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

Abstract

Disclosed herein are a cleaning device control method and apparatus, a program product, a medium, and a cleaning device. The cleaning device comprises a collision detection assembly provided at an outer edge of a body thereof. The method comprises: during a docking process of the cleaning device, when the collision detection assembly is likely to come into contact with a side frame on either side of a docking base entrance, controlling the cleaning device to adjust a position and / or docking direction thereof, and then perform a docking action, so as to avoid either side of the side frame.

Description

Cleaning equipment control methods, devices, procedures, products, media, and cleaning equipment

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese patent application No. 2024110380602, filed on July 30, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of cleaning equipment control technology, and in particular to a cleaning equipment control method, apparatus, program product, medium and cleaning equipment. Background Technology

[0004] Cleaning equipment (such as sweepers and mops) is generally equipped with a docking station (also called a base station). After completing a cleaning task, the equipment returns to the docking station to recharge, add water, or wash the mop. This process of the cleaning equipment returning to the docking station is called the docking process. Generally, the size of the docking station is adapted to the size of the cleaning equipment, with the docking station entrance slightly larger than the size of the cleaning equipment body, allowing the cleaning equipment to enter the docking station through the entrance.

[0005] However, in practical applications, the collision detection components located on the edge of the cleaning equipment sometimes scrape against the side frames of the pile entrance, resulting in low safety. This can cause the collision detection components to easily get stuck on the pile entrance frame, affecting the normal pile driving of the cleaning equipment and reducing the service life of the collision detection components. Therefore, improving the safety of the cleaning equipment during the pile driving process is an urgent technical problem to be solved.

[0006] Summary of the Invention

[0007] This disclosure provides a cleaning equipment control method, apparatus, computer program product, computer-readable storage medium, and cleaning equipment, which can at least to some extent improve the safety of the cleaning equipment during the pile driving process.

[0008] According to a first aspect of this disclosure, a method for controlling a cleaning device is provided, the cleaning device including a collision detection component disposed on the outer edge of its body, the method comprising: during the pile driving process of the cleaning device, when there is a tendency for the collision detection component to come into contact with any side frame of the pile entrance, controlling the cleaning device to adjust its position and / or pile driving direction and then performing a pile driving action to avoid the side frame.

[0009] According to a second aspect of this disclosure, a cleaning equipment control device is provided, the cleaning equipment including a collision detection component disposed on the outer edge of its body, the device including a control unit for controlling the cleaning equipment to adjust its position and / or pile driving direction and then perform a pile driving action to avoid the side frame when there is a tendency for the collision detection component to contact the side frame of the pile entrance during the pile driving process of the cleaning equipment.

[0010] According to a third aspect of this disclosure, a computer program product is provided, the computer program product including 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 as described in the first aspect above.

[0011] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided that stores at least one computer program instruction, which is loaded and executed by a processor to perform the operations described in the first aspect above.

[0012] According to a fifth aspect of this disclosure, a cleaning device is provided, the cleaning device including 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 perform the operations performed as described in the first aspect above.

[0013] Attached Figure Description

[0014] The accompanying drawings, which are incorporated in and form part of this disclosure, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0015] Figure 1 is a schematic diagram of a cleaning device being installed on a pile according to some embodiments of the present disclosure;

[0016] Figure 2 is a flowchart of a cleaning equipment control method according to some embodiments of the present disclosure;

[0017] Figure 3 is a schematic diagram of a piling scenario for some other cleaning equipment according to some embodiments of the present disclosure;

[0018] Figure 4 is a schematic diagram of a piling scenario for some cleaning equipment according to some embodiments of the present disclosure;

[0019] Figure 5 is a schematic diagram of a cleaning device being installed on a pile according to some embodiments of the present disclosure;

[0020] Figure 6 is a schematic diagram of a piling scenario for some other cleaning equipment according to some embodiments of the present disclosure;

[0021] Figure 7 is a schematic diagram of a piling scenario for some other cleaning equipment according to some embodiments of the present disclosure;

[0022] Figure 8 is a block diagram of a cleaning equipment control device according to some embodiments of the present disclosure; and

[0023] Figure 9 is a schematic diagram of the structure of a cleaning device according to some embodiments of the present disclosure. Detailed Implementation

[0024] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0025] The features, structures, or characteristics described in this disclosure can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0026] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. It should also be noted that, for the sake of simplicity, certain components in the drawings that do not affect the interpretation of the technical solutions disclosed herein have been adaptively omitted.

[0027] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0028] In the description of this disclosure, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0029] To enable those skilled in the art to better understand this disclosure, the application scenarios involved in this disclosure will first be briefly explained with reference to Figure 1.

[0030] Figure 1 is a schematic diagram of a cleaning device mounted on a pile according to some embodiments of the present disclosure. In this disclosure, the cleaning device may be a sweeper, a mop, or a combined sweeper and mop; no specific limitation is made in this regard.

