Cleaning device control method and system, device, and storage medium

Abstract

A cleaning device control method and system (300), a device, and a storage medium. The cleaning device control method comprises: on the basis of acquired map information, identifying the boundary of an area to be travelled and controlling a cleaning device to travel within the boundary by means of a U-turn pattern (S110); when the cleaning device is positioned at the end point of any current travel row, in response to the cleaning device being unable to continue row switching by a fixed row-switching distance and by taking the end point as the reference, controlling the cleaning device to travel to a transition point at the largest limited row spacing and then travel in a direction parallel to the current travel row (S120); and during the process of the cleaning device traveling in the direction parallel to the current travel row, if it is sensed that there is a target point, which is spaced apart from the current travel row by the fixed row-switching distance, in an uncovered region, controlling the cleaning device to travel to the target point and then continue traveling in the next travel row in the direction parallel to the current travel row (S130). The cleaning device control method takes into account both a regular path and the full coverage of an area to be travelled, thereby improving the cleaning efficiency.

Description

Control method, system, device and storage medium of cleaning equipment

[0001] Cross-reference to related disclosures

[0002] The present disclosure claims priority to the Chinese patent publication with the application number 202411088575.3 and the title "Control method, system, device and storage medium of cleaning equipment", which was filed on August 08, 2024 with the China Patent Office, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of automatic cleaning equipment, in particular to a control method, system, device and storage medium of cleaning equipment.

[0004] BACKGROUND

[0005] Cleaning robots are increasingly entering into life scenes. With the development of technology, cleaning robots can realize intelligent self-help movement, intelligent cleaning planning, simultaneous localization and mapping, and many other key functions.

[0006] Currently, when cleaning robots plan to walk intelligently, the following methods are usually adopted.

[0007] The cleaning robot can continuously walk the walking range according to a fixed walking mode (such as edge walking, fixed path walking, etc.). However, in this mode, although the walking path of the cleaning robot can be regular and beautiful, when encountering a non-regular boundary walking range or a walking range including obstacles, etc., the fixed walking mode may not be able to proceed, and the cleaning robot has to stop or switch to other modes, resulting in the interruption of the fixed walking mode or the omission of part of the ground area.

[0008] The cleaning robot can dynamically walk according to the map situation or the ground cleaning degree. However, in this mode, although the cleaning robot can focus on walking on dirty ground, due to the continuous dynamic planning of the walking path by the cleaning robot, when the ground dirt situation is complex, the same place may be repeatedly walked, which reduces the cleaning efficiency.

[0009] Therefore, it is necessary to provide a walking mode that can both consider regular paths and comprehensively clean the walking range, so as to improve the cleaning efficiency.

[0010] SUMMARY

[0011] To solve the above problems, the present disclosure provides a control method, system, device and storage medium of cleaning equipment, which can both consider regular paths and comprehensively clean the walking range, so as to improve the cleaning efficiency.

[0012] The present disclosure adopts the following technical solutions:

[0013] In a first aspect, the embodiments of the present disclosure provide a control method of a cleaning device, the method comprising:

[0014] recognizing a boundary of a range to be walked according to obtained map information, and controlling the cleaning device to walk in a U-turn model within the boundary;

[0015] when the cleaning device is positioned at an end point of any current walking row, in response to the cleaning device being unable to continue to cut in by a fixed cut-in distance based on the end point, controlling the cleaning device to walk to a transition point at a maximum limited distance, and then walking in a direction parallel to the current walking row;

[0016] in the process of the cleaning device walking in the direction parallel to the current walking row, if a target point at a fixed cut-in distance from the current walking row is sensed in an un-walked area, controlling the cleaning device to walk to the target point, and then continue to walk in the next walking row in the direction parallel to the current walking row.

[0017] In a second aspect, the embodiments of the present disclosure provide a control system of a cleaning device, the system comprising:

[0018] a boundary recognition unit configured to recognize a boundary of a range to be walked according to obtained map information, and control the cleaning device to walk in a U-turn model within the boundary;

[0019] a cut-in control unit configured to, when the cleaning device is positioned at an end point of any current walking row, in response to the cleaning device being unable to continue to cut in by a fixed cut-in distance based on the end point, control the cleaning device to walk to a transition point at a maximum limited distance, and then walk in a direction parallel to the current walking row;

[0020] the cut-in control unit is further configured to, in the process of the cleaning device walking in the direction parallel to the current walking row, if a target point at a fixed cut-in distance from the current walking row is sensed in an un-walked area, control the cleaning device to walk to the target point, and then continue to walk in the next walking row in the direction parallel to the current walking row.

[0021] In a third aspect, the embodiments of the present disclosure provide a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the control method of the cleaning device when executing the computer program.

[0022] In a fourth aspect, the embodiments of the present disclosure provide a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the control method of the cleaning device when being instructed by a processor.

