Cleaning device control method and apparatus, cleaning device, and readable storage medium

Abstract

The present application relates to the field of smart homes. Provided are a cleaning device control method and apparatus, a cleaning device, and a readable storage medium. The method comprises: on the basis of preset information, determining a movement strategy of a device body of a cleaning device in an area to be cleaned; and according to the movement strategy, controlling the cleaning of said area by the device body. According to the present application, a movement strategy of a device body is determined on the basis of preset information, and according to the movement strategy, the device body is controlled to clean an area to be cleaned, thereby improving the cleaning effect of a room.

Description

Control method and device of cleaning equipment, cleaning equipment and readable storage medium Cross-reference to Related Applications

[0001] This application claims priority to Chinese Patent Application No. 202410870183.6, filed on June 28, 2024, entitled “Control method and device of cleaning equipment, cleaning equipment and readable storage medium”, the disclosure of which is incorporated herein in its entirety as part of the present application. TECHNICAL FIELD

[0002] The present application relates to the field of smart home, and in particular to a control method and device of cleaning equipment, cleaning equipment and readable storage medium. BACKGROUND

[0003] With the rapid development of technology and the increasing improvement of people's living standards, smart home has gradually become an indispensable part of modern family. In the field of smart home, the sweeping robot is favored by the majority of consumers due to its high efficiency and convenience. The user's room has various types of furniture, such as beds, TV cabinets, sofas, etc. The furniture is designed with a suspended bottom, and dust and debris are easily accumulated under these furniture. However, due to the low height of the bottom space of these furniture, the sweeping robot cannot enter the bottom space for cleaning, resulting in poor user experience. SUMMARY

[0004] Therefore, the present application provides a control method and device of cleaning equipment, cleaning equipment and readable storage medium, which can clean the suspended low space and improve the cleaning effect of the room.

[0005] In a first aspect, the embodiments of the present application provide a control method of cleaning equipment, the cleaning equipment comprising a device main body and a first sensor arranged on the device main body and liftable relative to the device main body, the method comprising:

[0006] determining a moving strategy of the device main body in a to-be-cleaned area based on preset information;

[0007] controlling the lifting of the first sensor and the cleaning of the device main body on the to-be-cleaned area according to the moving strategy.

[0008] In a second aspect, the embodiments of the present application provide a control device of cleaning equipment, the cleaning equipment comprising a device main body and a first sensor arranged on the device main body and liftable relative to the device main body, the device comprising:

[0009] a moving strategy determination module configured to determine a moving strategy of the device main body in a to-be-cleaned area based on preset information;

[0010] a control module configured to control lifting of the first sensor and cleaning of the area to be cleaned by the device body according to the movement strategy.

[0011] In a third aspect, an embodiment of the present application provides a cleaning device, which comprises:

[0012] a device body;

[0013] a memory storing a program or instructions;

[0014] a processor configured to implement the steps of the method of the first aspect when executing the program or instructions.

[0015] In a fourth aspect, an embodiment of the present application provides a readable storage medium, which stores a program or instructions, and the program or instructions are executed by a processor to implement the steps of the method of the first aspect.

[0016] In a fifth aspect, an embodiment of the present application provides a chip, which comprises a processor and a communication interface, the communication interface and the processor are coupled, and the processor is configured to run a program or instructions to implement the method of the first aspect.

[0017] In a sixth aspect, an embodiment of the present application provides a computer program product, which is stored in a storage medium, and the program product is executed by at least one processor to implement the method of the first aspect.

[0018] In the embodiments of the present application, the movement strategy of the device body is determined based on preset information, and the device body is controlled to clean the area to be cleaned according to the movement strategy, so that the cleaning of the area to be cleaned including low areas and non-low areas is realized, and the cleaning effect of the room is improved.

[0019] The above description is only a summary of the technical solutions of the present application. In order to enable one skilled in the art to better understand the technical means of the present application, the content of the specification can be implemented, and in order to enable the above and other purposes, features and advantages of the present application to be more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0021] FIG. 1 shows a flowchart of a control method of a cleaning device according to an embodiment of the present application;

[0022] FIG. 2 shows a schematic diagram of cleaning non-low areas first and then cleaning low areas according to an embodiment of the present application.

[0023] Fig. 3 shows a second schematic diagram of the embodiment of the present application for cleaning the non-low area first and then cleaning the low area;

[0024] Fig. 4 shows a schematic diagram of the embodiment of the present application for continuous cleaning of the sub-low area;

[0025] Fig. 5 shows a schematic diagram of the embodiment of the present application for continuous cleaning of the sub-non-low area;

[0026] Fig. 6 shows a first schematic diagram of the embodiment of the present application for cleaning the low area;

[0027] Fig. 7 shows a second schematic diagram of the embodiment of the present application for cleaning the low area;

[0028] Fig. 8 shows a second flowchart of the control method of the cleaning device of the embodiment of the present application;

[0029] Fig. 9 shows a structural block diagram of the control device of the cleaning device of the embodiment of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0031] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in an "or" relationship.

[0032] The control method, device, cleaning device and readable storage medium provided by the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings and specific embodiments and their application scenarios.

[0033] The embodiment of the present application provides a control method of a cleaning device, the cleaning device comprising a device main body, a navigation system arranged on the device main body and used for positioning and navigating the cleaning device, and the navigation system comprising a plurality of sensors, such as an LDS (Laser Direct Structuring), a TOF (Time of Flight) sensor, a vertical line laser, an ultrasonic range finder, an infrared sensor and the like. The TOF sensor (i.e., a second sensor) can comprise a forward TOF, an upward TOF and the like, and can detect the distance between the device main body and an object. The LDS (i.e., a first sensor) can be fixed or liftable relative to the device main body, and is used for detecting the distance between the device main body and the object.

