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

Abstract

A cleaning device control method. A cleaning device comprises a mechanical arm, one end of the mechanical arm away from a chassis of the cleaning device being used for clamping a cleaning member, the cleaning member being used for cleaning skirting boards, and the mechanical arm being used for adjusting the pose of the cleaning member so as to clean skirting boards. The method comprises: acquiring a pre-constructed skirting board distribution map of an area to be cleaned; and, on the basis of the skirting board distribution map, controlling the cleaning device to perform a cleaning action on skirting boards in said area.

Description

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

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 2024113207174, filed September 20, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

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

[0004] Cleaning devices (such as floor sweeping machines and floor mopping machines) have been widely used in family life today, which can replace users to complete household work including cleaning the floor, which brings great convenience to users. Skirting is also called skirting or skirting board, which is a component connecting the wall root and the ground. The side and top surfaces of the skirting are very easy to accumulate dirt such as dust; if the skirting is not cleaned, it will affect the cleanliness of the room. If the cleaning device has the function of cleaning the skirting, it will undoubtedly further improve the cleanliness of the room. However, in the current, the cleaning ability of the skirting in the existing scheme is poor. Based on this, how to improve the cleaning ability of the cleaning device to the skirting is a technical problem to be solved. SUMMARY

[0005] Embodiments of the present disclosure provide a cleaning device control method, apparatus, computer program product, computer-readable storage medium, and cleaning device, thereby at least to some extent improving the cleaning ability of the cleaning device to the skirting.

[0006] Other characteristics and advantages of the present disclosure will become apparent from the following detailed description, or will be learned by practice of the present disclosure.

[0007] According to a first aspect of embodiments of the present disclosure, a cleaning device control method is provided, the cleaning device comprising a mechanical arm, the mechanical arm being used to hold a cleaning piece at one end away from a chassis of the cleaning device, the cleaning piece being used to clean a skirting, the mechanical arm being used to adjust a pose of the cleaning piece to clean the skirting, the method comprising: obtaining a skirting distribution map of a to-be-cleaned area constructed in advance; based on the skirting distribution map, controlling the cleaning device to perform a cleaning action on the skirting in the to-be-cleaned area.

[0008] In some embodiments of the present disclosure, the method further comprises: detecting the to-be-cleaned area by a sensing system configured in the cleaning device to obtain information of a skirting line in the to-be-cleaned area; and marking the information of the skirting line on a cleaning map to construct a skirting line distribution map of the cleaning area.

[0009] In some embodiments of the present disclosure, the method further comprises: in the skirting line distribution map, if there is an interrupted skirting line on the same horizontal line and the length of the interruption is less than a first preset threshold, connecting the interrupted skirting line in the skirting line distribution map.

[0010] In some embodiments of the present disclosure, the method further comprises: in the skirting line distribution map, if there is a protruding skirting line on the same horizontal line and the length of the protrusion is less than a second preset threshold, flattening the protruding skirting line to the same horizontal line in the skirting line distribution map.

[0011] In some embodiments of the present disclosure, the method further comprises: in response to a user's editing operation on the skirting line distribution map, editing the skirting line information in the skirting line distribution map.

[0012] In some embodiments of the present disclosure, before controlling the cleaning device to perform a cleaning action on the skirting line in the to-be-cleaned area, the method further comprises: based on the skirting line height information marked by the skirting line in the skirting line distribution map, controlling the mechanical arm to adjust the pose of the cleaning element to a cleaning pose.

[0013] In some embodiments of the present disclosure, the skirting line distribution map includes at least one segment of skirting line, and the controlling the cleaning device to perform a cleaning action on the skirting line in the to-be-cleaned area based on the skirting line distribution map comprises: based on the skirting line position information marked by the at least one segment of skirting line in the skirting line distribution map, controlling the cleaning device to perform a cleaning action on each segment of skirting line in the to-be-cleaned area in turn.

[0014] In some embodiments of the present disclosure, the method further comprises: during the process of the cleaning device performing a cleaning action on the skirting line in the to-be-cleaned area, if the cleaning device cleanses to the endpoint position of each segment of skirting line, reducing the travel speed of the cleaning device and detecting whether there is a continuous skirting line in the current travel direction; if there is a continuous skirting line in the current travel direction, controlling the cleaning device to clean the continuous skirting line until the continuous skirting line disappears and updating the skirting line information on the skirting line distribution map; and if there is no continuous skirting line in the current travel direction, controlling the cleaning device to move to the next segment of skirting line for cleaning.

[0015] In some embodiments of the present disclosure, the method further comprises: during the cleaning device performing the cleaning action on the skirting line in the to-be-cleaned area, if the cleaning device detects that the skirting line disappears before cleaning to the end position of each section of the skirting line, reducing the traveling speed of the cleaning device to detect each section of the skirting line until the continuation point of each section of the skirting line is detected; if the continuation point of each section of the skirting line is not detected, controlling the cleaning device to move to the next section of the skirting line for cleaning, and updating the skirting line information on the skirting line distribution map.

[0016] In some embodiments of the present disclosure, the method further comprises: during the cleaning device performing the cleaning action on the skirting line in the to-be-cleaned area, if the cleaning device detects an obstacle before cleaning to the end position of each section of the skirting line, controlling the cleaning device to perform an obstacle avoidance action until the continuation point of each section of the skirting line is detected; if the continuation point of each section of the skirting line is not detected, controlling the cleaning device to move to the next section of the skirting line for cleaning, and updating the skirting line information on the skirting line distribution map.

[0017] In some embodiments of the present disclosure, the method further comprises: during the cleaning device performing the cleaning action on the skirting line in the to-be-cleaned area, if the cleaning device performs a rotating action, controlling the mechanical arm to adjust the pose of the cleaning piece from a cleaning pose to a safe pose.