[0023] The above at least one technical scheme adopted by the embodiments of the present disclosure can achieve the following beneficial effects:

[0024] The method for controlling the cleaning device provided by the present disclosure identifies the boundary of the to-be-traveled range according to the obtained map information, and controls the cleaning device to travel in a U-turn model within the boundary; when the cleaning device is positioned at the end point of any current traveling line, in response to the cleaning device being unable to continue to cut off at a fixed cutting distance based on the end point, the cleaning device is controlled to travel to a transition point at a maximum limited distance, and then travels in a direction parallel to the current traveling line; during the process of the cleaning device traveling in the direction parallel to the current traveling line, if it is perceived that there is a target point in the untraveled area at a fixed cutting distance from the current traveling line, the cleaning device is controlled to travel to the target point and then continue to travel in the next traveling line in the direction parallel to the current traveling line. The method provided by the present disclosure can avoid the situation that the existing fixed traveling cannot be performed when encountering an obstacle, resulting in interruption or omission of part of the ground area; it can also avoid the situation that the existing dynamic traveling is prone to cause repeated traveling at the same place. The method provided by the present disclosure takes into account both the regular path and the comprehensive cleaning of the to-be-traveled range, thereby improving the cleaning efficiency.

[0025] BRIEF DESCRIPTION OF DRAWINGS

[0026] FIG. 1 shows a flowchart of a control method of a cleaning device according to an embodiment of the present disclosure;

[0027] FIG. 2 shows a flowchart of a control method of a cleaning device according to another embodiment of the present disclosure;

[0028] FIG. 3 shows a structural diagram of a control system of a cleaning device according to an embodiment of the present disclosure;

[0029] FIG. 4 shows a structural diagram of a computer device according to an embodiment of the present disclosure.

[0030] WAYS OF IMPLEMENTING THE PRESENT APPLICATION

[0031] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be interpreted as being limited to the embodiments set forth herein, but rather, these embodiments are provided so as to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are merely for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0032] It should be understood that each of the steps described in the method embodiments of the present disclosure can be executed in different orders and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the execution of the steps shown. The scope of the present disclosure is not limited in this respect.

[0033] The term "include" and variations thereof, as used in this document, mean "to include, without limitation." The term "based on" means "based at least in part on." The term "one embodiment" means "at least one embodiment." The term "another embodiment" means "at least one additional embodiment." The term "some embodiments" means "at least some embodiments." Related terms shall be construed accordingly. It should be noted that "a" or "an" entity as used in this document could be one or more than one entity. The terms "plurality" and "a plurality" as used in this document means "two or more than two." The term "another" as used in this document means "at least one additional." The term "another" as used in this document means "at least one additional." The term "some" as used in this document means "at least some." The terms "first," "second," "third," "fourth," and the like in the description and in the claims, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the descriptive terms used herein are to be interpreted in the context as a special adaptation based on the recitation of more general or less specific descriptions.

[0034] It should be noted that the modification of "one", "multiple" mentioned in the present disclosure is illustrative and not restrictive, and those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more".

[0035] The names of the messages or information exchanged between the plurality of devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0036] The concept of the present disclosure is that, under the rule path of the fixed cutting mode, a transition mode is adopted for the obstacle case and immediately returns to the fixed cutting after bypassing the obstacle, and a remedy mode is adopted for the missing case and immediately returns to the fixed cutting after the remedy is completed, so as to balance the rule path and fully clean the to-be-traveled range, thereby improving the cleaning efficiency.

[0037] In the present disclosure, the cleaning device is equipped with sensors, cameras, gyroscopes, driving and other intelligent modules commonly used in existing cleaning devices (including cleaning robots), so as to realize the sensing of the surrounding environment, the driving of the cleaning device, the interaction with the map information and other functions commonly used in existing cleaning devices. In the embodiments of the present disclosure, no longer detailed introduction.

[0038] The present disclosure will be described in detail below through specific embodiments.

[0039] FIG. 1 shows a flowchart of a control method of a cleaning device according to one embodiment of the present disclosure. According to FIG. 1, the embodiment includes steps S110-S130:

[0040] Step S110, according to the obtained map information, identifying the boundary of the to-be-traveled range, and controlling the cleaning device to travel in a U-turn model within the boundary.

[0041] The present disclosure first acquires map information. The map information can be map range ground information pre-stored through a database, or can be map information recorded and stored after the cleaning device cleans along the edge (i.e., along the wall of the map range) once. Here, the map range can indicate a room range, a floor range, and the like, which is a total range in which the cleaning device can travel.

[0042] Subsequently, the map information is identified and a range to be traveled is determined. The range to be traveled can be a range to be traveled demarcated by a user marking the map information. The range to be traveled can indicate a range to be traveled of a standard room autonomously selected by the user, or a range to be traveled of a ground area autonomously demarcated by the user. The range to be traveled can also be a cleaning range automatically calculated by identifying a historical cleaning range.

[0043] Next, a boundary of the range to be traveled is determined. The boundary of the range to be traveled can be determined through the map information, or through historical sensing information collected by a sensor mounted on the cleaning device, or in combination with the map information and the historical sensing information.