[0034] In an implementation manner, the LDS (i.e., the first sensor) is liftable relative to the device main body, and the height of the cleaning device is changed by lifting or lowering the first sensor. When the first sensor is in a lowered state, the height of the cleaning device is a first height, i.e., the height between the bottom end of the device main body and the top end of the first sensor; when the first sensor is in a lifted state, the height of the cleaning device is a third height, i.e., the height between the bottom end of the device main body and the top end of the first sensor, and the first height is lower than the third height.

[0035] The to-be-cleaned area in the room comprises a low area and a non-low area, the low area refers to the ground area corresponding to the suspended space formed by the bottom of furniture such as a bed, a TV cabinet and a sofa and the ground, the space height of the low area is higher than the first height and lower than the second height, the second height is the sum of the third height and a preset height, and the preset height can be 0-10 cm, and preferably 3-5 cm. The non-low area refers to an area other than the low area in the to-be-cleaned area.

[0036] When the first sensor is in the lifted state, the navigation effect of the first sensor is better, but correspondingly, the overall height of the cleaning device is also increased, so that the cleaning device cannot enter the low area; when the first sensor is in the lowered state, the overall height of the cleaning device is lowered, so that the cleaning device can enter the low area to clean.

[0037] As shown in FIG. 1, the control method of the cleaning device provided by the embodiment of the present application comprises the following steps.

[0038] S101, determining a moving strategy of the device main body of the cleaning device in a to-be-cleaned area based on preset information.

[0039] In this step, the moving strategy of the device main body in the to-be-cleaned area can be determined based on the preset information currently acquired or already stored in the cleaning device.

[0040] In an embodiment, the preset information includes system setting information and / or user setting information. The system setting information can be information that has been stored in the cleaning device, and the user setting information can be information that has been stored in the cleaning device or information that is set by the user before the cleaning control. The user setting information can be set by the user directly on the cleaning device or by the user through a user terminal and then sent to the cleaning device by the user terminal.

[0041] In an embodiment, the system setting information includes system default information and / or user historical setting information. The system setting information that has been stored in the cleaning device can be system default information, such as default parameters when the cleaning device is shipped from the factory, or user historical setting information, which is user setting information of the user in the last time or a certain time before. In this case, the user historical setting information is determined based on the user identity of the current user and matching the stored setting information with the user identity.

[0042] In an embodiment of the present application, the area to be cleaned includes a low area and a non-low area, and the spatial height of the low area is lower than that of the non-low area. The low area refers to a ground area corresponding to a suspended space formed by the bottom of furniture such as a bed, a TV cabinet, or a sofa and the ground, and the non-low area refers to an area other than the low area in the area to be cleaned.

[0043] In an embodiment, the movement strategy includes a first movement strategy and / or a second movement strategy. The first movement strategy includes controlling the device main body to clean in the low area according to a normal navigation path when the low area is identified, and controlling the device main body to clean in the non-low area when the non-low area is identified. This case belongs to moving according to the environmental information, and in this way, the path control of the cleaning device is reduced, and the cleaning device can move freely according to the navigation path.

[0044] The second movement strategy includes moving to clean in the low area first, and then moving to clean in the non-low area after the cleaning in the low area is completed; or moving to clean in the non-low area first, and then moving to clean in the low area after the cleaning in the non-low area is completed. In this way, continuous cleaning of the same type of area is realized.

[0045] S102, controlling the device main body to clean the area to be cleaned according to the movement strategy.

[0046] In this step, the movement of the device body in the low area and the non-low area of the to-be-cleaned area has an impact on the navigation system arranged on the device body, for example, the signals of each sensor (including the first sensor and / or the second sensor) of the navigation system in the low area are blocked, and the accuracy of the collected perception data is affected; for another example, when the first sensor is lifted, the low area has an impact on the lifting action of the first sensor, specifically, the first sensor is lowered in the low area, and the first sensor is lifted in the non-low area, and in some embodiments, the first sensor can also be lowered in the non-low area. Therefore, based on the above impact, the movement of the device body according to different movement strategies can be controlled to realize the cleaning of the low area and the non-low area.

[0047] In the embodiments of the present application, the movement strategy of the device body is determined based on the preset information, and the device body is controlled to clean the to-be-cleaned area according to the movement strategy, so as to realize the cleaning of the to-be-cleaned area including the low area and the non-low area, and improve the cleaning effect of the room.

[0048] In an embodiment of the present application, the cleaning device includes a first sensor arranged on the device body and liftable relative to the device body; when the device body moves in the low area, the first sensor is in a lowered state, and when the device body moves in the non-low area, the first sensor is in a lifted state or a lowered state.

[0049] In this embodiment, the top end of the first sensor can be provided with a bumper, which is triggered when the bumper contacts the top of the low overhanging space, so that the first sensor is lowered; the cleaning device includes an upward TOF for detecting an upward height, and if it is detected that the upward height is greater than a preset threshold, it indicates that the non-low area has been reached, and the first sensor is controlled to be lifted. In this way, accurate detection of the low area and the non-low area and accurate control of the lifting of the first sensor are realized.

[0050] Through the lifting of the first sensor, the overall height of the cleaning device changes. When the first sensor is in a lowered state, the height between the bottom end of the device body and the top end of the first sensor is a first height, that is, the overall height of the cleaning device is the first height; when the first sensor is in a lifted state, the height between the bottom end of the device body and the top end of the first sensor is a third height, that is, the overall height of the cleaning device is the third height, and the first height is lower than the third height.

[0051] The to-be-cleaned area in the room includes a low area and a non-low area, the space height of the low area is higher than a first height and lower than a second height, the first height is the overall height of the cleaning device when the first sensor is in a lowered state, and the second height is the sum of a third height and a preset height, the third height is the overall height of the cleaning device when the first sensor is in a raised state, and the preset height can be 0-10 cm, preferably 3-5 cm. The overall height of the cleaning device when the first sensor is in a lowered state is lower than the space height of the low area, and the low area can be entered for cleaning; when the first sensor is in a raised state, the height of the cleaning device is higher than the space height of the low area, and the cleaning device cannot enter the low area.

