates in place.

[0124] Based on the same inventive concept, the embodiments of the present application provide a computer program product, which comprises computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to enable a computer device having the processor to perform operations to achieve the operations performed by the cleaning device control method as described above.

[0125] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing at least one computer program instruction, which is loaded and executed by a processor to implement the operations performed by the cleaning equipment control method as described above.

[0126] Based on the same inventive concept, this application also provides a cleaning device. Referring to FIG6, a schematic diagram of the structure of the cleaning device in this application embodiment is shown. The cleaning device includes one or more memories 604, one or more processors 602, and at least one computer program (computer program instruction) stored in the memory 604 and executable on the processor 602. When the processor 602 executes the computer program, it implements the cleaning device control method as described above.

[0127] In Figure 6, a bus architecture (represented by bus 600) is shown. Bus 600 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 602 and memory represented by memory 604. Bus 600 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 605 provides an interface between bus 600 and receiver 601 and transmitter 603. Receiver 601 and transmitter 603 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 602 is responsible for managing bus 600 and general processing, while memory 604 can be used to store data used by processor 602 during operation.

[0128] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0129] In several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between units or modules, which can be electrical or other forms.

[0130] The units described as separate components can or can not be physically separated, and the components of the control device can or can not be physical units, i.e. can be located in one place or can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0131] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions for making a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various computer program instruction storage media.

[0132] The above is only an embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of claims of the present application.

Claims

1. A method for controlling cleaning equipment, characterized in that, The method includes: Obtain a set of restricted areas around the object to be avoided, wherein the distance between the restricted areas in the set and the object to be avoided is greater than a first distance value and less than a second distance value; If the circumcircle of the cleaning device meets the conditions, the cleaning device is controlled to move along the edge of the restricted area in a preset clockwise direction to perform the cleaning task. The circumcircle is defined as the circular area covered by the body of the cleaning device when it rotates in place. The conditions include one of the following: the circumcircle of the cleaning device contacts any one of the restricted areas in the restricted area set outside the restricted area set defined by the restricted area set, or the circumcircle of the cleaning device contacts the line connecting any adjacent restricted areas in the restricted area set outside the restricted area set defined by the restricted area set.

2. The method according to claim 1, characterized in that, The acquisition of the set of no-go points around the object to be avoided includes: Obtain the position and shape information of the object to be avoided; Based on the location information and the shape information, the coordinates of multiple restricted area points are determined around the object to be avoided, thus obtaining a set of restricted area points.

3. The method according to claim 1 or 2, characterized in that, The distance between any two adjacent restricted areas in the restricted area point set is greater than the third distance value and less than the fourth distance value.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: Calculate the distance between the circumscribed center and each restricted area point in the set of restricted area points, where the circumscribed center is defined as the rotation center of the cleaning equipment body when the cleaning equipment rotates in place; If the distance between the circumcenter and any one of the restricted areas in the set of restricted areas is equal to the radius of the circumcenter, then it is determined that the circumcenter of the cleaning device contacts any one of the restricted areas in the set of restricted areas outside the restricted area defined by the set of restricted areas.

5. The method according to any one of claims 1-4, characterized in that, Controlling the cleaning equipment to move along the edge of the restricted area in a preset clockwise direction includes: Control the cleaning equipment to rotate in place by a first angle so that the cleaning equipment faces the edge of the initial restricted area. The lines are parallel, and the initial restricted area boundary line is the line connecting any one of the restricted area points and the adjacent restricted area point in the direction in which the cleaning equipment faces; The cleaning equipment is controlled to move sequentially along the edge of each restricted area, so that the cleaning equipment moves along the edge of the restricted area in a preset clockwise direction, and the edge of the restricted area is the line connecting adjacent restricted area points.

6. The method according to claim 5, characterized in that, The method further includes: During the process of controlling the cleaning equipment to rotate in place by a first angle, if the first angle is greater than the first angle threshold, the cleaning equipment is controlled to retract the cleaning component that is close to the side of the object to be avoided. After controlling the cleaning device to rotate in place by a first angle, the cleaning device is then controlled to extend a cleaning component close to the side of the object to be avoided.

7. The method according to claim 5 or 6, characterized in that, The control of the cleaning equipment to move sequentially along the edges of each restricted area includes: Using the initial restricted area boundary as the target restricted area boundary, the cleaning equipment is controlled to move along the target restricted area boundary. When the cleaning equipment moves to the corner position between the edge of the target restricted area and the edge of the next restricted area, the cleaning equipment is controlled to adjust its own orientation to be parallel to the edge of the next restricted area. The next restricted area boundary is taken as the new target restricted area boundary, and the process returns to the step of controlling the cleaning equipment to move along the target restricted area boundary until the preset termination condition is met.

8. The method according to claim 7, characterized in that, The method further includes: During the process of controlling the cleaning equipment to move along the edge of the target restricted area, the distance between the outer center of the cleaning equipment and the edge of the target restricted area is maintained at a preset distance threshold.

9. The method according to claim 7 or 8, characterized in that, The control of the cleaning equipment to adjust its orientation to be parallel to the next restricted area boundary line includes: If the corner is greater than the second angle threshold, the cleaning equipment is controlled to rotate and move until the orientation of the cleaning equipment is parallel to the next restricted area edge line; If the corner is less than or equal to the second angle threshold, the cleaning equipment is controlled to stop moving, and then the cleaning equipment is controlled to rotate in place until the orientation of the cleaning equipment is parallel to the next restricted area boundary line.

10. The method according to claim 9, characterized in that, The method further includes: During the process of controlling the rotation and movement of the cleaning equipment, the linear velocity of the cleaning equipment is controlled within a preset linear velocity range, and / or the angular velocity of the cleaning equipment is controlled within a preset angular velocity range.

11. The method according to any one of claims 5-10, characterized in that, The method further includes: After controlling the cleaning equipment to move sequentially along the edges of each restricted area, the cleaning equipment is controlled to rotate in place by a second angle to perform other cleaning tasks. During the process of controlling the cleaning equipment to rotate in place by a second angle, the cleaning equipment is controlled to retract the cleaning component that is close to other objects.

12. A cleaning equipment control device, characterized in that, The device includes: The acquisition unit is used to acquire a set of restricted area points around the object to be avoided, wherein the distance between the restricted area points in the set of restricted area points and the object to be avoided is greater than a first distance value and less than a second distance value; The control unit is configured to control the cleaning device to move along the edge of the restricted area in a preset clockwise direction to perform a cleaning task if the circumscribed circle of the cleaning device meets a condition. The circumscribed circle is defined as the circular area covered by the body of the cleaning device when it rotates in place. The condition includes one of the following: the circumscribed circle of the cleaning device contacts any one of the restricted areas in the restricted area set defined by the restricted area set outside the restricted area set; or the circumscribed circle of the cleaning device contacts the line connecting any adjacent restricted areas in the restricted area set outside the restricted area set defined by the restricted area set.

13. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the method as claimed in any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to perform the operations performed by the method as described in any one of claims 1 to 11.

15. A cleaning device, characterized in that, The cleaning device includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to implement the method as claimed in any one of claims 1 to 11.

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