[0018] In some embodiments of the present disclosure, the control of the mechanical arm to adjust the pose of the cleaning piece from a cleaning pose to a safe pose comprises: increasing the distance between the cleaning piece and the wall surface on which the skirting line is located; controlling the mechanical arm to adjust the pose of the cleaning piece to a safe pose, the safe pose being the pose of the mechanical arm and the cleaning piece in the spatial region upwardly projected by the chassis of the cleaning device.

[0019] In some embodiments of the present disclosure, the control of the cleaning device to perform the cleaning action on the skirting line in the to-be-cleaned area based on the skirting line distribution map comprises: in response to a selection operation of a user in the skirting line distribution map, demarcating a target area in the to-be-cleaned area; controlling the cleaning device to perform the cleaning action on the skirting line in the target area in the to-be-cleaned area.

[0020] According to a second aspect of the embodiments of the present disclosure, a cleaning device control apparatus is provided, the cleaning device comprising a mechanical arm, the mechanical arm being configured to hold a cleaning piece at one end away from a chassis of the cleaning device, the cleaning piece being configured to clean a skirting line, the mechanical arm being configured to adjust a pose of the cleaning piece to clean the skirting line, the apparatus comprising: an acquisition unit configured to acquire a skirting line distribution map of a to-be-cleaned area constructed in advance; and a control unit configured to control the cleaning device to perform a cleaning action on the skirting line in the to-be-cleaned area based on the skirting line distribution map.

[0021] According to a third aspect of the embodiments of the present disclosure, a computer program product is provided, 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 according to any one of the first aspect.

[0022] According to a fourth aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, comprising at least one computer program instruction stored thereon, the at least one computer program instruction being loaded and executed by a processor to implement the method according to any one of the first aspect.

[0023] According to a fifth aspect of the embodiments of the present disclosure, a cleaning device is provided, comprising one or more processors and one or more memories; the one or more memories have at least one computer program instruction stored therein; when the at least one computer program instruction is loaded and executed by the one or more processors, the one or more processors implement the method according to any one of the first aspect.

[0024] Based on the technical solutions proposed in the present disclosure, when a mechanical arm is configured to the cleaning device, the pose of the cleaning piece can be adjusted by the mechanical arm, so that a cleaning action can be performed on the skirting line in the to-be-cleaned area based on the skirting line distribution map of the to-be-cleaned area constructed in advance. In this way, the cleaning ability of the cleaning device on the skirting line can be improved.

[0025] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings. In the drawings:

[0027] FIG. 1 shows a schematic diagram of a skirting line according to some embodiments of the present disclosure;

[0028] FIG. 2 shows a schematic diagram of a cleaning device cleaning a skirting line according to some embodiments of the present disclosure;

[0029] FIG. 3 shows a flow chart of a cleaning device control method according to some embodiments of the present disclosure;

[0030] FIG. 4 shows a skirting line distribution map in a room according to some embodiments of the present disclosure;

[0031] FIG. 5 shows a skirting line distribution map in a room according to some other embodiments of the present disclosure;

[0032] FIG. 6 shows a cleaning area setting interface according to some embodiments of the present disclosure;

[0033] FIG. 7 shows a block diagram of a cleaning device control apparatus according to some embodiments of the present disclosure;

[0034] FIG. 8 shows a structural schematic diagram of a cleaning device according to some embodiments of the present disclosure. Embodiments of the present disclosure

[0035] The technical solutions in the embodiments of the present disclosure will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present disclosure.

[0036] In addition, the described features, structures or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to give a sufficient understanding of the embodiments of the present disclosure. However, those skilled in the art will realize that the technical solutions of the present disclosure can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be used. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid obscuring the aspects of the present disclosure.

[0037] The block diagrams shown in the accompanying drawings are only functional entities, which do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices. It should be noted that in the accompanying drawings, some components that do not affect the explanation of the technical solutions of the present disclosure are omitted to ensure the simplicity and adaptability of the drawings.

[0038] The flowcharts shown in the drawings are only illustrative, and are not necessarily required to include all the contents and operations / steps, nor are they necessarily required to be executed in the order described. For example, some operations / steps can be further divided, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to actual conditions.

[0039] In the description of the present disclosure, it should be understood that the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present disclosure, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0040] In order for those skilled in the art to better understand the present disclosure, first, the application scenario and cleaning equipment involved in the present disclosure will be briefly described in conjunction with FIG. 1 and FIG. 2.

[0041] FIG. 1 shows a schematic diagram of a skirting board in an embodiment of the present disclosure.

[0042] The skirting board 102 in the scenario shown in FIG. 1 is also called a skirting or a skirting board, which is a component at the junction of the wall 101 and the floor 103. In the scenario shown in FIG. 1, the skirting board 102 protrudes from the wall 101. However, it should be noted that in other embodiments, the skirting board can also be recessed in the wall, thereby being hidden at the root of the wall.

[0043] The first function of the skirting board is that, from the perspective of space aesthetics, the skirting board plays a role in visual balance, and by using their linear feeling and material, color, etc. to echo each other in the room, a better beautifying and decorating effect can be achieved. The skirting board can divide the transition of space, and when the layer height is limited, a narrow and thin skirting board with a width of 2.5-6 cm is generally selected to improve the delicacy of the space; if the layer height is allowed, a skirting board with a width of 8-10 cm is generally selected for design to achieve the effect of balancing vision, making the space more atmospheric. The second function of the skirting board is to protect the wall: if there is no skirting board, the part of the wall near the ground is easy to be stepped on by people. Making a skirting board can better combine the wall and the floor, reduce wall deformation, and avoid damage caused by external force collision. In addition, the skirting board is also relatively easy to clean, and if dirty water is splashed during mopping, it is very convenient to clean. From a practical point of view, a skirting board that is too low is relatively difficult to play a role in protecting the wall, for example, a 4 cm skirting board is generally only surface-mounted, because if it is darkly attached, the mop will touch the wall during mopping, so a skirting board with a width of 6 cm or more is generally selected. The third function of the skirting board is to shield and protect the wiring.