[0052] In one embodiment, the preset information includes at least one of a movement strategy identifier, a data sensing accuracy of the first sensor, a data sensing accuracy of the second sensor, lifting power consumption information of the first sensor, and lifting wear information of the first sensor. The movement strategy identifier includes the name, number, etc. of the movement strategy, and is used to distinguish different movement strategies. The movement strategy identifier, the data sensing accuracy of the first sensor, the data sensing accuracy of the second sensor, the lifting power consumption information of the first sensor, and the lifting wear information of the first sensor can be stored in the cleaning device or set by the user before cleaning control.

[0053] The preset information can include a movement strategy identifier, that is, the movement strategy identifier corresponding to the required movement strategy can be determined according to the cleaning requirement. For example, the user can select the movement strategy identifier based on the consideration of the lifting performance of the first sensor, such as lifting power consumption and lifting wear, or the consideration of the data sensing accuracy of the first sensor and / or the second sensor. When the movement strategy identifier is the identifier of the first movement strategy, the movement strategy of the device body in the to-be-cleaned area is determined to be the first movement strategy; when the movement strategy identifier is the identifier of the second movement strategy, the movement strategy of the device body in the to-be-cleaned area is determined to be the second movement strategy. The movement strategy identifier can accurately determine the movement strategy used by the cleaning device during cleaning to meet the cleaning requirement.

[0054] The preset information can further include data sensing accuracy of the first sensor and / or the second sensor, the data sensing accuracy corresponding to different movement strategies. If the data sensing accuracy is high, the movement strategy of the device body in the to-be-cleaned area is determined as the first movement strategy, allowing the device body to frequently switch between the low area and the non-low area, without continuously cleaning the low area, so that the time for continuous cleaning in the low area is not too long, avoiding long-time cleaning in the low area and the non-low area in an environment with low data sensing accuracy, and ensuring the data sensing accuracy as much as possible.

[0055] The preset information can further include lifting power consumption information and / or lifting wear information of the first sensor. The lifting power consumption refers to the power or other forms of energy consumed during lifting, which reflects the energy consumption of the first sensor during lifting, and is an important indicator for evaluating the energy efficiency and operating cost of the cleaning device. The lifting wear refers to the material loss or performance degradation of the first sensor due to factors such as friction during long-term lifting use, and the wear affects the service life, accuracy and reliability of the first sensor, and is an important factor for evaluating the durability and maintenance cost of the cleaning device. That is, the movement strategy can be determined based on the consideration of the lifting performance of the first sensor such as lifting power consumption and lifting wear. In this case, the preset information can be lifting power consumption level and lifting wear level, different levels corresponding to different movement strategies. If the level is low, the lifting power consumption and lifting wear of the first sensor need to be low, and then the movement strategy of the device body in the to-be-cleaned area is determined as the second movement strategy. If the level is high, the lifting power consumption and lifting wear of the first sensor are allowed to be high, and then the movement strategy of the device body in the to-be-cleaned area is determined as the first movement strategy. In this way, the lifting performance of the first sensor such as lifting power consumption and lifting wear is ensured to meet the user's requirements while cleaning the low area and the non-low area, the service life of the first sensor is improved, and the maintenance cost of the cleaning device is reduced.

[0056] In one embodiment, the number of times of switching of the lifting state of the first sensor in the second moving strategy is less than the number of times of switching of the lifting state of the first sensor in the first moving strategy. Since the less the number of times of switching of the lifting state of the first sensor, the lower the power consumption and wear of the first sensor, the second moving strategy has lower power consumption and wear of the first sensor than the first moving strategy. The number of times of lifting of the first sensor is reduced, and the lifting power consumption and wear of the first sensor are reduced while ensuring cleaning. The first moving strategy includes controlling the first sensor to descend when a low area is identified according to a normal navigation path, and controlling the device body to enter the low area for cleaning, and controlling the first sensor to ascend when a non-low area is identified, and controlling the device body to enter the non-low area for cleaning. This case also belongs to moving according to environmental information, and the first sensor is lowered and cleaning is entered when a low area is encountered, and the first sensor is raised and cleaning is entered when a non-low area is encountered, and the path control of the cleaning device is reduced in this way, and the cleaning device can move freely according to the navigation path.

[0057] In some embodiments, when entering a non-low area from a low area, the first sensor can also be kept lowered for a distance or a period of time, and if it is identified that a low area is entered again within the distance or the period of time, the first sensor is kept lowered.

[0058] The second moving strategy includes moving to clean in a low area first and then moving to clean in a non-low area, or moving to clean in a non-low area first and then moving to clean in a low area. That is, the first sensor is lowered first, and then the first sensor is raised after cleaning in the low area is completed, and then the first sensor is lowered after cleaning in the non-low area is completed. In this way, the number of times of lifting of the first sensor is reduced, and the lifting power consumption and wear of the first sensor are reduced while ensuring cleaning.

[0059] In one embodiment of the present application, moving to clean in a non-low area first and then moving to clean in a low area includes: moving along an edge, and moving along the contour of a low area when a low area is identified during the moving along an edge; moving along an edge, and then cleaning in a non-low area, and then moving to clean in a low area after cleaning in the non-low area is completed; or moving along an edge, and moving through a low area when a low area is identified during the moving along an edge; moving along an edge, and then cleaning in a non-low area, and then moving to clean in a low area after cleaning in the non-low area is completed.

[0060] In this embodiment, cleaning the non-low area first and then cleaning the low area can make the non-low area be cleaned first, so as to avoid affecting the activity space of the user. Cleaning the non-low area first and then cleaning the low area can include the following two specific embodiments.