[0044] The boundary of the range to be traveled is used to indicate an outer boundary of a maximum flat ground range in which the cleaning device can travel in the range to be traveled. The boundary of the range to be traveled can be different from an edge of the range to be traveled, and an area enclosed by the boundary of the range to be traveled can be less than or equal to an area enclosed by the edge of the range to be traveled. For example, for a range to be traveled of a standard room autonomously demarcated by a user, the edge of the range to be traveled can be a regular rectangle. If the standard room has an obstacle such as a floor furniture placed along the wall, so that the cleaning device cannot clean the ground under the obstacle, the boundary of the range to be traveled is taken as an outer line excluding the obstacle, so that the boundary of the range to be traveled is different from the edge of the range to be traveled.

[0045] Subsequently, the cleaning device is controlled to travel in the U-turn model within the boundary. After the boundary of the range to be traveled is determined, the cleaning device is controlled to travel in the U-turn model within the boundary.

[0046] The U-turn model is used to indicate that the cleaning device travels back and forth within the boundary of the range to be traveled at a fixed cutting distance. That is, the cleaning device travels from a starting point of a first travel line to an end point of the first travel line, and then cuts at a fixed cutting distance to a starting point of a second travel line and continues to travel to an end point of the second travel line, and so on, until the cleaning device cuts at a fixed cutting distance to a starting point of a last travel line and travels to an end point of the last travel line. The starting and ending points of adjacent two travel lines are transposed, so that the cleaning device realizes continuous travel without repetition.

[0047] For the ideal state of proper shape and size without obstacles, after the fixed cutting distance is determined, the cleaning device can walk according to the fixed cutting distance. After walking, the to-be-walked range is completely walked.

[0048] However, in actual situations, the edge of the to-be-walked range is not necessarily regular, the size of the to-be-walked range is not necessarily proper, and there can be at least one obstacle in the to-be-walked range. Therefore, in order to overcome the situation that the fixed cutting mode cannot continue or is missed, the cleaning device inserts a transition mode and a supplement mode under the premise of maintaining the U-turn model of fixed cutting.

[0049] Step S120, when the cleaning device is positioned at the end point of any current walking row, in response to the cleaning device being unable to continue cutting according to the fixed cutting distance based on the end point, the cleaning device is controlled to walk to the transition point at the maximum limited distance, and then walk in a direction parallel to the current walking row.

[0050] First of all, it needs to be clear that only the row in which the cleaning device cuts and walks at the fixed cutting distance is defined as a walking row, and other rows in which the cleaning device cuts and walks at the maximum limited distance are only transition rows. The transition row does not destroy the regular path of the U-turn model.

[0051] When the cleaning device is positioned at the end point of any current walking row, the boundary situation around the cleaning device can be sensed by the sensor carried by the cleaning device to determine whether the cleaning device can cut according to the fixed cutting distance based on the end point.

[0052] For example, when the cleaning device is positioned at the end point of any current walking row, the sensor senses the un-walked area. It is determined whether there is a boundary in the un-walked area at a position perpendicular to the current walking row and a fixed cutting distance from the current walking row based on the end point of the current walking row. If there is a boundary, the cleaning device cannot reach the cutting point, i.e., cannot continue to walk according to the established U-turn model.

[0053] When there is a situation that cannot continue to walk according to the established U-turn model, the cleaning device is controlled to walk to the transition point at the maximum limited distance.

[0054] The maximum limited distance is used to indicate the maximum distance at which the cleaning device can cut. Still for example, the sensor senses the un-walked area, and the distance between a point of the sensed boundary and the end point in the direction perpendicular to the current walking row based on the end point of the current walking row is the maximum limited distance.

[0055] After the maximum limit distance is determined, the cleaning device cannot directly cut to a point on the boundary that makes it impossible to place the cleaning device based on its own size limit. Therefore, a transition point corresponding to the maximum limit distance can be determined according to the minimum placement requirement of the cleaning device.

[0056] After the transition point is determined, the cleaning device is controlled to walk to the transition point at the maximum limit distance and walk in a direction parallel to the current walking row. After cutting to the transition point, the cleaning device walks along a transition row parallel to the current walking row and in the opposite direction of the walking direction of the current walking row, and the distance between the transition row and the current walking row is the maximum limit distance, which is less than the fixed cutting distance.

[0057] In step S130, when the cleaning device walks in the direction parallel to the current walking row, if it is sensed that there is a target point in the un-walked area at a distance of the fixed cutting distance from the current walking row, the cleaning device is controlled to walk to the target point and continue to walk in the next walking row in the direction parallel to the current walking row.

[0058] When the cleaning device walks in the transition row, it senses in real time whether there is a target point in the un-walked area at a distance of the fixed cutting distance from the current walking row based on the sensor.