[0044] The material of the skirting line is generally wood, metal, ceramic tile or stone, etc.; the color is generally white, wood color, black or gray, etc. The top surface of the skirting line (such as the plane A shown in FIG. 1) will accumulate dust for a period of time, and the side surface of the skirting line (such as the plane B shown in FIG. 1) will also stick dust, which needs to be cleaned manually. There is no electric appliance that can realize automatic cleaning of the skirting line. If the function of automatically cleaning the skirting line can be realized through cleaning equipment such as a sweeping machine or a mopping machine, the cleanliness of the room will undoubtedly be further enhanced. Based on this, the present disclosure proposes a cleaning equipment control scheme to improve the cleaning ability of the cleaning equipment on the skirting line.

[0045] FIG. 2 shows a schematic diagram of the cleaning equipment cleaning the skirting line in the embodiment of the present disclosure.

[0046] As shown in FIG. 2, the cleaning equipment 104 involved can be a sweeping machine, a mopping machine, or a sweeping and mopping integrated machine, which is not specifically limited in the present disclosure.

[0047] As shown in FIG. 2, the skirting line 102 is included between the ground 103 and the wall surface 101.

[0048] As shown in FIG. 2, the cleaning equipment 104 involved can include a mechanical arm 105. The mechanical arm 105 is a foldable two-link mechanism including joints M1 and M2, including two degrees of freedom (which can be defined as a low-degree-of-freedom mechanical arm in the present disclosure). The mechanical arm 105 adjusts the pose (i.e., position and attitude) of the cleaning piece 106 (such as a cleaning brush) by adjusting the folding angles of the joints M1 and M2, for example, the mechanical arm 105 can adjust the cleaning piece 106 to descend by adjusting the folding angles of the joints M1 and M2, so that the cleaning piece 106 is adjusted from the safe pose as shown in subgraph (a) of FIG. 1 to the cleaning pose as shown in subgraph (b) of FIG. 1, to clean the skirting line according to the cleaning pose.

[0049] It should be noted that the safe pose can be understood as a pose that can avoid collision between the mechanical arm and the cleaning piece it grasps and the wall and the skirting line by adjusting the attitude of the mechanical arm, such as the pose of the mechanical arm and the cleaning piece it grasps within the spatial region projected upward by the cleaning equipment chassis.

[0050] It should be noted that in other embodiments, the mechanical arm can also be a high-degree-of-freedom mechanical arm, such as can include three degrees of freedom, and can also include four degrees of freedom; which is not specifically limited in the present disclosure.

[0051] As shown in FIG. 2, the mechanical arm 105 can be connected with a gripper (not shown in the figure) through a joint M3; the gripper can grab the cleaning piece 106; the joint M3 can support the gripper to spin the cleaning piece 106 in a small angle in a positive and negative direction, so that the cleaning piece 106 can swing in a small range, thereby enhancing the cleaning intensity of the cleaning piece 106 when cleaning the skirting line 102.

[0052] In some embodiments, the cleaning piece 106 can be placed in a storage bin of a cleaning device base station in daily life, and can be grabbed by the mechanical arm 105 for use.

[0053] Next, the disclosure will be described in detail with respect to the proposed cleaning device control scheme.

[0054] FIG. 3 shows a flowchart of a cleaning device control method according to some embodiments of the disclosure, which can be executed by a device with a computing processing function. As shown in FIG. 3, the cleaning device control method at least includes steps 310 to 320, which are described in detail as follows.

[0055] In step 310, a skirting line distribution map of a to-be-cleaned area is obtained.

[0056] In some embodiments, the skirting line distribution map can be constructed in advance, and can be constructed according to steps 301 to 302 as follows:

[0057] Step 301: detecting the to-be-cleaned area by a sensing system configured in the cleaning device to obtain skirting line information in the to-be-cleaned area;

[0058] Step 302: marking the skirting line information on a cleaning map to construct a skirting line distribution map of the cleaning area.

[0059] In some embodiments, the cleaning device can be configured with a sensing system, which can include a 3D depth camera (such as a TOF sensor), can also include a line laser sensor, and can further include an RGB camera, a wall-following module, and a sensing module on a mechanical arm. Specifically, the disclosure is not limited to these sensors.

[0060] In some embodiments, it should be noted that the skirting line information can include skirting line position information, and can also include skirting line height information, which is not limited in detail by the disclosure.

[0061] In some embodiments, the cleaning device can collect point cloud images of the environment around the cleaning device through a 3D depth camera arranged on the body of the cleaning device. For example, when the cleaning device is walking, the sensor can collect point cloud images of each area in the surrounding environment, and identify whether there is a skirting line in each area through the point cloud images. If there is a skirting line in a certain area, the skirting line information of the skirting line in the area is determined. The determined skirting line information is marked on the cleaning map corresponding to the cleaning area, so as to construct the skirting line distribution map of the cleaning area. The advantage of using a 3D depth camera to detect the cleaning area is that, on the one hand, the height of the skirting line can be more accurately identified; on the other hand, compared with the perception module on the mechanical arm detecting the cleaning area, the 3D depth camera arranged on the body of the cleaning device can identify the skirting line in the normal cleaning task, which can reduce the risk of collision and damage to the mechanical arm when the mechanical arm is extended for identification.

[0062] In some embodiments, the following step 303 can also be performed:

[0063] Step 303, in the skirting line distribution map, if there is an interrupted skirting line on the same horizontal line and the interruption length is less than a first preset threshold, the interrupted skirting line is connected in the skirting line distribution map.