[0061] Embodiment one: cleaning the non-low area first, and moving along the contour of the low area to divide the position of the low area when the low area is encountered. Specifically, as shown in FIG. 2, the cleaning device normally moves along the edge in the non-low area, and a first sensor is used to detect the height in front during the moving along the edge. When it is detected that the low area in front is suspended, the state of moving along the contour of the low area is entered, and the low area is located, for example, moving along the outer contour of the low area. When moving along the outer contour of the low area, the first sensor is outside the low area, so that the navigation performance of the first sensor can be ensured. When the low area contour is encountered during the moving along the contour of the low area, the normal edge moving action is switched back. After the edge moving is completed, the device body is controlled to clean in the non-low area. At this time, the first sensor is in a lifted state. After the non-low area is cleaned, the first sensor is lowered, and the cleaning in the low area is performed.

[0062] Embodiment two: as shown in FIG. 3, during the edge moving, the suspended low area is encountered, the first sensor is lowered, the first sensor is lifted after passing through the low area, and the edge moving is continued until the edge moving is completed. After the edge moving is completed, the device body is controlled to clean in the non-low area. When the low area is encountered during the cleaning of the non-low area, the low area is avoided by turning. After the non-low area is cleaned, the first sensor is lowered, and the cleaning in the low area is performed. In this way, the edge cleaning movement can be ensured not to be interrupted by the low area, the problem of missing scanning during the edge moving can be avoided, and the cleaning effect can be ensured.

[0063] In an embodiment of the present application, the cleaning in the non-low area first and then the cleaning in the low area further includes: when the low area is identified during the cleaning in the non-low area, the low area contour edge is turned and moved.

[0064] In this embodiment, when other low areas are identified during the cleaning in the non-low area, the low areas are directly turned and moved along the low areas, for example, along a very short path, such as half of the body to turn to the next row of the non-low area. In this way, the cleaning in the low area is realized after the cleaning in the non-low area is completed, the lifting frequency of the first sensor is reduced, the lifting power consumption and the lifting wear of the first sensor are reduced while the cleaning is ensured.

[0065] In another implementation, when other low areas are identified, the low areas can also be moved along the contour of the low areas. After the moving along the contour is completed, the cleaning in the non-low area is continued from the last cleaning position in the non-low area.

[0066] In one embodiment of the present application, the first cleaning in the low area and the second cleaning in the non-low area include:

[0067] The first cleaning in the low area and the second cleaning in the non-low area include:

[0068] The first cleaning in the low area and the second cleaning in the non-low area include:

[0069] In this embodiment, the low area is easy to accumulate dust and sundries, and the low area is cleaned first and then the non-low area is cleaned, so that the dust and sundries in the low area are not brought up again when the non-low area is cleaned, thereby avoiding the pollution of the cleaned ground.

[0070] The first cleaning in the low area and the second cleaning in the non-low area can include the following two specific embodiments:

[0071] Embodiment one: when the low area is encountered during the edge moving, the contour of the low area is moved along, for example, the outer contour of the low area is moved along, and the low area is located. Then the low area is cleaned by lowering the navigation system, and after the low area is cleaned, the navigation system is lifted out to clean the non-low area or continue to move along the edge.

[0072] Embodiment two: when the low area is encountered during the edge moving, the first sensor is lowered to continue to move along the edge, and when the first sensor is first identified to pass through the low area, the contour of the low area is moved along, for example, the inner contour of the low area is moved along, and the first sensor is inside the low area when the inner contour of the low area is moved along. After the contour moving is completed, the low space is cleaned, and after the low space is cleaned, the first sensor is lifted out, and then the non-low area is cleaned or the edge moving is continued.

[0073] Through the above two ways, the low area is first located, and after the location, the low area can be accurately entered for cleaning, and the cleaning efficiency of the low area is improved.

[0074] In one embodiment of the present application, the cleaning of the non-low area included in the second moving strategy can include: if the non-low area is separated into at least two sub-non-low areas by the low area, after the cleaning of the current sub-non-low area is completed, the next sub-non-low area is entered for cleaning by passing through the low area.

[0075] In this embodiment, if the low area is separated into at least two sub-low areas by the non-low area, the continuous cleaning of the at least two sub-low areas is realized by crossing the non-low area.

[0076] For example, as shown in FIG. 4, one sub-low area on one side of the non-low space is cleaned first, then the non-low space is crossed to clean the sub-low area on the other side of the non-low space, and finally the non-low space is entered to clean the non-low space.

[0077] In an embodiment of the present application, the cleaning of the low area included in the second moving strategy can include: if the low area is separated into at least two sub-low areas by the non-low area, after the cleaning of the current sub-low area is completed, the next sub-low area is entered by crossing the non-low area for cleaning.

[0078] In this embodiment, if the low area is separated into at least two sub-low areas by the non-low area, the continuous cleaning of the at least two sub-low areas is realized by crossing the non-low area.

[0079] For example, as shown in FIG. 5, one sub-non-low area on one side of the low space is cleaned first, then the low space is crossed to clean the sub-non-low area on the other side of the low space, and finally the low space is entered to clean the low space.

[0080] In this way, continuous cleaning of the same type of sub-area is realized, avoiding missing some areas due to the moving path planning of the cleaning device, ensuring that each sub-area is cleaned, and avoiding the problem of incomplete cleaning.

[0081] In an embodiment of the present application, the way to determine whether the device main body moves out of the low area includes: if the switching times of the lifting state of the first sensor are even times, it is determined that the device main body moves out of the low area; or the sensor sensing data is used to determine whether the device main body moves out of the low area.

[0082] In this embodiment, the switching times of the lifting state of the first sensor are counted when entering the low area, and when an even number of switching times are passed, for example, switching 2 times, entering 1 time, and moving out 1 time, it is determined that the device main body moves out of the low area.