[0031] As shown in Figure 1, in some embodiments, the cleaning device 101 may be equipped with sensors 102, such as binocular sensors, structured light sensors, lidar sensors, millimeter-wave radar sensors, ultrasonic radar sensors, etc. Sensors 102 can be used to collect point cloud data of objects in the surrounding environment of the cleaning device 101. A collision detection component 103 may also be provided on the outer edge of the cleaning device 101. When the cleaning device 101 is performing a cleaning task or other tasks, the collision detection component 103 can be used to detect whether the cleaning device 101 has collided with an obstacle. The cleaning device 101 is also equipped with a base pile 104. After the cleaning device 101 completes its task, it will perform a back-on-the-base action, that is, return to the base pile 104 to perform operations such as charging, adding water, or cleaning the mop.

[0032] In some embodiments, the size of the foundation pile 104 is adapted to the size of the cleaning equipment 101. Generally, the size of the foundation pile inlet 105 is slightly larger than the size of the cleaning equipment 101, allowing the cleaning equipment 101 to enter the foundation pile 104 through the foundation pile inlet 105 in the pile driving direction A. However, in practical applications, the collision detection component 103, located on the edge of the cleaning equipment 101, sometimes scrapes against the side frames 106 on both sides of the foundation pile inlet 105, causing the collision detection component 103 to easily get stuck on the side frames 106 of the foundation pile inlet 105 (for example, the protruding positions B at both ends of the collision detection component 103 in Figure 1 may get stuck on the side frames 106), thus affecting the normal pile driving of the cleaning equipment 101 and reducing the service life of the collision detection component 103. To address this situation, this disclosure proposes a cleaning equipment control scheme to improve the safety of the cleaning equipment during the pile driving process.

[0033] Figure 2 is a flowchart of a cleaning equipment control method according to some embodiments of the present disclosure. The cleaning equipment includes a collision detection component disposed on the outer edge of its body. The cleaning equipment control method can be executed by a device with computing processing capabilities. Referring to Figure 2, the cleaning equipment control method includes at least step 200.

[0034] Step 200: During the pile driving process of the cleaning equipment, if there is a tendency for the collision detection component to come into contact with any side frame of the pile entrance, the cleaning equipment is controlled to adjust its position and / or pile driving direction before performing the pile driving action to avoid the side frame.

[0035] In some embodiments, after completing its task, the cleaning equipment can return to the base pile for charging, water replacement, or mop cleaning. In this case, the cleaning equipment moves towards the base pile and enters its interior. This process can be referred to as the pile mounting process. During the pile mounting process, it can be determined whether the collision detection component has a tendency to contact either side of the base pile entrance frame. If so, the cleaning equipment can be controlled to adjust its position and / or mounting direction.

[0036] It should be noted that the direction of pile driving mentioned here can refer to the direction of movement of the cleaning equipment during the pile driving process. During pile driving, the cleaning equipment can drive with its tail facing the pile entrance (as shown in Figure 1, i.e., the tail of the cleaning equipment 101 facing the pile entrance). Alternatively, the head of the cleaning equipment can drive with its head facing the pile entrance. In other words, the cleaning equipment can drive with its head or tail facing the pile entrance; the specific direction can be determined based on the structural characteristics of the cleaning equipment itself, and this disclosure does not impose further limitations on this. It should also be noted that the "tail" of the cleaning equipment mentioned here can refer to the rear of the machine body during normal cleaning operations, and the "head" of the cleaning equipment can refer to the front of the machine body during normal cleaning operations.

[0037] In some embodiments, during the pile driving process of the cleaning equipment, if there is a tendency for the collision detection component to come into contact with either side of the pile entrance frame, adjusting the cleaning equipment's current position and / or driving direction allows it to move closer to the centerline of the pile. This prevents the collision detection component from contacting either side of the pile entrance frame during subsequent driving. This avoids the risk of the collision detection component getting stuck on the pile entrance frame, thus improving the safety of the cleaning equipment during the driving process. It also reduces the impact of the collision detection component getting stuck on the pile entrance frame on the normal driving process, ensuring its smoothness. Furthermore, it prevents damage to the collision detection component from the pile entrance frame, thereby extending its service life.

[0038] Next, we will explain how to determine whether there is a tendency for the collision detection component to contact either side of the pile entrance frame. In some embodiments, the contact tendency between the collision detection component and either side of the pile frame can be determined by the following steps 210 to 220:

[0039] Step 210: Obtain the first position of the frame on any side of the foundation pile entrance; and

[0040] Step 220: Based on the first position and the current second position of the cleaning device, predict whether there is a tendency for the collision detection component to come into contact with either side of the frame.

[0041] In some embodiments, obtaining the first position of the frame on any side of the foundation pile entrance can be performed according to the following steps 211 to 212:

[0042] Step 211: Obtain the second point cloud data of any side border of the foundation pile entrance; and

[0043] Step 212: Based on the second point cloud data, determine the first position of the frame on any side of the foundation pile entrance.

[0044] In some embodiments, since sensors installed on the cleaning equipment (such as sensor 102 shown in Figure 1) can collect point cloud data of objects in the environment surrounding the cleaning equipment, second point cloud data of any side border of the foundation pile entrance can be obtained during the pile installation process of the cleaning equipment. The point cloud data actually contains the coordinate information of points. Therefore, a first position of any side border of the foundation pile entrance can be determined based on the second point cloud data.