[0064] In some embodiments, there is an interrupted skirting line with a length less than the first preset threshold on the same horizontal line, which may be caused by the error of the sensing data of the sensing system of the cleaning device, but in fact there is a skirting line at this position. Therefore, in some embodiments, the interrupted skirting line can be connected in the skirting line distribution map. It should be noted that in some embodiments, the size of the first preset threshold can be set according to the actual situation, such as 20 cm, and also such as 25 cm, which is not limited in the present disclosure.

[0065] In order for those skilled in the art to better understand the present disclosure, a specific embodiment is described below in conjunction with FIG. 4.

[0066] FIG. 4 shows a skirting line distribution map in a room according to some embodiments of the present disclosure.

[0067] As shown in subgraph (a) of FIG. 4, there is an interruption of the skirting line at position A in the room, and the interruption length is less than the first preset threshold. Therefore, the interrupted skirting line can be connected to obtain the skirting line distribution map as shown in subgraph (b) of FIG. 4.

[0068] In some embodiments, the following step 304 can also be performed:

[0069] Step 304, in the skirting line distribution map, if there is a protruding skirting line on the same horizontal line and the protruding length is less than the second preset threshold, then the protruding skirting line is flattened to the same horizontal line in the skirting line distribution map.

[0070] In some embodiments, there is a protruding skirting line with a protruding length less than the second preset threshold on the same horizontal line, which may be caused by the error of the sensing data of the sensing system of the cleaning device, but in fact the skirting line at this position is on the same horizontal line, so in the present disclosure, the protruding skirting line can be flattened in the skirting line distribution map. It should be noted that in some embodiments, the size of the second preset threshold can be set according to the actual situation, such as 23 cm, and also such as 26 cm, which is not limited in the present disclosure.

[0071] In order for those skilled in the art to better understand the present disclosure, the following is described in a specific embodiment in combination with FIG. 5.

[0072] FIG. 5 shows the skirting line distribution map in the room in an embodiment of the present disclosure.

[0073] As shown in subgraph (a) of FIG. 5, there is a protruding skirting line at position B in the room, and the protruding length is less than the second preset threshold; therefore, the protruding skirting line can be flattened to obtain the skirting line distribution map as shown in subgraph (b) of FIG. 5.

[0074] In some embodiments, considering the possibility of error in the sensing system collecting sensing data, by optimizing the skirting line with defects in the skirting line distribution map, the integrity and accuracy of the skirting line information in the skirting line distribution map can be improved, thereby indirectly improving the cleaning ability of the cleaning device in subsequent cleaning of the skirting line according to the skirting line distribution map.

[0075] In some embodiments, the following step 305 can also be performed:

[0076] Step 305, in response to the user's editing operation on the skirting line distribution map, editing the skirting line information in the skirting line distribution map.

[0077] In the present disclosure, the user can view the skirting line distribution map in the cleaning device control system interface (such as a mobile phone APP), so as to edit the skirting line distribution map (such as editing the skirting line distribution map through the control interface of the cleaning device control system); the content of the editing can be adding or deleting the skirting line in the skirting line distribution map, so as to perfect the skirting line distribution map, thereby indirectly improving the cleaning ability of the cleaning device in subsequent cleaning of the skirting line according to the skirting line distribution map.

[0078] With reference back to FIG. 3, in step 320, based on the skirting line distribution map, the cleaning device is controlled to perform a cleaning action on the skirting line in the to-be-cleaned area.

[0079] In some embodiments, first, a cleaning route for the cleaning device to clean the skirting line in the to-be-cleaned area can be planned based on the skirting line distribution map, and then the cleaning device is controlled to perform a cleaning action on the skirting line in the to-be-cleaned area according to the cleaning route.

[0080] In some embodiments, before the cleaning device is controlled to perform a cleaning action on the skirting line in the to-be-cleaned area, the cleaning device control method can further include:

[0081] In step 311, based on the skirting line height information of the skirting line marker in the skirting line distribution map, the pose of the cleaning member is adjusted to a cleaning pose by the mechanical arm.

[0082] In some embodiments, when the user initiates the cleaning device to perform a skirting line cleaning task, the mechanical arm of the cleaning device can be first controlled to actively grasp the matching cleaning member to prepare for cleaning the skirting line.

[0083] In some embodiments, based on the skirting line height information, the pose of the cleaning member can be adjusted to a pose that is adapted to the height of the skirting line by the mechanical arm. For example, as shown in FIG. 2, the cleaning member 106 is adjusted from the safe pose shown in subgraph (a) of FIG. 1 to the cleaning pose shown in subgraph (b) of FIG. 1, in which the height of the cleaning member 106 is approximately the same as the height of the skirting line 102. In this way, the cleaning member of the cleaning device can clean the skirting line more fully, thereby improving the cleaning ability of the cleaning device on the skirting line.

[0084] Generally, a skirting line is installed at the wall root position of each wall in the cleaning area. Thus, in some embodiments, the pre-constructed skirting line distribution map of the to-be-cleaned area includes at least one skirting line.

[0085] In some embodiments, the control of the cleaning device to perform a cleaning action on the skirting line in the to-be-cleaned area based on the skirting line distribution map can include:

[0086] In step 331, based on the skirting line position information of the at least one skirting line marker in the skirting line distribution map, the cleaning device is controlled to perform a cleaning action on each skirting line in the to-be-cleaned area in sequence.

[0087] In some embodiments, during the process of the cleaning device performing the cleaning action on the skirting line in the to-be-cleaned area, when the cleaning of a section of the skirting line is completed, the cleaning device can be controlled to move to the next section of the skirting line for cleaning until the cleaning task of all the skirting lines is completed, so as to ensure the orderliness and completeness of the cleaning of the skirting lines in the to-be-cleaned area.