[0059] For example, when the cleaning device walks in the transition row, it can determine its positioning point in real time. By sensing the un-walked area through the sensor, it is determined whether there is an obstacle in the un-walked area at a position that is perpendicular to the current walking row and at a distance of the fixed cutting distance from the current walking row based on the positioning point. If there is an obstacle, it is determined that the cleaning device cannot return to the next walking row and continue to walk in the transition row; if there is no obstacle, it is determined that the cleaning device can return to the next walking row and continue to walk.

[0060] When it is determined that the cleaning device can return to the next walking row and continue to walk, a target point corresponding to the fixed cutting distance can be determined according to the minimum placement requirement of the cleaning device. After the target point is determined, the cleaning device is controlled to walk from the positioning point to the target point and walk in the next walking row in a direction parallel to and the same as the transition row.

[0061] Once the cleaning device walks in the next walking row to a point where it cannot proceed due to an obstacle, it is determined that the cleaning device has walked to the end point of the next walking row. Then, it is continuously sensed through the sensor whether the cleaning device can continue to cut at the fixed cutting distance based on the end point of the next walking row, so that steps S120-S130 are repeated until the walking of the to-be-walked area is completed.

[0062] As can be seen from the method shown in FIG. 1, the control method of the cleaning device provided by the present disclosure identifies the boundary of the to-be-traveled range according to the obtained map information, and controls the cleaning device to travel in the U-turn model within the boundary; when the cleaning device is positioned at the end point of any current traveling row, in response to the cleaning device being unable to continue to cut in by a fixed cut-in distance based on the end point, the cleaning device is controlled to travel to a transition point at a maximum limited travel distance, and then travels in a direction parallel to the current traveling row; during the traveling of the cleaning device in the direction parallel to the current traveling row, if a target point is sensed in the untraveled area at a fixed cut-in distance from the current traveling row, the cleaning device is controlled to travel to the target point and then continue to travel in the next traveling row in the direction parallel to the current traveling row. The control method of the cleaning device provided by the present disclosure can maintain the regular path of the U-turn model by interspersing the transition mode under the U-turn model, and can also take the transition mode in a timely manner when encountering obstacles. The method provided by the present disclosure can avoid the situation that the existing fixed traveling cannot be performed when encountering obstacles, resulting in interruption; and can also avoid the situation that the existing dynamic traveling is prone to cause repeated traveling at the same place. The method provided by the present disclosure takes into account both the regular path and the comprehensive cleaning of the to-be-traveled range, thereby improving the cleaning efficiency.

[0063] In some optional embodiments, in the above method, the step S110 of identifying the boundary of the to-be-traveled range according to the obtained map information and controlling the cleaning device to travel in the U-turn model within the boundary comprises: obtaining the map information; identifying the to-be-traveled range in response to the demarcation of the map information; determining the boundary of the to-be-traveled range according to the map information, i.e., the historical information collected by the sensor carried by the cleaning device; and controlling the cleaning device to travel in the U-turn model within the boundary by a fixed cut-in distance.

[0064] In this embodiment, the map information pre-stored in the database can be retrieved. The map information can be displayed on the display module of the cleaning device when the cleaning device is provided with an interactive display module; or the map information can be displayed on the interactive display screen of the external terminal when the cleaning device is connected to the external terminal through wireless or other means. The user specifies and selects or independently demarcates the demarcated range to be cleaned based on the displayed map information, and identifies the to-be-traveled range based on the demarcated range determined by the user. The to-be-traveled range can be of any shape or any size.

[0065] Then, the boundary of the to-be-traveled range is determined in combination of the map information and historical sensing information collected by the sensors carried by the cleaning device. The map information can pre-store ground obstacle condition information of the to-be-traveled range, and the obstacle is used to indicate an obstruction that forces the cleaning device to be unable to place, such as a floor obstacle, a step ground, etc. The region information of the to-be-traveled range in which the cleaning device can travel is determined through the map information, and then the first boundary enclosing the region in which the cleaning device can travel is determined. In the historical traveling process of the cleaning device, the sensing information collected by the sensors can be recorded, so as to construct the region information of the to-be-traveled range in which the cleaning device can reach, and then the second boundary enclosing the region in which the cleaning device can reach is determined. The first boundary determined based on the map information and the second boundary determined based on the historical sensing information are fused, so as to determine the boundary of the to-be-traveled range.

[0066] The cleaning device is caused to travel in the U-turn model within the boundary. For the U-turn model, the initial point at which the cleaning device starts to travel and the orientation of each traveling row are not specifically limited. According to the existing method of controlling the cleaning device to travel in the U-turn model, the cleaning device can travel within the boundary.

[0067] The U-turn model has a fixed cutting distance. The fixed cutting distance at least ensures that, when the cleaning device travels in the U-turn model based on the fixed cutting distance, there is no omission between two traveling rows that the cleaning device fails to travel to. For example, the maximum cleaning width of the cleaning device can be 15 cm, and the fixed cutting distance can be 15 cm. Alternatively, in order to ensure the cleaning effect of the adjacent part between two traveling rows, the fixed cutting distance can be slightly smaller than 15 cm, etc.