[0083] Alternatively, the device main body is controlled to rotate in a preset area range for a preset time length or a preset number of turns, which can be understood as rotating in place, and the sensor sensing data such as LDS, TOF sensor, vertical laser, ultrasonic range finder, infrared sensor, etc. is collected to determine whether the device main body moves out of the low area.

[0084] Or, without rotating, the upward height is collected by the upward TOF sensor, and when the upward height is greater than a preset threshold, it is determined that the low area is moved out.

[0085] In various ways, it can be accurately determined that the cleaning device moves out of the low area.

[0086] In an embodiment of the present application, the cleaning in the low area is performed first, and the cleaning in the non-low area is performed later, including:

[0087] When the user sets multiple cleaning tasks, the low area is cleaned multiple times, and after the cleaning in the low area is completed, the non-low area is cleaned multiple times;

[0088] The cleaning in the non-low area is performed first, and the cleaning in the low area is performed later, including:

[0089] When the user sets multiple cleaning tasks, the non-low area is cleaned multiple times, and after the cleaning in the non-low area is completed, the low area is cleaned multiple times.

[0090] In this embodiment, when the user sets multiple cleaning tasks, after the multiple cleaning in one type of area is completed, the multiple cleaning in another type of area is performed, which ensures the cleaning and reduces the lifting switching times of the first sensor, so that the lifting power consumption of the first sensor is lower and the lifting wear is lower.

[0091] In an embodiment of the present application, the cleaning in the low area includes: cleaning according to a preset moving track; the preset moving track includes moving according to a swing track, or moving according to the swing track first and then moving along the contour of the low area, or moving along the contour of the low area first and then moving according to the swing track.

[0092] The cleaning in the non-low area includes: cleaning according to a swing track in the non-low area.

[0093] The swing track includes a zigzag or a bow-shaped track. The zigzag swing track refers to a zigzag (similar to a "Z" shape) swing track, and the bow-shaped swing track refers to an arc-like swing track.

[0094] In this embodiment, when the low area is cleaned, the moving mode in the low area includes various modes, which improves the flexibility of cleaning the low area.

[0095] Exemplarily, as shown in FIG. 6, in the low space, only the inertial navigation is moved for cleaning, that is, moving according to a zigzag or a bow-shaped swing track, without moving along the contour. In this way, the low area is quickly cleaned, and the cleaning efficiency is improved.

[0096] As shown in FIG. 2, in the low area, the cleaning is first moved according to the conventional method, and then moved along the contour (for example, the inner contour) of the low area. Alternatively, as shown in FIG. 7, in the low area, the cleaning is first moved along the contour (for example, the inner contour) of the low area, and then moved according to the conventional method. In these two ways, the edge position of the low area can be avoided from being missed in cleaning, and the cleaning effect can be improved. Moreover, by moving along the contour of the low area, the low area can be positioned, and data basis can be provided for subsequent repositioning of the low area.

[0097] In an embodiment of the present application, the moving according to the swing trajectory in the low area comprises: moving according to the swing trajectory in the short direction of the low area.

[0098] In this embodiment, the cleaning is moved according to the swing trajectory such as the zigzag or the bow shape in the short direction of the low area. In the embodiment of the present application, the cleaning is preferentially performed in the short direction of the low area, so that the low area can be passed through more quickly, and the cleaning efficiency can be improved.

[0099] In an embodiment of the present application, during the moving according to the swing trajectory in the low area, when the device body moves in the edge position of the low area, the moving trajectory of the device body exceeds the edge position by a preset distance.

[0100] In this embodiment, as shown in FIGS. 2 to 7, when the device body moves in the edge position of the low area, the moving trajectory of the device body exceeds the edge position by a preset distance, that is, the device body moves out of the low area. During the period when the device body moves out of the low area, the first sensor can be lifted or not lifted. By moving the device body out of the low area, a wider space can be detected, and the accuracy of positioning can be improved.

[0101] As a refinement and expansion of the above-mentioned embodiments, the embodiment of the present application provides another control method of the cleaning device, as shown in FIG. 8, the method comprises:

[0102] S801, determining a moving strategy of a device body of a cleaning device in a to-be-cleaned area based on preset information.

[0103] S802, controlling the device body to clean the to-be-cleaned area according to the moving strategy.

[0104] S803, after the cleaning of a low area in the to-be-cleaned area is completed and entering a non-low area in the to-be-cleaned area, obtaining positioning information of the low area.

[0105] S804, if the positioning information deviates from the position of the low area in the electronic map, adjusting the position of the low area in the electronic map and / or performing supplementary cleaning of the low area according to the positioning information.

[0106] S801 and S802 are the same as or similar to S101 and S102 in the above embodiments, and will not be described again here.

[0107] In this embodiment, after cleaning the low-lying area, the device exits the area, raises the first sensor, and combines the current position with the position information collected while moving along the contour of the low-lying area to perform a repositioning operation on the low-lying area, thereby obtaining its positioning information. This positioning information is compared with the position of the low-lying area on an electronic map. If there is no discrepancy, the cleaning device has not gotten lost; if there is a discrepancy, the position of the low-lying area on the electronic map is adjusted according to the positioning result. This method makes the position of the low-lying area on the electronic map more accurate, improving the subsequent navigation effect. After adjustment, it can be marked and displayed in the user's terminal app, allowing the user to intuitively understand the update status of the low-lying area's position.

[0108] If there is a discrepancy between the two, it indicates that the cleaning equipment may be traveling the wrong route in low-ceilinged spaces, thus requiring supplementary cleaning of low-ceilinged areas to avoid missed areas and improve cleaning effectiveness.

[0109] This invention provides a control method for a cleaning device that cleans non-low-lying areas first and then low-lying areas. When, based on preset information, the movement strategy of the device body in the area to be cleaned is determined to be cleaning non-low-lying areas first and then low-lying areas, the movement path of the cleaning device is shown in Figure 2. The basic process of this method includes:

[0110] 1. First, clean the non-suspended low-lying areas, and then use the movement of moving the outer edge of the suspended low-lying areas to outline the location of the suspended low-lying areas.