[0088] In some embodiments, the following steps 341 to 343 can also be performed:

[0089] Step 341, during the process of the cleaning device performing the cleaning action on the skirting line in the to-be-cleaned area, if the cleaning device cleans to the end position of each section of the skirting line, the travel speed of the cleaning device is reduced, and it is detected whether there is a continuous skirting line in the current travel direction;

[0090] Step 342, if there is a continuous skirting line in the current travel direction, the cleaning device is controlled to clean the continuous skirting line until the continuous skirting line disappears, and the skirting line information is updated on the skirting line distribution map;

[0091] Step 343, if there is no continuous skirting line in the current travel direction, the cleaning device is controlled to move to the next section of the skirting line for cleaning.

[0092] In some embodiments, during the process of the cleaning device performing the cleaning action on the skirting line in the to-be-cleaned area, when the cleaning device cleans to the end position of each section of the skirting line, the travel speed of the cleaning device is reduced, and it is detected whether there is a continuous skirting line in the current travel direction. If there is a continuous skirting line in the current travel direction, the cleaning device is controlled to clean the continuous skirting line until the continuous skirting line disappears. In this way, the problem of missing cleaning of the skirting line due to the missing skirting line information in the skirting line distribution map can be avoided, and the cleaning ability of the cleaning device for cleaning the skirting line can be improved.

[0093] In some other embodiments, in the case that there is a continuous skirting line in the current travel direction, the skirting line information is updated on the skirting line distribution map, so that the cleaning device can more completely and accurately clean the skirting line in the to-be-cleaned area next time, the problem of missing cleaning of the skirting line can be avoided, and the cleaning ability of the cleaning device for cleaning the skirting line can be improved.

[0094] In some embodiments, the following steps 351 to 352 can also be performed:

[0095] Step 351, during the cleaning process of the skirting line in the to-be-cleaned area by the cleaning device, if the cleaning device detects the disappearance of the skirting line before cleaning to the end position of each section of the skirting line, the speed of the cleaning device is reduced to detect each section of the skirting line until the continuation point of each section of the skirting line is detected.

[0096] Step 352, if the continuation point of each section of the skirting line is not detected, the cleaning device is controlled to move to the next section of the skirting line for cleaning, and the skirting line information on the skirting line distribution map is updated.

[0097] In some embodiments, during the cleaning process of the skirting line in the to-be-cleaned area by the cleaning device, if the cleaning device detects the disappearance of the skirting line before cleaning to the end position of each section of the skirting line, it indicates that there is an error between the skirting line information at the current position in the skirting line distribution map and the actual skirting line information; at this time, by reducing the speed of the cleaning device to detect each section of the skirting line until the continuation point of each section of the skirting line is detected, the actual skirting line information at this position can be determined, so that the cleaning device can more accurately clean the skirting line in the to-be-cleaned area, thereby improving the cleaning ability of the cleaning device for cleaning the skirting line.

[0098] If the continuation point of each section of the skirting line is not detected, the cleaning device is controlled to move to the next section of the skirting line for cleaning, and the skirting line information on the skirting line distribution map is updated, so that the next time the skirting line is cleaned, the skirting line cleaning action is no longer performed on the area where there is actually no skirting line; thus, the invalid cleaning of the cleaning device can be avoided, the skirting line cleaning efficiency of the cleaning device is improved, and the cleaning ability of the cleaning device for cleaning the skirting line is improved.

[0099] In some embodiments, the cleaning device control method can further include:

[0100] Step 361, during the cleaning process of the skirting line in the to-be-cleaned area by the cleaning device, if the cleaning device detects an obstacle before cleaning to the end position of each section of the skirting line, the cleaning device is controlled to perform an obstacle avoidance action until the continuation point of each section of the skirting line is detected.

[0101] Step 362, if the continuation point of each section of the skirting line is not detected, the cleaning device is controlled to move to the next section of the skirting line for cleaning, and the skirting line information on the skirting line distribution map is updated.

[0102] In some embodiments, during the process that the cleaning device performs the cleaning action on the skirting line in the to-be-cleaned area, if the cleaning device detects an obstacle before cleaning to the end position of each section of the skirting line, the cleaning device is controlled to perform an obstacle-avoiding action until the next point of each section of the skirting line is detected, and then the cleaning of the skirting line can be continued from the next point of each section of the skirting line. In this way, the order of the cleaning of the skirting line by the cleaning device in the presence of an obstacle can be ensured, and the cleaning ability of the cleaning device for cleaning the skirting line can be improved.

[0103] If the next point of each section of the skirting line is not detected, the cleaning device is controlled to move to the next section of the skirting line for cleaning, and the skirting line information is updated on the skirting line distribution map, so that the next time the skirting line is cleaned, the area where the skirting line actually does not exist will no longer be subjected to the skirting line cleaning action. In this way, the cleaning efficiency of the cleaning device for the skirting line can be improved, and the cleaning ability of the cleaning device for cleaning the skirting line can be improved.

[0104] In some embodiments, the cleaning device control method can further include:

[0105] In step 371, during the process that the cleaning device performs the cleaning action on the skirting line in the to-be-cleaned area, if the cleaning device performs the rotating action, the mechanical arm is controlled to adjust the pose of the cleaning element from the cleaning pose to the safe pose.