[0068] In some optional embodiments, in the above method, in step S120, when the cleaning device is positioned at the end point of any current traveling row, in response to the cleaning device being unable to continue cutting at the fixed cutting distance based on the end point, the cleaning device is controlled to travel to a transition point at a maximum limit distance and travel in a direction parallel to the current traveling row, including: when the cleaning device is positioned at the end point of any current traveling row, the untraveled region is sensed based on the sensors carried by the cleaning device; if it is sensed that there is an obstacle point within the distance that enables the cleaning device to cut at the fixed cutting distance based on the end point, the maximum limit distance and the transition point are determined according to the current traveling row and the obstacle point; and the cleaning device is controlled to travel from the end point to the transition point and then travel in a direction parallel to the current traveling row.

[0069] When the cleaning device is positioned at the end point of any current traveling row, the untraveled region is sensed by the sensors carried by the cleaning device. It is determined whether there is an obstacle point in the untraveled region at a position perpendicular to the current traveling row and a distance of the fixed cutting distance from the end point of the current traveling row. When there is an obstacle point, the cleaning device cannot reach the cutting point to continue the existing U-turn model.

[0070] At this time, the maximum limit distance is determined according to the distance between the obstacle point and the end point; the effective limit distance is determined according to the maximum limit distance and the minimum placement requirement of the cleaning device itself; and the transition point is determined according to the effective limit distance and the end point.

[0071] After the transition point is determined, the cleaning device is controlled to walk from the end point to the transition point and walk along the transition line parallel to the current walking line and in the opposite direction of the current walking line.

[0072] In some optional embodiments, in the above method, in step S130, when the cleaning device walks in the direction parallel to the current walking line, if it is sensed that there is a target point in the un-walked area at a fixed cutting distance from the current walking line, the cleaning device is controlled to continue walking in the next walking line in the direction parallel to the current walking line after walking to the target point, comprising: during the walking of the cleaning device in the direction parallel to the current walking line, the un-walked area is sensed based on the sensor carried by the cleaning device; if it is sensed that there is no obstacle point within the distance from the positioning point of the cleaning device that can enable the cleaning device to cut at a fixed cutting distance based on the current walking line, the target point is determined according to the positioning point, the current walking line and the fixed cutting distance; and the cleaning device is controlled to walk from the positioning point to the target point and continue walking in the next walking line in the direction parallel to the current walking line.

[0073] When the cleaning device walks in the transition line, its positioning point can be determined in real time. Based on the real-time sensing of the sensor on the un-walked area, it is determined whether there is an obstacle point in the un-walked area at a position that is perpendicular to the current walking line and at a fixed cutting distance from the current walking line based on the positioning point. If there is no obstacle point, it is determined that the cleaning device can return to the next walking line to continue walking.

[0074] When it is determined that the cleaning device can return to the next walking line to continue walking, the target point can be determined according to the positioning point, the fixed cutting distance and the minimum placement requirement of the cleaning device itself. After the target point is determined, the cleaning device is controlled to walk from the positioning point to the target point and walk in the next walking line in the same direction parallel to the transition line.

[0075] In some optional embodiments, in the above method, in step S120, before the step of controlling the cleaning device to walk in the direction parallel to the current walking line after walking to the transition point at the maximum limit distance in response to the cleaning device being unable to continue cutting at the fixed cutting distance based on the end point, the method further comprises: in response to the existence of a missing area in the interval area between the current walking line and the previous walking line in the opposite direction of the current walking line, controlling the cleaning device to walk in the missing area; and after the missing area walking is completed, controlling the cleaning device to walk to the end point of the current walking line.

[0076] When the cleaning device reaches the end point of the current walking line, in order to ensure that the walking is complete and no area is missed, the cleaning device is controlled to walk in a supplementary manner before cutting to the next walking line.

[0077] The area between the current walking line and the previous walking line in the opposite direction of the current walking line can be sensed by a sensor, and it is determined whether there is a missed area in the area. The most likely position of the missed area is around the obstacle and around the start and end points of the current walking line. If it is determined that there is a missed area, the cleaning device is controlled to walk in a supplementary manner into the missed area, and the missed area is walked completely.

[0078] The way in which the cleaning device walks in the missed area is not limited. An appropriate walking model can be selected according to the position, shape, area, etc. of the missed area. For example, the missed area is usually a small area with a small area, and the cleaning device usually rotates to the center of gravity of the missed area to walk completely. However, for the missed area with a larger area that may occur, the cleaning device can be controlled to spiral inward along the edge of the missed area until it walks completely.

[0079] After walking completely in the missed area, the cleaning device is controlled to walk from the missed area to the end point of the current walking line, so as to continue to walk in the U-turn model.