[0045] In some embodiments, before obtaining the first position of the frame on any side of the foundation pile inlet, the following steps 201 to 202 may be performed:

[0046] Step 201: Obtain the first point cloud data of the foundation pile collected by the cleaning equipment; and

[0047] Step 202: When the number of point clouds in the first point cloud data is greater than or equal to a preset number threshold, the first position of the frame on any side of the foundation pile entrance is obtained.

[0048] In some embodiments, the timing for acquiring the first position of the frame of any side of the pile entrance is limited. That is, during the process of the cleaning equipment moving towards the pile entrance, the first point cloud data of the pile collected by the cleaning equipment is acquired, and the number of points in the first point cloud data is analyzed. When the number of points in the first point cloud data is greater than or equal to a preset number threshold, the first position of the frame of any side of the pile entrance is acquired.

[0049] In other words, the cleaning equipment does not acquire the first position of any side border as soon as it begins moving towards the foundation pile entrance. Instead, it acquires the first position of any side border only when the number of points in the first point cloud data collected by the cleaning equipment is greater than or equal to a preset threshold. The advantage of this approach is that when the number of points in the first point cloud data is less than the preset threshold, it indicates that the cleaning equipment is far from the foundation pile, resulting in insufficient point cloud data collected from a distance, and consequently, low accuracy in reflecting the border position information. Therefore, when the number of points in the first point cloud data is greater than or equal to the preset threshold, the accuracy of the second point cloud data collected by the cleaning equipment for any side border can be guaranteed. In this way, when the number of points in the first point cloud data is greater than or equal to the preset threshold, the accuracy of determining the first position of any side border based on the second point cloud data can be guaranteed, thereby enhancing the accuracy of judging whether there is a tendency for the collision detection component to contact any side border.

[0050] In some embodiments, before obtaining the first position of the frame on any side of the foundation pile inlet, the following steps 203 to 204 may also be performed:

[0051] Step 203: Obtain the relative distance between the cleaning device and the foundation pile, as detected by the cleaning device; and

[0052] Step 204: When the relative distance is less than or equal to a preset distance threshold, the first position of the frame on any side of the foundation pile entrance is obtained.

[0053] When limiting the timing of obtaining the first position of the frame of any side of the pile entrance, the relative distance between the cleaning equipment and the pile detected by the cleaning equipment can be obtained during the movement of the cleaning equipment towards the pile entrance, and the relative distance can be analyzed. When the relative distance is less than or equal to a preset distance threshold, the first position of the frame of any side of the pile entrance can be obtained.

[0054] In other words, the cleaning equipment does not acquire the first position of any side frame as it initially moves towards the foundation pile entrance. Instead, it acquires the first position of any side frame only when the relative distance between the cleaning equipment and the foundation pile is less than or equal to a preset distance threshold. The advantage of this approach is that when the relative distance is higher than the preset distance threshold, too little point cloud data is collected from a distance, resulting in low accuracy of the point cloud data used to reflect the frame position information. Therefore, when the relative distance between the cleaning equipment and the foundation pile is less than or equal to the preset distance threshold, the accuracy of the second point cloud data acquired by the cleaning equipment for any side frame can be guaranteed. This ensures the accuracy of determining the first position of any side frame based on the second point cloud data when the relative distance between the cleaning equipment and the foundation pile is less than or equal to the preset distance threshold, thereby enhancing the accuracy of determining whether the collision detection component has a tendency to contact any side frame.

[0055] It should be noted that the relative distance between the cleaning equipment and the foundation pile can be determined based on the first point cloud data of the foundation pile collected by the cleaning equipment. Alternatively, it can be determined based on a pre-determined regional map, where the location of the foundation pile is known, thus allowing the relative distance between the cleaning equipment and the foundation pile to be determined based on the current location of the cleaning equipment and the location of the foundation pile on the map.

[0056] It should also be noted that the relative distance between the cleaning equipment and the foundation pile can specifically refer to the relative distance between a reference point on the cleaning equipment (such as the geometric center point of the cleaning equipment) and a reference point on the foundation pile (such as the geometric center point of the foundation pile).

[0057] It should also be noted that the above two embodiments limit the timing of obtaining the first position of the frame on either side of the pile inlet. However, it is understood that the timing of obtaining the first position of the frame on either side is not limited to the above two embodiments. Under the inventive concept of the above two embodiments, the timing of obtaining the first position of the frame on either side of the pile inlet can also be determined based on other implementation methods.

[0058] Next, we will explain how to predict the tendency for the collision detection component to make contact with either side of the frame based on the first position and the current second position of the cleaning device. The tendency for the collision detection component to make contact with either side of the frame can be determined according to the following step 221:

[0059] Step 221: Based on the first position, the cleaning device in the current upward pile direction, and the second position, predict whether there is a tendency for the collision detection component to come into contact with either side of the frame.