[0106] In some embodiments, during the process that the cleaning device performs the cleaning action on the skirting line in the to-be-cleaned area, there can be a situation of switching from one section of the skirting line to another section of the skirting line, and there can also be a situation of encountering an obstacle. In these situations, the cleaning device generally needs to adjust the cleaning direction by performing the rotating action to achieve obstacle avoidance or switching of the cleaning skirting line. Therefore, in this process, the cleaning element in the cleaning pose can collide with or scratch the wall surface, the obstacle, or the skirting line, affecting the safety of the cleaning device during the cleaning of the skirting line. By controlling the mechanical arm to adjust the pose of the cleaning element from the cleaning pose to the safe pose, such as adjusting the cleaning element 106 from the cleaning pose shown in subgraph (b) of FIG. 1 to the safe pose shown in subgraph (a) of FIG. 1, interference between the cleaning element in the cleaning pose and the wall surface, the obstacle, or the skirting line can be prevented, damage to both can be avoided, and collision between the cleaning element and the objects in the environment during the movement to the next section of the skirting line can be reduced. Thus, the safety of the cleaning device during the cleaning of the skirting line can be enhanced, and the cleaning ability of the cleaning device for cleaning the skirting line can be improved.

[0107] In some embodiments, the control of the mechanical arm to adjust the pose of the cleaning element from the cleaning pose to the safe pose can include:

[0108] increasing the distance between the cleaning member and the wall surface where the skirting line is located;

[0109] adjusting the pose of the cleaning member to a safe pose by controlling the mechanical arm, the safe pose being a pose of the mechanical arm and the cleaning member in a spatial region projected upwardly from the chassis of the cleaning device.

[0110] In some embodiments, it is to be noted that the increasing of the distance between the cleaning member and the wall surface where the skirting line is located can be achieved by controlling the cleaning device to move a distance away from the wall surface where the skirting line is located, or can be achieved by controlling the cleaning device to rotate a certain angle in a certain rotation direction.

[0111] In some embodiments, the controlling of the cleaning device to perform the cleaning action on the skirting line in the to-be-cleaned region based on the skirting line distribution map can further include:

[0112] Step 381: in response to a selection operation of a user in the skirting line distribution map, demarcating a target region in the to-be-cleaned region;

[0113] Step 382: controlling the cleaning device to perform the cleaning action on the skirting line in the target region in the to-be-cleaned region.

[0114] In order for those skilled in the art to better understand the present disclosure, a specific embodiment is described below in conjunction with FIG. 6.

[0115] FIG. 6 shows a cleaning region setting interface diagram according to some embodiments of the present disclosure.

[0116] As shown in FIG. 6, the user can demarcate room B and room C as target regions of the to-be-cleaned region in the skirting line distribution map in the cleaning region setting interface, and then can control the cleaning device to perform the cleaning action on the skirting line in room B and room C of the to-be-cleaned region. In this way, the user can perform the cleaning of the skirting line in the whole house or in some room partitions or in the demarcated region according to the degree of dirtiness of the skirting line in the APP interface matched with the cleaning device, so as to improve the cleaning ability of the cleaning device for the skirting line, thereby meeting the individualized needs of the user and enhancing the user experience.

[0117] Based on the technical solutions according to some embodiments of the present disclosure, the cleaning device is configured with a mechanical arm, and the pose of the cleaning member can be adjusted by the mechanical arm to perform the cleaning action on the skirting line in the to-be-cleaned region based on the pre-constructed skirting line distribution map of the to-be-cleaned region. In this way, the cleaning ability of the cleaning device for the skirting line can be improved.

[0118] In practical applications, the technical solutions according to some embodiments of the present disclosure can complete the cleaning of the side surface and the top surface of the skirting line of the home, reduce the accumulation of stains, identify the height of the skirting line, ensure the effectiveness of the cleaning of the side surface and the top surface of the skirting line according to different home conditions, effectively complete the detection and updating of the skirting line of the home, and effectively deal with the influence of obstacles and moving on the identification of the skirting line. The protection of the cleaning mechanism (i.e., the mechanical arm and the cleaning piece) during the cleaning process of the skirting line can be effectively dealt with, and damage to the cleaning mechanism can be avoided.

[0119] The following describes the device embodiments of the present disclosure, which can be used to execute the cleaning equipment control method in the above-described embodiments of the present disclosure. For details not disclosed in the device embodiments of the present disclosure, refer to the above-described embodiments of the cleaning equipment control method of the present disclosure.

[0120] FIG. 7 shows a block diagram of a cleaning equipment control device according to some embodiments of the present disclosure. The cleaning equipment includes a mechanical arm. One end of the mechanical arm away from the chassis of the cleaning equipment is used to hold a cleaning piece. The cleaning piece is used to clean the skirting line. The mechanical arm is used to adjust the pose of the cleaning piece to clean the skirting line.

[0121] As shown in FIG. 7, the cleaning equipment control device 700 according to an embodiment of the present disclosure includes an acquisition unit 701 and a control unit 702.

[0122] In some embodiments, the acquisition unit 701 is configured to acquire a skirting line distribution map of a to-be-cleaned area constructed in advance, and the control unit 702 is configured to control the cleaning equipment to perform a cleaning action on the skirting line in the to-be-cleaned area based on the skirting line distribution map.

[0123] In some embodiments of the present disclosure, the device further includes a construction unit configured to detect the to-be-cleaned area by a sensing system configured in the cleaning equipment to obtain skirting line information in the to-be-cleaned area, and mark the skirting line information on a cleaning map to construct a skirting line distribution map of the cleaning area.

[0124] In some embodiments of the present disclosure, the construction unit is configured to, in the skirting line distribution map, if there is an interrupted skirting line on the same horizontal line and the interruption length is less than a first preset threshold, connect the interrupted skirting line in the skirting line distribution map.

[0125] In some embodiments of the present disclosure, the construction unit is further configured to, in the skirting line distribution map, if there is a protruding skirting line on the same horizontal line and the protruding length is less than a second preset threshold, flatten the protruding skirting line to the same horizontal line in the skirting line distribution map.

[0126] In some embodiments of the present disclosure, the construction unit is further configured to: in response to an editing operation of the skirting line distribution map by a user, edit the skirting line information in the skirting line distribution map.