[0080] In some optional embodiments, in the above method, in response to the existence of a missed area in the area between the current walking line and the previous walking line in the opposite direction of the current walking line, the cleaning device is controlled to walk into the missed area, including: if it is sensed by the sensor carried by the cleaning device that there is an unwalked area in the area, the unwalked area in the area is determined as the missed area; the supplementary cutting distance and the supplementary cutting point are determined according to the edge of the missed area, the current walking line and the end point; the cleaning device is controlled to walk from the end point to the supplementary cutting point, and then walk in a direction parallel to the current walking line; after walking completely in the missed area, the cleaning device is controlled to walk to the end point of the current walking line, including: when it is sensed by the sensor that there is no unwalked area in the missed area, a return path is determined according to the completion point, the boundary and the end point of the cleaning device; the cleaning device is controlled to walk from the completion point to the end point according to the return path.

[0081] In order to ensure the regularity of the walking route, when the missing area is supplemented, the cutting method can also be used. That is, based on the sensing of the edge line of the missing area by the sensor, the supplement cutting distance is determined according to the vertical farthest distance of the edge line from the current walking line; the supplement cutting point is determined in combination with the supplement cutting distance and the end point of the current walking line. The cleaning device is controlled to walk from the end point of the current walking line to the supplement cutting point and walk in a direction parallel to the current walking line. Here, walking in a direction parallel to the current walking line can be in the same direction as the walking direction of the current walking line or in the opposite direction of the walking direction of the current walking line according to the position of the missing area.

[0082] When the sensor senses that there is no non-walked area in the missing area, the missing area is completely walked, and the completion point of the cleaning device is determined in real time. According to the boundary of the to-be-walked range, the completion point, and the end point of the current walking line, the shortest path is determined as the regression path, so that the cleaning device walks from the completion point to the end point along the regression path, thereby continuing to walk in the U-turn model cutting method.

[0083] In some optional embodiments, in the above method, in step S120, when the cleaning device is positioned at the end point of any current walking line, the method further includes: in response to the cleaning device being able to continue cutting by a fixed cutting distance with the end point as a reference, determining a cutting point according to the current walking line, the end point, and the fixed cutting distance; and controlling the cleaning device to walk from the end point to the cutting point and continue walking in the next walking line in a direction parallel to the current walking line.

[0084] When the cleaning device is positioned at the end point of any current walking line, the sensor senses the non-walked area. It is determined that the position in the non-walked area, which is perpendicular to the current walking line and has a fixed cutting distance from the end point of the current walking line, does not have an obstacle point, so that the cleaning device can continue to walk according to the established U-turn model cutting. At this time, the cutting point is determined based on the fixed cutting distance with the end point as a reference and with reference to the direction of the current walking line, and the cleaning device walks from the end point of the current walking line to the cutting point, that is, continues to walk in the next walking line according to the established U-turn model. The direction in which the cleaning device walks in the next walking line is opposite to the walking direction of the current walking line.

[0085] FIG. 2 shows a flowchart of a control method of a cleaning device according to another embodiment of the present disclosure. According to FIG. 2, the method can include the following steps.

[0086] In step S201, map information is acquired, and a to-be-walked range is determined in response to the labeling of the map information. The boundary of the to-be-walked range is determined according to the map information and historical sensing information collected by the sensor carried by the cleaning device, and the cleaning device is controlled to walk in a U-turn model with a fixed cutting distance within the boundary. Step S202 is turned to.

[0087] Step S202, when the cleaning device is positioned at the end point of any current walking line, the sensor is used to sense whether there is a missing area in the interval area between the current walking line and the previous walking line in the opposite direction of the current walking line. If there is, go to step S203; if not, go to step S205.

[0088] Step S203, the missing area boundary, the current walking line and the end point are used to determine the additional cutting distance and the additional cutting point, and the cleaning device is controlled to walk from the end point to the additional cutting point and then walk in the direction parallel to the current walking line. Go to step S204.

[0089] Step S204, when the sensor senses that the missing area has been walked completely, the completion point, the boundary and the end point of the cleaning device are used to determine the regression path, and the cleaning device is controlled to walk from the completion point to the end point along the regression path. Go to step S205.

[0090] Step S205, the sensor is used to sense the un-walked area, and determine whether there is an obstacle point within the distance that can make the cleaning device cut in the fixed cutting distance based on the end point. If there is, go to step S206; if not, go to step S207.

[0091] Step S206, the current walking line and the obstacle point are used to determine the maximum limit distance and the transition point, and the cleaning device is controlled to walk from the end point to the transition point and then walk in the direction parallel to the current walking line. Go to step S208.

[0092] Step S207, the current walking line, the end point and the fixed cutting distance are used to determine the cutting point, and the cleaning device is controlled to walk from the end point to the cutting point and then continue to walk in the next walking line in the direction parallel to the current walking line.

[0093] Step S208, the sensor is used to sense the un-walked area, and if it is sensed that there is no obstacle point within the distance that can make the cleaning device cut in the fixed cutting distance based on the current walking line based on the positioning point of the cleaning device, the positioning point, the current walking line and the fixed cutting distance are used to determine the target point, and the cleaning device is controlled to walk from the positioning point to the target point and then continue to walk in the next walking line in the direction parallel to the current walking line.