[0060] In some embodiments, step 221 above can be performed according to steps 2211 to 2212 as follows:

[0061] Step 2211: Based on the second position, and the current direction of pile driving, calculate the path area traversed by the cleaning equipment during the pile driving process; and

[0062] Step 2212: When the first position falls into the path area, it is determined that there is a tendency for the collision detection component to contact the edge of either side.

[0063] To enable those skilled in the art to better understand steps 2211 to 2212 above, several specific embodiments will be described below in conjunction with Figures 3 to 5.

[0064] Referring to Figures 3 to 5, these are schematic diagrams of cleaning equipment being installed on piles according to some embodiments of this disclosure.

[0065] As shown in Figure 3, based on the second position of the cleaning equipment, the cleaning equipment is in the current pile-mounting direction A. The path area traversed by the body of the cleaning equipment during the pile-mounting process is calculated as region 107. As shown in Figure 3, the first position C of the pile entrance frame D falls into the path region 107. It is then determined that there is a tendency for the collision detection component 103 of the cleaning equipment to come into contact with the pile entrance frame D, that is, there is a risk that the protruding position B of the collision detection component 103 will be stuck on the pile entrance frame D.

[0066] As shown in Figure 4, based on the second position of the cleaning equipment, the cleaning equipment is in the current pile-mounting direction A. The path area traversed by the body of the cleaning equipment during the pile-mounting process is calculated as region 108. As shown in Figure 4, the first position C of the pile entrance frame D falls into the path region 108. It is then determined that there is a tendency for the collision detection component 103 of the cleaning equipment to come into contact with the pile entrance frame D, that is, there is a risk that the protruding position B of the collision detection component 103 will be stuck on the pile entrance frame D.

[0067] As shown in Figure 5, based on the second position of the cleaning equipment, the cleaning equipment is in the current pile-mounting direction A. The path area traversed by the body of the cleaning equipment during the pile-mounting process is calculated as region 109. As shown in Figure 5, the first position C of the pile entrance frame D does not fall into the path region 109. Therefore, it is determined that there is no tendency for the collision detection component 103 of the cleaning equipment to come into contact with the pile entrance frame D. That is, there is no risk that the protruding position B of the collision detection component 103 will be stuck on the pile entrance frame D.

[0068] It should be noted that, in other embodiments, when the upward direction of the cleaning equipment is fixed (e.g., the upward direction of the cleaning equipment is always parallel to the opening direction of the foundation pile entrance), the tendency for the collision detection component to contact the side frame can be predicted based on whether the deviation distance of the cleaning equipment (e.g., a reference point on the cleaning equipment, or the geometric center point on the cleaning equipment) relative to the center line of the foundation pile exceeds a first set distance threshold. In other embodiments, the tendency for the collision detection component to contact the side frame can also be predicted based on whether the deviation distance of the cleaning equipment (e.g., a reference point on the cleaning equipment, or the geometric center point on the cleaning equipment) relative to any foundation pile entrance frame in a direction perpendicular to the opening direction of the foundation pile entrance is less than a second set distance threshold.

[0069] Next, the process of controlling the cleaning equipment to adjust its position and / or driving direction before performing the driving action will be described.

[0070] In some embodiments, after controlling the cleaning equipment to adjust its position and / or pile driving direction, the pile driving action can be performed according to the following step 231:

[0071] Step 231: Control the cleaning device to move a set distance toward the other side of the frame and then perform the pile-up action.

[0072] In some embodiments, when there is a tendency for the collision detection component of the cleaning device to come into contact with either side of the frame, the cleaning device can be controlled to move a set distance toward the other side of the frame before performing the pile-up action.

[0073] To enable those skilled in the art to better understand step 231 above, the process of installing the cleaning equipment on piles will be explained below with reference to Figure 6.

[0074] Referring to Figure 6, it is a schematic diagram of a cleaning device being installed on a pile according to some embodiments of the present disclosure.

[0075] As shown in Figure 6, for the cleaning equipment at position G, there is a tendency for the collision detection component on its body to come into contact with the pile entrance frame D. At this time, by controlling the cleaning equipment to move a set distance d towards the pile entrance frame F, and then performing the pile mounting action after the cleaning equipment at position H is obtained, the tendency for the collision detection component to come into contact with the pile entrance frame D can be avoided, thereby eliminating the risk of the collision detection component getting stuck on the pile entrance frame D.

[0076] The set distance can be a fixed value, that is, a fixed distance can be set based on the actual situation of the cleaning equipment's structure, size, and foundation pile inlet size, etc., according to experience. This fixed value parameter can be written into the control program of the cleaning equipment when the cleaning equipment leaves the factory.

[0077] In some embodiments, the set distance can also be determined based on a first position of any side frame of the pile inlet and the current second position of the cleaning device. For example, the smaller the deviation of the cleaning device from the current second position relative to any pile inlet frame in the direction perpendicular to the opening direction of the pile inlet, the larger the set distance. In this way, a set distance adapted to the actual relative positional relationship between the cleaning device and any side frame of the pile inlet can be determined, thereby improving the accuracy of the cleaning device in adjusting its own position.

[0078] In some embodiments, after controlling the cleaning equipment to adjust its position and / or pile driving direction, the pile driving action can be performed according to the following step 232:

[0079] Step 232: After controlling the cleaning equipment to deflect one end near the pile entrance at a set angle toward the other side frame, the pile driving action is performed.