[0127] In some embodiments of the present disclosure, the control unit 702 is configured to: before controlling the cleaning device to perform a cleaning action on the skirting line in the to-be-cleaned area, based on the skirting line height information of the skirting line mark in the skirting line distribution map, control the mechanical arm to adjust the pose of the cleaning member to a cleaning pose.

[0128] In some embodiments of the present disclosure, the skirting line distribution map includes at least one segment of skirting line, and the control unit 702 is further configured to: based on the skirting line position information of the at least one segment of skirting line mark in the skirting line distribution map, control the cleaning device to perform a cleaning action on each segment of skirting line in the to-be-cleaned area in turn.

[0129] In some embodiments of the present disclosure, the control unit 702 is further configured to: during the process that the cleaning device performs a cleaning action on the skirting line in the to-be-cleaned area, if the cleaning device cleanses to the endpoint position of each segment of skirting line, reduces the travel speed of the cleaning device, and detects whether there is a continuous skirting line in the current travel direction; if there is a continuous skirting line in the current travel direction, controls the cleaning device to clean the continuous skirting line until the continuous skirting line disappears, and updates the skirting line information on the skirting line distribution map; if there is no continuous skirting line in the current travel direction, controls the cleaning device to move to the next segment of skirting line for cleaning.

[0130] In some embodiments of the present disclosure, the control unit 702 is further configured to: during the process that the cleaning device performs a cleaning action on the skirting line in the to-be-cleaned area, if the cleaning device detects that the skirting line disappears before cleaning to the endpoint position of each segment of skirting line, reduces the travel speed of the cleaning device to detect the each segment of skirting line until the continuation point of the each segment of skirting line is detected; if the continuation point of the each segment of skirting line is not detected, controls the cleaning device to move to the next segment of skirting line for cleaning, and updates the skirting line information on the skirting line distribution map.

[0131] In some embodiments of the present disclosure, the control unit 702 is further configured to, during the process in which the cleaning device performs the cleaning action on the skirting line in the to-be-cleaned area, if the cleaning device detects an obstacle before cleaning to the end position of each section of the skirting line, control the cleaning device to perform an obstacle-avoiding action until the next junction point of each section of the skirting line is detected; if the next junction point of each section of the skirting line is not detected, control the cleaning device to move to the next section of the skirting line for cleaning, and update the skirting line information on the skirting line distribution map.

[0132] In some embodiments of the present disclosure, the control unit 702 is further configured to, during the process in which the cleaning device performs the cleaning action on the skirting line in the to-be-cleaned area, if the cleaning device performs a rotating action, control the mechanical arm to adjust the pose of the cleaning element from a cleaning pose to a safe pose.

[0133] In some embodiments of the present disclosure, the control unit 702 is further configured to: increase the distance between the cleaning element and the wall surface on which the skirting line is located; control the mechanical arm to adjust the pose of the cleaning element to a safe pose, the safe pose being the pose of the mechanical arm and the cleaning element in the space region upwardly projected by the chassis of the cleaning device.

[0134] In some embodiments, the control unit 702 is further configured to: in response to a selection operation of a user in the skirting line distribution map, demarcate a target area in the to-be-cleaned area; control the cleaning device to perform the cleaning action on the skirting line in the target area in the to-be-cleaned area.

[0135] Based on the same inventive concept, an embodiment of the present disclosure provides a computer program product, which comprises computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to enable a computer device having the processor to perform operations implemented by the cleaning device control method as described above.

[0136] Based on the same inventive concept, an embodiment of the present disclosure provides a computer readable storage medium comprising at least one computer program instruction stored thereon; the at least one computer program instruction is loaded and executed by a processor to implement the cleaning device control method as described above.

[0137] Based on the same inventive concept, the disclosure further provides a cleaning device. Referring to FIG. 8, a structural schematic diagram of the cleaning device in the embodiment of the disclosure is shown, which comprises one or more memories 804, one or more processors 802, and at least one computer program (computer program instructions) stored in the memory 804 and executable on the processor 802, and the processor 802 implements the cleaning device control method as described above when executing the computer program.

[0138] In some embodiments, in FIG. 7, a bus architecture (represented by bus 800) can include any number of interconnecting buses and bridges, the bus 800 linking together various circuits such as one or more processors represented by processor 802, and memory represented by memory 804. The bus 800 can also link together various other circuits, such as peripheral devices, voltage stabilizers, and power management circuits, which are well known in the art, and therefore, not further described herein. Bus interface 805 provides an interface between bus 800 and receiver 801 and transmitter 803. Receiver 801 and transmitter 803 can be the same component, i.e., a transceiver, providing a means for communicating with various other apparatuses over a transmission medium. Processor 802 is responsible for managing the bus 800 and general processing, while the memory 804 can be used for storing data used by the processor 802 in executing operational programs.

[0139] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored on or transferred over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the disclosure and appended claims. For example, due to the nature of software, functions described above can be implemented using software executed by a processor, hardware, firmware, hardwiring, or combinations of any of these. Multiple functions described herein can be implemented as a single function, multiple functions, or any combination thereof. Also, functions can be implemented in hardware, software, or any combination thereof.

[0140] In several embodiments provided by the disclosure, it should be understood that the disclosed technology can be implemented in other ways. The above-described device embodiments are only schematic, for example, the division of the units can be a logical function division, and in actual implementation, another division mode can be used, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed elements can be indirect coupling or communication connection through some interface, element or module, and can be electrical or other forms.

[0141] The units described as separate components may or may not be physically separate, and the components of the control device may or may not be physical units, i.e., may be located in one place or may be distributed to multiple units. Part or all of the units can be selected as needed to achieve the purpose of the embodiment.