[0094] The following describes a system embodiment of the present disclosure, which can be used to execute the method in the above-mentioned embodiments of the present disclosure. For details not disclosed in the system embodiment of the present disclosure, please refer to the above-mentioned embodiments of the present disclosure.

[0095] FIG. 3 shows a structural schematic diagram of a control system of a cleaning device according to one embodiment of the present disclosure. According to FIG. 3, the system 300 includes:

[0096] The boundary identifying unit 310 is configured to identify a boundary of the to-be-traveled range according to the obtained map information, and control the cleaning device to travel in the U-turn model within the boundary.

[0097] The cutting control unit 320 is configured to, when the cleaning device is positioned at an end point of any current traveling line, in response to the cleaning device being unable to continue cutting at a fixed cutting distance based on the end point, control the cleaning device to travel to a transition point at a maximum limited travel distance, and then travel in a direction parallel to the current traveling line.

[0098] The cutting control unit 320 is further configured to, during the cleaning device traveling in the direction parallel to the current traveling line, if it is sensed that there is a target point at a fixed cutting distance from the current traveling line in the untraveled area, control the cleaning device to travel to the target point and then continue to travel in the next traveling line in the direction parallel to the current traveling line.

[0099] In some optional embodiments, in the system 300 described above, the boundary identifying unit 310 is specifically configured to: obtain map information; determine the to-be-traveled range in response to a labeling of the map information; determine the boundary of the to-be-traveled range according to the map information and historical sensing information collected by the sensors carried by the cleaning device; and control the cleaning device to travel in the U-turn model within the boundary at a fixed cutting distance.

[0100] In some optional embodiments, in the system 300 described above, the cutting control unit 320 is further specifically configured to: when the cleaning device is positioned at an end point of any current traveling line, sense the untraveled area based on the sensors carried by the cleaning device; if it is sensed that there is an obstacle point within a distance that enables the cleaning device to cut at a fixed cutting distance based on the end point, determine a maximum limited travel distance and a transition point according to the current traveling line and the obstacle point; and control the cleaning device to travel to the transition point from the end point, and then travel in a direction parallel to the current traveling line.

[0101] In some optional embodiments, in the system 300 described above, the cutting control unit 320 is further specifically configured to: during the cleaning device traveling in the direction parallel to the current traveling line, sense the untraveled area based on the sensors carried by the cleaning device; if it is sensed that there is no obstacle point within a distance that enables the cleaning device to cut at a fixed cutting distance based on the positioning point of the cleaning device according to the current traveling line, determine a target point according to the positioning point, the current traveling line, and the fixed cutting distance; and control the cleaning device to travel to the target point from the positioning point, and then continue to travel in the next traveling line in the direction parallel to the current traveling line.

[0102] In some optional embodiments, in the system 300, the row-cutting control unit 320 is further configured to: in response to the existence of a missing area between the current walking row and the previous walking row opposite to the walking direction of the current walking row, control the cleaning device to walk into the missing area; and after the cleaning device walks through the missing area, control the cleaning device to walk to the end point of the current walking row.

[0103] In some optional embodiments, in the system 300, the row-cutting control unit 320 is further configured to: if an un-walked area is sensed in the interval area based on the sensor carried by the cleaning device, determine the un-walked area in the interval area as a missing area; determine a supplementary cutting distance and a supplementary cutting point according to the edge line of the missing area, the current walking row and the end point; control the cleaning device to walk to the supplementary cutting point from the end point, and then walk in a direction parallel to the current walking row; when the sensor senses that there is no un-walked area in the missing area, determine a return path according to the finish point, the boundary and the end point of the cleaning device; and control the cleaning device to walk to the end point from the finish point along the return path.

[0104] In some optional embodiments, in the system 300, the row-cutting control unit 320 is further configured to: in response to the cleaning device being able to continue cutting at a fixed cutting distance based on the end point, determine a cutting point according to the current walking row, the end point and the fixed cutting distance;

[0105] control the cleaning device to walk to the cutting point from the end point, and then continue walking in the next walking row in a direction parallel to the current walking row.

[0106] The example embodiments of the present disclosure further provide an electronic device, including: at least one processor; and a memory connected with the at least one processor in communication. The memory stores a computer program capable of being executed by the at least one processor, and the computer program, when executed by the at least one processor, is configured to cause the electronic device to perform the method according to the embodiments of the present disclosure.

[0107] The example embodiments of the present disclosure further provide a non-transitory computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is configured to cause the computer to perform the method according to the embodiments of the present disclosure.

[0108] It should be understood that the above specific embodiments of the present disclosure are merely used for illustrative or explanatory purposes, and do not constitute a limitation on the present disclosure. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present disclosure shall be included in the protection scope of the present disclosure. In addition, the appended claims of the present disclosure are intended to cover all variations and modifications falling within the scope and boundary of the appended claims, or the equivalent forms of such scope and boundary.