[0080] In some embodiments, when there is a tendency for the collision detection component of the cleaning device to come into contact with either side of the frame, the cleaning device can be controlled to deflect one end near the pile entrance at a set angle toward the other side of the frame before performing the pile driving action.

[0081] To enable those skilled in the art to better understand step 232 above, the process of installing the cleaning equipment on piles will be explained below with reference to Figure 7.

[0082] Referring to Figure 7, it is a schematic diagram of a cleaning device being installed on a pile according to some embodiments of the present disclosure.

[0083] As shown in Figure 7, for the cleaning equipment in the pile driving direction I, there is a tendency for the collision detection component on its body to come into contact with the pile entrance frame D. In this case, by controlling the end of the cleaning equipment near the pile entrance to deflect a set angle θ towards the pile entrance frame F before performing the pile driving action, and then performing the pile driving action after obtaining the cleaning equipment in the pile driving direction J, the tendency for the collision detection component to come into contact with the pile entrance frame D can be avoided, thereby eliminating the risk of the collision detection component getting stuck on the pile entrance frame D.

[0084] The set angle can be a fixed value, that is, a fixed angle can be set based on the actual situation of the structure, size and foundation pile inlet size of the cleaning equipment, and according to experience. This fixed value parameter can be written into the control program of the cleaning equipment when the cleaning equipment leaves the factory.

[0085] In some embodiments, the set angle can also be determined based on a first position of any side frame of the pile inlet and the current second position of the cleaning device. For example, the smaller the deviation of the cleaning device from the current second position relative to any pile inlet frame in the direction perpendicular to the opening direction of the pile inlet, the larger the set angle. In this way, a set angle adapted to the actual relative positional relationship between the cleaning device and any side frame of the pile inlet can be determined, thereby improving the accuracy of the cleaning device in adjusting its own pile mounting direction.

[0086] In some embodiments, the piling action is performed after the cleaning equipment adjusts its position and / or piling direction, or it can be performed according to the following step 233:

[0087] Step 233: First, control the cleaning equipment to adjust its position, then control the cleaning equipment to adjust its pile-mounting direction before performing the pile-mounting action. For example, first control the cleaning equipment to move a certain distance towards the other side frame, then control the end of the cleaning equipment near the pile entrance to deflect a certain angle towards the other side frame, and then perform the pile-mounting action.

[0088] In some embodiments, the piling action is performed after the cleaning equipment adjusts its position and / or piling direction, or it can be performed according to the following step 234:

[0089] Step 234: First, control the cleaning equipment to adjust its direction of mounting the pile, then control the cleaning equipment to adjust its position before performing the mounting action. For example, first control the end of the cleaning equipment near the pile entrance to deflect at a certain angle towards the other side frame, then control the cleaning equipment to move a certain distance towards the other side frame before performing the mounting action.

[0090] In some embodiments, after controlling the cleaning equipment to adjust its position and / or pile driving direction, the pile driving action can also be performed according to the following step 235:

[0091] Step 235: Simultaneously control the cleaning equipment to adjust its position and pile direction before performing the pile-raising action, that is, while controlling the cleaning equipment to adjust its position, control the cleaning equipment to adjust its pile-raising direction.

[0092] It should be understood that in several embodiments of steps 231 to 235, specific adjustment strategies for adjusting the position and / or direction of the cleaning equipment are described. In this disclosure, the step of controlling the cleaning equipment to adjust its position and / or direction of the cleaning equipment before performing the pile driving action can be performed according to the following steps 236 to 237:

[0093] Step 236: Based on the first position of the frame on any side of the foundation pile inlet and the current second position of the cleaning equipment, select the adjustment strategy with the highest adjustment efficiency from multiple candidate adjustment strategies as the target adjustment strategy; and

[0094] Step 237: According to the target adjustment strategy, control the cleaning equipment to adjust its position and / or pile driving direction before performing the pile driving action.

[0095] In some embodiments, before controlling the cleaning equipment to adjust its position and / or pile driving direction, the adjustment efficiency (e.g., adjustment time) of each candidate adjustment strategy can be calculated based on the first position of the frame on any side of the pile inlet and the current second position of the cleaning equipment. Then, the adjustment strategy with the highest adjustment efficiency (e.g., the adjustment strategy with the shortest adjustment time) is selected as the target adjustment strategy. Finally, the cleaning equipment is controlled to adjust its position and / or pile driving direction according to the target adjustment strategy before the pile driving action is performed. The advantage of this approach is that it can improve the efficiency of the cleaning equipment in completing the pile driving action.

[0096] According to the cleaning equipment control method proposed in some embodiments of this disclosure, during the pile driving process of the cleaning equipment, when there is a tendency for the collision detection component to contact either side of the pile entrance frame, the cleaning equipment can be adjusted in its current position and / or driving direction to get closer to the centerline of the pile. This prevents the collision detection component in the cleaning equipment from contacting either side of the pile entrance frame during subsequent driving. This avoids the risk of the collision detection component getting stuck on the pile entrance frame, thereby improving the safety of the cleaning equipment during the pile driving process. It also reduces the impact of the collision detection component getting stuck on the pile entrance frame on the normal driving of the cleaning equipment, ensuring the smoothness of the driving process. Furthermore, it avoids damage to the collision detection component from the pile entrance frame, thus ensuring the service life of the collision detection component.