[0111] (1) The cleaning equipment moves normally along the wall in a non-suspended low area. When it detects that there is a suspended low area in front, it enters the state of the outer edge of the suspended low area.

[0112] In one embodiment, based on the characteristics of each of the above sensors, a corresponding outer edge action is adopted. The outer edge suspended low area action includes: turning after encountering the suspended low area, and then moving along the suspended low area according to the current detection information or historical current detection information of the sensor.

[0113] (2) When the low-lying area along the outer edge encounters a non-low-lying object, switch back to the normal wall-following action until the entire wall-following loop is completed.

[0114] (3) After the closed loop along the wall is completed, clean the non-suspended low area in a zigzag or bow-shaped pattern.

[0115] (4) When a new overhang low area is detected during the zigzag or arch cleaning process, enter the state of the outer edge of the overhang low area.

[0116] (5) When the overhang low area forms a closed loop, continue the zigzag or arch cleaning of the uncovered area.

[0117] (6) When the user sets a multiple cleaning task, multiple cleaning is performed in the non-overhang low area.

[0118] 2. After cleaning the non-overhang low area, lower the first sensor and enter the overhang low area for cleaning. The overhang low area cleaning scheme can include the following three:

[0119] Scheme 1: As shown in FIG. 2, inertial navigation cleaning in the overhang low area, and then inner edge boundary cleaning.

[0120] Inertial navigation cleaning can be zigzag or arch cleaning, and preferentially cleaning in the short side direction of the overhang low area, which can pass through the overhang low area more quickly.

[0121] During cleaning, when an obstacle is encountered in front, if it is determined that the obstacle is on the edge of the cleaning device in the direction of the turn, the cleaning device will continue to walk around the obstacle. When it is determined that the obstacle cannot be bypassed directly, the cleaning device will turn and return to clean. The cleaning device needs to be a certain distance away from the overhang low area, or turn again after encountering an obstacle to continue cleaning the next row.

[0122] When the overhang low area cleaning is completed, edge cleaning along the edge of the overhang low area is performed to avoid the problem of missing scanning.

[0123] Scheme 2: As shown in FIG. 6, directly inertial navigation cleaning in the overhang low area, without edge cleaning.

[0124] Directly zigzag or arch cleaning in the overhang low area without edge cleaning along the edge of the overhang low area improves the cleaning speed.

[0125] Scheme 3: First inner edge boundary in the overhang low area, and then inertial navigation cleaning.

[0126] As shown in FIG. 7, first enter the overhang low area, perform inner edge boundary of the overhang low area, and then zigzag or arch clean the internal space of the overhang low area.

[0127] It should be noted that when the user sets a multiple cleaning task, multiple cleaning is performed in the overhang low area.

[0128] 3. After cleaning the suspended low area, the first sensor is lifted to reposition after exiting the suspended low area.

[0129] 4. After repositioning, the suspended low area in the electronic map is adjusted in position according to the deviation of the positioning result, and is marked and displayed in the App of the user terminal, so that the position of the low area in the electronic map is more accurate, and the subsequent navigation effect is improved.

[0130] In the embodiment of the application, the movement strategy of the device body is determined based on preset information, and the device body is controlled to clean the to-be-cleaned area according to the movement strategy, so that the cleaning of the to-be-cleaned area including the low area and the non-low area can be handled through the lifting of the first sensor, and the cleaning effect of the room is improved.

[0131] In addition, the low area can be cleaned according to a plurality of different schemes, the flexibility of cleaning control is improved, and the low area is repositioned after cleaning, so that the position of the low area in the electronic map is more accurate.

[0132] As a specific implementation of the control method of the cleaning device, the embodiment of the application provides a cleaning device control cleaning device. As shown in FIG. 9, the cleaning device control device 900 includes a movement strategy determination module 901 and a control module 902.

[0133] The movement strategy determination module 901 is configured to determine a movement strategy of the device body in the to-be-cleaned area based on preset information.

[0134] The control module 902 is configured to control the device body to clean the to-be-cleaned area according to the movement strategy.

[0135] Further, the preset information includes system setting information and / or user setting information.

[0136] The system setting information includes system default information and / or user historical setting information.

[0137] Further, the to-be-cleaned area includes a low area and a non-low area, and the spatial height of the low area is lower than that of the non-low area.

[0138] The movement strategy includes a first movement strategy and / or a second movement strategy.

[0139] The first movement strategy includes cleaning in the low area when the low area is identified according to the navigation path, and cleaning in the non-low area when the non-low area is identified.

[0140] The second moving strategy includes moving to clean in the low area first and then moving to clean in the non-low area, or moving to clean in the non-low area first and then moving to clean in the low area.

[0141] Further, the cleaning device includes a first sensor arranged on the device body and liftable relative to the device body; the first sensor is in a lowered state when the device body moves in the low area; the first sensor is in a lifted state or the lowered state when the device body moves in the non-low area.

[0142] The area to be cleaned includes a low area and a non-low area, the low area has a space height higher than a first height and lower than a second height, the first height is a height between a bottom end of the device body and a top end of the first sensor in the lowered state of the first sensor, and the second height is a sum of a third height and a preset height, the third height is a height between the bottom end of the device body and the top end of the first sensor in the lifted state of the first sensor.

[0143] Further, the number of times of switching of the lifted state of the first sensor in the second moving strategy is less than the number of times of switching of the lifted state of the first sensor in the first moving strategy.