[0142] The integrated units, if implemented in the form of software functional units and sold or used as independent products, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present disclosure, essentially or in part, or all or part of the technical solutions, can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present disclosure. The aforementioned storage medium includes various media that can store computer program instructions, such as U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc.

[0143] The above only describes the embodiments of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the scope of the claims of the present disclosure.

Claims

1. A method for controlling a cleaning device, the cleaning device comprising a mechanical arm having one end distanced from a chassis of the cleaning device for holding a cleaning piece, the cleaning piece being used for cleaning a skirting line, the mechanical arm being used for adjusting a pose of the cleaning piece for cleaning the skirting line, the method comprising: obtaining a skirting line distribution map of a to-be-cleaned area pre-constructed; and controlling the cleaning device to perform a cleaning action on the skirting line in the to-be-cleaned area based on the skirting line distribution map. 2.The method of claim 1, further comprising: detecting the to-be-cleaned area by a sensing system configured in the cleaning device to obtain skirting line information in the to-be-cleaned area; and marking the skirting line information on a cleaning map to construct the skirting line distribution map of the to-be-cleaned area. 3.The method of claim 2, further comprising: in the skirting line distribution map, if there is an interrupted skirting line on the same horizontal line and the length of the interruption is less than a first preset threshold, connecting the interrupted skirting line in the skirting line distribution map. 4.The method of claim 2, further comprising: in the skirting line distribution map, if there is a protruding skirting line on the same horizontal line and the length of the protrusion is less than a second preset threshold, flattening the protruding skirting line to the same horizontal line in the skirting line distribution map. 5.The method of claim 2, further comprising: in response to a user editing operation on the skirting line distribution map, editing the skirting line information in the skirting line distribution map. Before controlling the cleaning device to perform the cleaning action on the skirting line in the to-be-cleaned area, the method further comprises: based on skirting line height information of skirting line marks in the skirting line distribution map, controlling the mechanical arm to adjust the pose of the cleaning piece to a cleaning pose. The skirting line distribution map comprises at least one segment of skirting line, and the controlling the cleaning device to perform the cleaning action on the skirting line in the to-be-cleaned area based on the skirting line distribution map comprises: based on skirting line position information of the at least one segment of skirting line marks in the skirting line distribution map, controlling the cleaning device to perform the cleaning action on each segment of skirting line in the to-be-cleaned area in sequence. 8.The method of claim 7, further comprising: during the cleaning device performing the cleaning action on the skirting line in the to-be-cleaned area, if the cleaning device cleans to an end position of each segment of skirting line, reducing a traveling speed of the cleaning device and detecting whether there is a continued skirting line in a current traveling direction; if there is a continued skirting line in the current traveling direction, controlling the cleaning device to clean the continued skirting line until the continued skirting line disappears and updating skirting line information on the skirting line distribution map; and if there is no continued skirting line in the current traveling direction, controlling the cleaning device to move to a next segment of skirting line for cleaning. 9.The method of claim 7, further comprising: ​ ​ ​ ​ ​ 6. The method of claim 1, wherein, ​ ​ 7. The method of claim 1, wherein, ​ ​ ​ ​ ​ ​ ​ ​ if the cleaning device detects disappearance of the skirting line before cleaning to an end position of each section of the skirting line, reducing a traveling speed of the cleaning device to detect the each section of the skirting line until a junction point of the each section of the skirting line is detected; and if the junction point of the each section of the skirting line is not detected, controlling the cleaning device to move to a next section of the skirting line for cleaning and updating skirting line information on the skirting line distribution map.

10. The method of claim 7, further comprising: if the cleaning device detects an obstacle before cleaning to an end position of each section of the skirting line during the cleaning device performing the cleaning action on the skirting line in the to-be-cleaned area, controlling the cleaning device to perform an obstacle-avoiding action until a junction point of the each section of the skirting line is detected; and if the junction point of the each section of the skirting line is not detected, controlling the cleaning device to move to a next section of the skirting line for cleaning and updating skirting line information on the skirting line distribution map.

11. The method of claim 7, further comprising: if the cleaning device performs a rotating action during the cleaning device performing the cleaning action on the skirting line in the to-be-cleaned area, controlling the mechanical arm to adjust a pose of the cleaning piece from a cleaning pose to a safe pose.

12. The method of claim 11, wherein, the controlling the mechanical arm to adjust the pose of the cleaning piece from the cleaning pose to the safe pose comprises: increasing a distance between the cleaning piece and a wall surface on which the skirting line is located; and controlling the mechanical arm to adjust the pose of the cleaning piece to the safe pose, the safe pose being a pose of the mechanical arm and the cleaning piece in a space region in which the cleaning device chassis is projected upwardly.

13. The method of claim 1, wherein, the controlling the cleaning device to perform the cleaning action on the skirting line in the to-be-cleaned area based on the skirting line distribution map comprises: in response to a selection operation of a user in the skirting line distribution map, demarcating a target area in the to-be-cleaned area; and controlling the cleaning device to perform the cleaning action on the skirting line in the target area in the to-be-cleaned area.

14. A cleaning device control apparatus, the cleaning device comprising a mechanical arm, an end of the mechanical arm being away from a chassis of the cleaning device for clamping a cleaning piece, the cleaning piece being used for cleaning a skirting line, the mechanical arm being used for adjusting a pose of the cleaning piece to clean the skirting line, the apparatus comprising: an acquisition unit configured to acquire a skirting line distribution map of a to-be-cleaned area which is constructed in advance; and a control unit configured to control the cleaning device to perform a cleaning action on the skirting line in the to-be-cleaned area based on the skirting line distribution map.

15. A 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 comprising at least one program code stored thereon, the at least one program code being loaded and executed by a processor to implement the method of any one of claims 1 to 13.

17. A cleaning device comprising one or more processors and one or more memories, the one or more memories having stored therein 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.

Images