[0097] The following describes a cleaning equipment control apparatus according to some embodiments of the present disclosure, which can be used to execute the cleaning equipment control method described above. For details not disclosed in the cleaning equipment control apparatus, please refer to the above description of the cleaning equipment control method.

[0098] Referring to Figure 8, it is a block diagram of a cleaning equipment control device according to some embodiments of the present disclosure, the cleaning equipment including a collision detection component disposed on the outer edge of its body.

[0099] As shown in FIG8, the cleaning equipment control device 800 according to an embodiment of the present disclosure includes: a control unit 801.

[0100] The control unit 801 is used to control the cleaning equipment to adjust its position and / or pile-raising direction before performing the pile-raising action to avoid the side frame when there is a tendency for the collision detection component to contact the side frame of the pile entrance during the pile-raising process of the cleaning equipment.

[0101] In some embodiments, the cleaning equipment control device further includes: an acquisition unit for acquiring a first position of any side frame of the foundation pile entrance; and a prediction unit for predicting, based on the first position and the cleaning equipment at its current second position, whether there is a tendency for the collision detection component to come into contact with the side frame.

[0102] In some embodiments, the acquisition unit is configured to: acquire first point cloud data of the foundation pile collected by the cleaning equipment before acquiring the first position of the frame of any side of the foundation pile entrance; and acquire the first position of the frame of any side of the foundation pile entrance when the number of point clouds in the first point cloud data is greater than or equal to a preset number threshold.

[0103] In some embodiments, the acquisition unit is configured to: acquire the relative distance between itself and the foundation pile detected by the cleaning device before acquiring the first position of the frame of any side of the foundation pile entrance; and acquire the first position of the frame of any side of the foundation pile entrance when the relative distance is less than or equal to a preset distance threshold.

[0104] In some embodiments, the acquisition unit is configured to: acquire second point cloud data of any side border of the pile entrance; and determine a first position of any side border of the pile entrance based on the second point cloud data.

[0105] In some embodiments, the prediction unit is configured to: predict, based on the first position, the cleaning device in its current on-pile orientation, and the second position, whether there is a tendency for the collision detection component to come into contact with either side of the frame.

[0106] In some embodiments, the prediction unit is configured to: calculate the path area traversed by the body of the cleaning device during the pile driving process based on the second position and the current pile driving direction of the cleaning device; and determine that there is a tendency for the collision detection component to contact the side frame when the first position falls into the path area.

[0107] In some embodiments, the control unit 801 is configured to control the cleaning device to move a set distance toward the other side of the frame before performing the pile-up action.

[0108] In some embodiments, the set distance is a fixed value; or the set distance is determined based on a first position of the frame on either side of the foundation pile entrance and the cleaning device at its current second position.

[0109] In some embodiments, the control unit 801 is configured to: control the cleaning device to deflect one end near the pile entrance at a set angle toward the other side frame before performing the pile driving action.

[0110] In some embodiments, the set angle is a fixed value; or the set angle is determined based on a first position of the frame on either side of the foundation pile entrance and the current second position of the cleaning device.

[0111] In some embodiments, the control unit 801 is configured to: first control the cleaning device to adjust its position, then control the cleaning device to adjust its pile driving direction and then perform the pile driving action; or first control the cleaning device to adjust its pile driving direction, then control the cleaning device to adjust its position and then perform the pile driving action; or simultaneously control the cleaning device to adjust its position and pile driving direction and then perform the pile driving action.

[0112] In some embodiments, the control unit 801 is configured to: select the adjustment strategy with the highest adjustment efficiency from a plurality of candidate adjustment strategies as the target adjustment strategy based on the first position of the frame on any side of the pile entrance and the current second position of the cleaning device; and, according to the target adjustment strategy, control the cleaning device to adjust its position and / or pile driving direction before performing the pile driving action.

[0113] Based on the same inventive concept, this disclosure provides a computer program product including 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 operations performed by the cleaning equipment control method as described above.

[0114] Based on the same inventive concept, embodiments of this disclosure 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.

[0115] Based on the same inventive concept, this disclosure also provides a cleaning device. Referring to FIG9, a schematic diagram of the structure of the cleaning device in this disclosure is shown. The cleaning device includes one or more memories 904, one or more processors 902, and at least one computer program (computer program instruction) stored in the memory 904 and executable on the processor 902. When the processor 902 executes the computer program, it implements the cleaning device control method as described above.

[0116] In Figure 9, a bus architecture (represented by bus 900) is shown. Bus 900 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 902 and memory represented by memory 904. Bus 900 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 905 provides an interface between bus 900 and receiver 901 and transmitter 903. Receiver 901 and transmitter 903 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 902 is responsible for managing bus 900 and general processing, while memory 904 can be used to store data used by processor 902 during operation.