[0144] Further, moving to clean in the non-low area first and then moving to clean in the low area includes:

[0145] moving along an edge, moving along a contour of the low area when the low area is identified in the process of moving along the edge, cleaning in the non-low area after moving along the edge, and moving to clean in the low area after cleaning in the non-low area is completed; or

[0146] moving along an edge, moving through the low area when the low area is identified in the process of moving along the edge, cleaning in the non-low area after moving along the edge, and moving to clean in the low area after cleaning in the non-low area is completed.

[0147] Further, moving to clean in the non-low area first and then moving to clean in the low area further includes: when the low area is identified while cleaning in the non-low area, moving along a contour edge of the low area.

[0148] Further, moving to clean in the low area first and then moving to clean in the non-low area includes: moving along an edge, moving along a contour of the low area when the low area is identified in the process of moving along the edge, moving to clean in the low area after moving along the contour of the low area, and moving to clean in the non-low area after cleaning in the low area is completed; or

[0149] moving along the edge, crossing the low area when the low area is identified during the moving along the edge, and moving along the contour of the low area; cleaning in the low area after the moving along the contour of the low area is completed, and moving to the non-low area to clean after the cleaning in the low area is completed.

[0150] Further, the cleaning manner of the non-low area included in the second moving strategy comprises:

[0151] If the non-low area is spaced by the low area into at least two sub-non-low areas, then after the cleaning in the current sub-non-low area is completed, the next sub-non-low area is entered to clean by crossing the low area.

[0152] The cleaning manner of the low area included in the second moving strategy comprises:

[0153] If the low area is spaced by the non-low area into at least two sub-low areas, then after the cleaning in the current sub-low area is completed, the next sub-low area is entered to clean by crossing the non-low area.

[0154] Further, the manner of judging whether the device body moves out of the low area comprises:

[0155] If the switching times of the lifting state of the first sensor are even times, it is determined that the device body moves out of the low area; or, the sensor sensing data is used to judge whether the device body moves out of the low area.

[0156] Further, the cleaning in the low area first and then cleaning in the non-low area comprises: when multiple cleaning tasks are set by the user, multiple cleanings are performed in the low area, and after the cleaning in the low area is completed, multiple cleanings are performed in the non-low area.

[0157] The cleaning in the non-low area first and then cleaning in the low area comprises: when multiple cleaning tasks are set by the user, multiple cleanings are performed in the non-low area, and after the cleaning in the non-low area is completed, multiple cleanings are performed in the low area.

[0158] Further, the cleaning in the low area comprises: cleaning according to a preset moving track; the preset moving track comprises moving according to a swing track, or moving according to the swing track first and then moving along the contour of the low area, or moving along the contour of the low area first and then moving according to the swing track.

[0159] The cleaning in the non-low area comprises: cleaning according to a swing track in the non-low area; wherein, the swing track comprises a zigzag track or a bow-shaped track.

[0160] Further, the moving in the low area according to the swing trajectory includes: moving according to the swing trajectory in the short edge direction of the low area.

[0161] Further, during the moving in the low area according to the swing trajectory, when the device main body moves in a cutting-in manner at the edge position of the low area, the moving trajectory of the device main body exceeds the edge position by a preset distance.

[0162] Further, the device further includes a positioning module configured to: after the low area is cleaned and enters the non-low area, acquire positioning information of the low area; if there is a deviation between the positioning information and the position of the low area in the electronic map, adjust the position of the low area in the electronic map according to the positioning information and / or perform supplementary cleaning on the low area.

[0163] The control device 900 of the cleaning device in the embodiments of the present application can be a cleaning device, or a component in the cleaning device, such as an integrated circuit or a chip, etc. The control device 900 of the cleaning device provided in the embodiments of the present application can realize each process of the control method embodiments of the cleaning device of FIG. 1 and FIG. 8, and thus the details are not repeated here.

[0164] The embodiments of the present application further provide a cleaning device, which comprises:

[0165] a device main body;

[0166] a memory, the memory storing programs or instructions;

[0167] a processor, the processor realizing each step of the control method embodiments of the cleaning device when executing the programs or instructions, and achieving the same technical effects, and thus the details are not repeated here.

[0168] The memory can be used to store software programs and various data. The memory can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function, and the like. In addition, the memory can include a volatile memory or a non-volatile memory, or the memory can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDR SDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synch link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (Direct Rambus RAM, DRRAM). The memory in the embodiments of the present application includes but is not limited to these and any other suitable types of memory.

[0169] The processor can include one or more processing units; optionally, the processor integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor.

[0170] The embodiments of the present application also provide a readable storage medium, and the readable storage medium stores programs or instructions, the programs or instructions are executed by the processor to realize each process of the control method of the cleaning device, and the same technical effects can be achieved. To avoid repetition, it will not be repeated here.

[0171] The embodiment of the present application further provides a chip, which comprises a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running programs or instructions to realize the processes of the control method of the cleaning device and achieve the same technical effects. To avoid repetition, details are not repeated here.

[0172] It should be understood that the chip mentioned in the embodiment of the present application can also be referred to as a system chip, a system chip, a chip system or a system on chip, etc.

[0173] The embodiment of the present application further provides a computer program product, which is stored in a storage medium, and is executed by at least one processor to realize the processes of the control method of the cleaning device and achieve the same technical effects. To avoid repetition, details are not repeated here.

[0174] It should be noted that in this paper, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without more limitations, the element defined by the statement "includes a" does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the present application is not limited to the order of functions shown or discussed, but can also include functions performed in a substantially simultaneous manner or in the opposite order, for example, the described method can be performed in an order different from that described, and various steps can also be added, omitted or combined. In addition, the features described with reference to some examples can be combined in other examples.

[0175] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, which are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope of protection of the claims, which are all within the protection of the present application.

Claims

1. A control method of a cleaning apparatus, characterized by, The method comprises: determining a moving strategy of a device body of the cleaning device in a to-be-cleaned area based on preset information; controlling the device body to clean the to-be-cleaned area according to the moving strategy.