Claims

1. A control method of a cleaning apparatus, characterized by, The method comprises: identifying a boundary of a range to be walked according to acquired map information, and controlling the cleaning device to walk in a U-turn model within the boundary; when the cleaning device is positioned at an end point of any current walking line, in response to the cleaning device being unable to continue to cut in a fixed cutting distance based on the end point, controlling the cleaning device to walk to a transition point in a maximum limited distance, and then walking in a direction parallel to the current walking line; in the process of the cleaning device walking in the direction parallel to the current walking line, if a target point is sensed in the un-walked area at a distance of the fixed cutting distance from the current walking line, controlling the cleaning device to walk to the target point, and then continuing to walk in the next walking line in a direction parallel to the current walking line.

2. The control method of the cleaning apparatus according to claim 1, wherein The method comprises: acquiring the map information; determining the range to be walked in response to the calibration of the map information; determining the boundary of the range to be walked according to the map information and historical sensing information collected by the sensors carried by the cleaning device; controlling the cleaning device to walk in the U-turn model within the boundary at the fixed cutting distance.

3. The control method of a cleaning apparatus according to claim 1, wherein The method comprises: when the cleaning device is positioned at the end point of any current walking line, sensing the un-walked area based on the sensors carried by the cleaning device; if an obstacle point is sensed within a distance that can enable the cleaning device to cut in at the fixed cutting distance based on the end point, determining the maximum limited distance and the transition point according to the current walking line and the obstacle point; controlling the cleaning device to walk to the transition point from the end point, and then walking in a direction parallel to the current walking line.

4. The control method of a cleaning apparatus according to claim 1, wherein The method comprises: in the process of the cleaning device walking in the direction parallel to the current walking line, sensing the un-walked area based on the sensors carried by the cleaning device; if it is sensed that there is no obstacle point within a distance that can enable the cleaning device to cut in at the fixed cutting distance based on the positioning point of the cleaning device, determining the target point according to the positioning point, the current walking line and the fixed cutting distance; controlling the cleaning device to walk to the target point from the positioning point, and then continue to walk in the next walking line in a direction parallel to the current walking line.

5. The control method of a cleaning apparatus according to claim 1, wherein Before the step of walking along a direction parallel to the current walking line after the cleaning device walks to the transition point with the maximum limited distance, the method further comprises: In response to the existence of an omitted area in the interval area between the current walking line and a previous walking line opposite to the walking direction of the current walking line, the cleaning device is controlled to walk into the omitted area; After the walking in the omitted area is completed, the cleaning device is controlled to walk to the end point of the current walking line.

6. The control method of the cleaning apparatus according to claim 5, wherein The step of controlling the cleaning device to walk into the omitted area in response to the existence of an omitted area in the interval area between the current walking line and a previous walking line opposite to the walking direction of the current walking line comprises: If the sensor carried by the cleaning device senses that the interval area exists the un-walked area, the un-walked area in the interval area is determined as the omitted area; A supplementary cutting distance and a supplementary cutting point are determined according to the boundary of the omitted area, the current walking line and the end point; The cleaning device is controlled to walk from the end point to the supplementary cutting point, and then walk along a direction parallel to the current walking line; The step of controlling the cleaning device to walk to the end point of the current walking line after the walking in the omitted area is completed comprises: When the sensor senses that the omitted area does not exist the un-walked area, a return path is determined according to the completion point of the cleaning device, the boundary and the end point; The cleaning device is controlled to walk from the completion point to the end point along the return path.

7. The control method of a cleaning apparatus according to claim 1, wherein The method further comprises: In response to the cleaning device being able to continue cutting with the fixed cutting distance based on the end point, a cutting point is determined according to the current walking line, the end point and the fixed cutting distance; The cleaning device is controlled to walk from the end point to the cutting point, and then continue walking in the next walking line along a direction parallel to the current walking line.

8. A control system for a cleaning apparatus, characterized in that The system comprises: A boundary identification unit is configured to identify a boundary of a to-be-walked range according to acquired map information, and control the cleaning device to walk in a U-turn model within the boundary; A cutting control unit is configured to, when the cleaning device is positioned at an end point of any current walking line, in response to the cleaning device being unable to continue cutting with a fixed cutting distance based on the end point, control the cleaning device to walk to a transition point with a maximum limited distance, and then walk along a direction parallel to the current walking line; The cutting control unit is further configured to, during the walking of the cleaning device along the direction parallel to the current walking line, if an un-walked area is sensed to exist at a target point at a distance of the fixed cutting distance from the current walking line, control the cleaning device to walk to the target point and then continue walking in a next walking line along a direction parallel to the current walking line.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor, when executing the computer program, implements the steps of the control method of the cleaning device according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program, when processed by a processor, implements the steps of the control method of the cleaning device according to any one of claims 1 to 7.

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