[0117] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. When 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 disclosure 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.

[0118] In the several embodiments provided in this disclosure, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0119] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0120] When the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing computer program instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0121] According to a first aspect of this disclosure, a method for controlling a cleaning device is provided. The cleaning device includes a collision detection component disposed on the outer edge of its body. The method includes: during the pile driving process of the cleaning device, when there is a tendency for the collision detection component to come into contact with any side frame of the pile entrance, controlling the cleaning device to adjust its position and / or pile driving direction before performing a pile driving action to avoid the side frame.

[0122] In some embodiments, the method further includes: obtaining a first position of any side frame of the foundation pile entrance; and predicting, based on the first position and the cleaning device at its current second position, whether there is a tendency for the collision detection component to come into contact with the side frame.

[0123] In some embodiments, before obtaining the first position of the frame of any side of the pile entrance, the method further includes: obtaining the first point cloud data of the pile collected by the cleaning equipment; when the number of points in the first point cloud data is greater than or equal to a preset number threshold, obtaining the first position of the frame of any side of the pile entrance.

[0124] In some embodiments, before obtaining the first position of the frame of any side of the pile entrance, the method further includes: obtaining the relative distance between the cleaning device and the pile as detected by the cleaning device; and obtaining the first position of the frame of any side of the pile entrance when the relative distance is less than or equal to a preset distance threshold.

[0125] In some embodiments, obtaining the first position of the border of any side of the pile entrance includes: obtaining second point cloud data of the border of any side of the pile entrance; and determining the first position of the border of any side of the pile entrance based on the second point cloud data.

[0126] In some embodiments, predicting whether there is a tendency for the collision detection component to make contact with the side frame based on the first position and the cleaning device at the current second position includes: predicting whether there is a tendency for the collision detection component to make contact with the side frame based on the first position, the cleaning device at the current top pile direction, and the second position.

[0127] In some embodiments, predicting whether there is a tendency for the collision detection component to make contact with the side frame based on the first position, the current direction of the cleaning device in the current direction of the pile driving, and the second position includes: calculating the path area traversed by the body of the cleaning device during the pile driving process based on the second position, the current direction of the cleaning device in the current direction of the pile driving; and determining that there is a tendency for the collision detection component to make contact with the side frame when the first position falls within the path area.

[0128] In some embodiments, the step of controlling the cleaning device to adjust its position and / or drive direction before performing the drive action includes: controlling the cleaning device to move a set distance toward the other side frame before performing the drive action.

[0129] In some embodiments, the set distance is a fixed value; or the set distance is determined based on a first position of the frame on either side of the foundation pile entrance and the cleaning device at its current second position.

[0130] In some embodiments, the step of controlling the cleaning device to adjust its position and / or pile driving direction before performing the pile driving action includes: controlling the end of the cleaning device near the pile entrance to deflect at a set angle toward the other side frame before performing the pile driving action.

[0131] In some embodiments, the set angle is a fixed value; or the set angle is determined based on a first position of the frame on either side of the foundation pile entrance and the current second position of the cleaning device.

[0132] In some embodiments, the step of controlling the cleaning equipment to adjust its position and / or its direction of pile driving before performing the pile driving action includes: first controlling the cleaning equipment to adjust its position, then controlling the cleaning equipment to adjust its direction of pile driving before performing the pile driving action; or first controlling the cleaning equipment to adjust its direction of pile driving, then controlling the cleaning equipment to adjust its position before performing the pile driving action; or simultaneously controlling the cleaning equipment to adjust its position and its direction of pile driving before performing the pile driving action.

[0133] In some embodiments, the step of controlling the cleaning equipment to adjust its position and / or pile driving direction before performing the pile driving action includes: selecting the adjustment strategy with the highest adjustment efficiency from a plurality of candidate adjustment strategies as the target adjustment strategy based on the first position of the frame on any side of the pile entrance and the current second position of the cleaning equipment; and controlling the cleaning equipment to adjust its position and / or pile driving direction according to the target adjustment strategy before performing the pile driving action.

[0134] According to a second aspect of this disclosure, a cleaning equipment control device is provided, the cleaning equipment including a collision detection component disposed on the outer edge of its body, the device including a control unit for controlling the cleaning equipment to adjust its position and / or pile driving direction and then perform a pile driving action to avoid the side frame when there is a tendency for the collision detection component to contact the side frame of the pile entrance during the pile driving process of the cleaning equipment.

[0135] According to a third aspect of this disclosure, a computer program product is provided, the computer program product including 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 as described in the first aspect above.

[0136] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided that stores at least one computer program instruction, which is loaded and executed by a processor to perform the operations described in the first aspect above.

[0137] According to a fifth aspect of this disclosure, a cleaning device is provided, the cleaning device including 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 perform the operation as described in the first aspect above.