2. The method according to claim 1, wherein the preset information comprises system setting information and / or user setting information; the system setting information comprises system default information and / or user historical setting information.

3. The method according to claim 1, wherein the to-be-cleaned area comprises a low area and a non-low area, the spatial height of the low area is lower than that of the non-low area; the moving strategy comprises a first moving strategy and / or a second moving strategy; the first moving strategy comprises entering the low area to clean when the low area is identified and entering the non-low area to clean when the non-low area is identified according to a navigation path; the second moving strategy comprises moving to the low area to clean first and then moving to the non-low area to clean, or moving to the non-low area to clean first and then moving to the low area to clean.

4. The method of claim 3, wherein, the cleaning device comprises a first sensor arranged on the device body and liftable relative to the device body; when the device body moves in the low area, the first sensor is in a lowered state; when the device body moves in the non-low area, the first sensor is in a lifted state or the lowered state; the spatial height of the low area is higher than a first height and lower than a second height, the first height is the height between the bottom end of the device body and the top end of the first sensor in the lowered state of the first sensor, and the second height is the sum of a third height and a preset height, the third height is the height between the bottom end of the device body and the top end of the first sensor in the lifted state of the first sensor.

5. The method according to claim 4, wherein the number of times of switching the lifting state of the first sensor in the second moving strategy is less than the number of times of switching the lifting state of the first sensor in the first moving strategy.

6. The method of any one of claims 3 to 5, wherein, moving to the non-low area to clean first and then moving to the low area to clean comprises: edge moving, in the process of edge moving, moving along the contour of the low area when the low area is identified; after edge moving, cleaning in the non-low area, and moving to the low area to clean after the cleaning in the non-low area is completed; or edge moving, in the process of edge moving, moving through the low area when the low area is identified; after edge moving, cleaning in the non-low area, and moving to the low area to clean after the cleaning in the non-low area is completed.

7. The method of claim 6, wherein, moving to the non-low area to clean first and then moving to the low area to clean further comprises: when cleaning in the non-low area, if the low area is identified, moving along the contour edge of the low area.

8. The method of any one of claims 3 to 5, wherein, moving to the low area to clean first and then moving to the non-low area to clean comprises: moving along the edge, moving along the contour of the low area when the low area is identified during the moving along the edge; moving to clean in the low area after the moving along the contour of the low area is completed; moving to clean in the non-low area after the low area is cleaned; moving along the edge, moving through the low area when the low area is identified during the moving along the edge, and then moving along the contour of the low area; cleaning in the low area after the moving along the contour of the low area is completed; moving to clean in the non-low area after the low area is cleaned.

9. The method of any one of claims 3 to 5, wherein, The cleaning manner of the non-low area included in the second moving strategy comprises: if the non-low area is separated into at least two sub-non-low areas by the low area, then after the cleaning of the current sub-non-low area is completed, moving through the low area to clean in the next sub-non-low area; The cleaning manner of the low area included in the second moving strategy comprises: if the low area is separated into at least two sub-low areas by the non-low area, then after the cleaning of the current sub-low area is completed, moving through the non-low area to clean in the next sub-low area.

10. The method of claim 4 or 5, wherein, The manner of judging whether the device body moves out of the low area comprises: if the number of switching of the lifting state of the first sensor is even, then it is determined that the device body moves out of the low area.

11. The method of claim 4 or 5, wherein, The cleaning device further comprises a second sensor configured to detect the distance between the device body and an object; the manner of judging whether the device body moves out of the low area comprises: sensing data through the first sensor and / or the second sensor to judge whether the device body moves out of the low area.

12. The method of any one of claims 3 to 5, wherein, The moving to clean in the low area first and then moving to clean in the non-low area comprises: when multiple cleaning tasks are set by the user, cleaning in the low area multiple times, and moving to clean in the non-low area multiple times after the cleaning in the low area is completed; The moving to clean in the non-low area first and then moving to clean in the low area comprises: when multiple cleaning tasks are set by the user, cleaning in the non-low area multiple times, and moving to clean in the low area multiple times after the cleaning in the non-low area is completed.

13. The method of any one of claims 3 to 5, wherein, The cleaning in the low area comprises: cleaning according to a preset moving track; the preset moving track comprises moving according to a swing track, or moving according to a swing track first and then moving along the contour of the low area, or moving along the contour of the low area first and then moving according to a swing track; The cleaning in the non-low area comprises: cleaning in the non-low area according to a swing track; wherein the swing track comprises a zigzag track or a similar arc track.

14. The method of claim 13, wherein, The moving according to a swing track in the low area comprises: moving according to the swing track in the direction of the short side of the low area.

15. The method of claim 13, wherein, During movement of the device body in the low area according to the swing trajectory, when the device body moves in a cutting manner at an edge position of the low area, a movement trajectory of the device body exceeds the edge position by a preset distance.

16. The method of any one of claims 3 to 15, wherein, The method comprises: After cleaning of the low area is completed and the low area enters the non-low area, positioning information of the low area is acquired; If the positioning information deviates from a position of the low area in an electronic map, a position of the low area in the electronic map is adjusted and / or supplementary cleaning of the low area is performed according to the positioning information.

17. A control device for a cleaning apparatus, characterized in that The device comprises: a movement strategy determination module configured to determine a movement strategy of a device body of the cleaning device in a to-be-cleaned area based on preset information; a control module configured to control the device body to clean the to-be-cleaned area according to the movement strategy.

18. A cleaning apparatus, characterized by comprise: a device body; a memory storing programs or instructions; a processor configured to implement steps of the control method of the cleaning device according to any one of claims 1 to 16 when executing the programs or instructions.

19. A readable storage medium, having stored thereon a program or instructions, characterized in that, The programs or instructions are configured to implement steps of the control method of the cleaning device according to any one of claims 1 to 16 when executed by the processor.

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