[0138] Based on the technical solution proposed in this application, during the pile driving process of the cleaning equipment, if there is a tendency for the collision detection component to contact either side of the pile entrance frame, adjusting the cleaning equipment's current position and / or driving direction allows it to move closer to the centerline of the pile. This prevents the collision detection component from contacting either side of the pile entrance frame during subsequent driving. This avoids the risk of the collision detection component getting stuck on the pile entrance frame, thus improving the safety of the cleaning equipment during the pile driving process. It also reduces the impact of the collision detection component getting stuck on the pile entrance frame on the normal driving of the cleaning equipment, ensuring the smoothness of the driving process. Furthermore, it prevents damage to the collision detection component from the pile entrance frame, thereby ensuring the service life of the collision detection component.

[0139] The above description is merely an embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of the claims of this disclosure.

Claims

1. A method for controlling a cleaning device, the cleaning device comprising a collision detection component arranged at an outer edge of a body of the cleaning device, the method comprising: in a process of piling up the cleaning device, in a case where there is a tendency of mutual contact between the collision detection component and a side frame of an entrance of a pile, controlling the cleaning device to adjust a position and / or a piling up direction of the cleaning device and then perform a piling up action to avoid the side frame. 2.The method of claim 1, further comprising: obtaining a first position of the side frame of the entrance of the pile; and based on the first position and a second current position of the cleaning device, predicting whether there is a tendency of mutual contact between the collision detection component and the side frame. 3.The method of claim 2, before the obtaining the first position of the side frame of the entrance of the pile, the method further comprising: obtaining first point cloud data of the pile collected by the cleaning device; and when a number of point clouds in the first point cloud data is greater than or equal to a preset number threshold, obtaining the first position of the side frame of the entrance of the pile. 4.The method of claim 2, before the obtaining the first position of the side frame of the entrance of the pile, the method further comprising: obtaining a relative distance between the cleaning device and the pile detected by the cleaning device; and when the relative distance is less than or equal to a preset distance threshold, obtaining the first position of the side frame of the entrance of the pile. The obtaining the first position of the side frame of the entrance of the pile comprises: obtaining second point cloud data of the side frame of the entrance of the pile; and based on the second point cloud data, determining the first position of the side frame of the entrance of the pile.

5. The method of claim 2, wherein, The predicting whether there is a tendency of mutual contact between the collision detection component and the side frame based on the first position and the second current position of the cleaning device comprises: based on the first position, a piling up direction of the cleaning device at present and the second position, predicting whether there is a tendency of mutual contact between the collision detection component and the side frame. The predicting whether there is a tendency of mutual contact between the collision detection component and the side frame based on the first position, the piling up direction of the cleaning device at present and the second position comprises:

6. The method of claim 2, wherein, based on the second position and the piling up direction of the cleaning device at present, calculating a path area of the body of the cleaning device in a process of piling up; and when the first position falls into the path area, determining that there is a tendency of mutual contact between the collision detection component and the side frame.

7. The method of claim 6, wherein, The controlling the cleaning device to adjust the position and / or the piling up direction of the cleaning device and then perform the piling up action comprises: controlling the cleaning device to move a set distance towards another side frame and then perform the piling up action. The set distance is a fixed value; or the set distance is determined according to the first position of the side frame of the entrance of the pile and the second current position of the cleaning device.

8. The method of claim 1, wherein, ​ ​ 9. The method of claim 8, wherein, ​ 10. The method of claim 1, wherein, The control of the cleaning device to adjust its position and / or pile-up direction before performing the pile-up action includes: The control of the cleaning device to adjust its position and / or pile-up direction before performing the pile-up action includes:

11. The method of claim 10, wherein, The set angle is a fixed value; or the set angle is determined according to the first position of the side frame of the pile entrance and the second position of the cleaning device at present.

12. The method of claim 1, wherein, The control of the cleaning device to adjust its position and / or pile-up direction before performing the pile-up action includes: The control of the cleaning device to adjust its position and / or pile-up direction before performing the pile-up action includes: The control of the cleaning device to adjust its position and / or pile-up direction before performing the pile-up action includes: The control of the cleaning device to adjust its position and / or pile-up direction before performing the pile-up action includes:

13. The method of claim 1, wherein, According to the first position of the side frame of the pile entrance and the second position of the cleaning device at present, a candidate adjustment strategy with the highest adjustment efficiency is selected from a plurality of candidate adjustment strategies as a target adjustment strategy; and According to the target adjustment strategy, the control of the cleaning device to adjust its position and / or pile-up direction before performing the pile-up action.

14. A cleaning device control apparatus, the cleaning device comprising a collision detection component arranged at the outer edge of the body of the cleaning device, the apparatus comprising: A control unit for controlling the cleaning device to adjust its position and / or pile-up direction before performing the pile-up action to avoid the side frame in the case where there is a trend of mutual contact between the collision detection component and the side frame of the pile entrance during the pile-up process of the cleaning device.

15. A computer program product, 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 the method of any one of claims 1 to 13.

16. A computer readable storage medium, the computer readable storage medium storing at least one program code, the at least one program code being loaded and executed by a processor to implement the operations performed by the method of any one of claims 1 to 13.

17. A cleaning device, the cleaning device comprising one or more processors and one or more memories, the one or more memories storing at least one program code, the at least one program code being loaded and executed by the one or more processors to implement the method of any one of claims 1 to 13. ​

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