Skirting board recognition method, cleaning device control method, apparatus, computer program product, storage medium, and cleaning device

Abstract

A skirting board recognition method, comprising: acquiring a target point cloud image of a region to be recognized, the target point cloud image containing uniformly distributed point clouds; and, if the distribution of the point clouds in the target point cloud image satisfies shape and position features of a skirting board and a wall surface, determining that there is a skirting board in the region to be recognized.

Description

Skirting line identification method, cleaning device control method and device, computer program product, storage medium and cleaning device

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 2024113226349, filed on 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 skirting line identification method, a cleaning device control method and device, a computer program product, a storage medium and a 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 line, also known as skirting or skirting board, is a component connecting the wall root and the ground; the side and top surfaces of the skirting line are very easy to accumulate dirt such as dust; if the skirting line is not cleaned, it will affect the cleanliness of the room. If the cleaning device has the function of cleaning the skirting line, it will undoubtedly further improve the cleanliness of the room; and the important prerequisite for the cleaning device to clean the skirting line is to accurately identify the skirting line; however, in the prior art, there is no related technology to solve this technical problem. Therefore, how to ensure the accuracy of the identification of the skirting line is a technical problem to be solved. SUMMARY

[0005] Embodiments of the present disclosure provide a skirting line identification method, a cleaning device control method and device, a computer program product, a storage medium and a cleaning device, thereby at least to some extent ensuring the accuracy of the identification of the skirting line.

[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 skirting line identification method is provided, the method comprising: obtaining a target point cloud image of a to-be-identified region, the target point cloud image comprising uniformly distributed point clouds; and if the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface, determining that the skirting line exists in the to-be-identified region.

[0008] In some embodiments of the present disclosure, the target point cloud image of the to-be-identified area is obtained by: obtaining an original point cloud image of the to-be-identified area collected by the cleaning device; and if there are uniformly distributed point clouds in the original point cloud image, extracting the uniformly distributed point clouds from the original point cloud image to obtain the target point cloud image of the to-be-identified area.

[0009] In some embodiments of the present disclosure, if the original point cloud image is a planar point cloud image, the target point cloud image includes point clouds uniformly distributed on at least one plane.

[0010] In some embodiments of the present disclosure, the method further includes: extracting point cloud coordinates in the target point cloud image, and determining a point cloud plane in the target point cloud image according to the point cloud coordinates; and determining whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface according to the point cloud plane features in the target point cloud image.

[0011] In some embodiments of the present disclosure, the determining whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface according to the point cloud plane features in the target point cloud image includes: if the target point cloud image includes a first point cloud plane and a second point cloud plane, and the lower edge of the first point cloud plane is close to the upper edge of the second point cloud plane, it is determined that the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface.

[0012] In some embodiments of the present disclosure, if the original point cloud image is a linear point cloud image, the target point cloud image includes point clouds uniformly distributed on at least one straight line.

[0013] In some embodiments of the present disclosure, the method further includes: extracting point cloud coordinates in the target point cloud image, and determining a point cloud straight line in the target point cloud image according to the point cloud coordinates; and determining whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface according to the point cloud straight line features in the target point cloud image.

[0014] In some embodiments of the present disclosure, the determining whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface according to the point cloud straight line features in the target point cloud image includes: if the target point cloud image includes a first point cloud straight line and a second point cloud straight line, and the lower end of the first point cloud straight line is close to the upper end of the second point cloud straight line, it is determined that the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface.

[0015] In some embodiments of the present disclosure, the method further comprises: if there is no uniformly distributed point cloud in the original point cloud image, determining that there is no skirting line in the to-be-identified area.

[0016] In some embodiments of the present disclosure, the method further comprises: obtaining skirting line position information of the skirting line identified in each to-be-identified area, and marking the skirting line position information on a cleaning map to obtain skirting line distribution data.

[0017] Based on the technical solutions proposed in the present disclosure, since the target point cloud image includes uniformly distributed point clouds, which conforms to the point cloud distribution characteristics of the skirting line, the probability of identifying the skirting line from the target point cloud image in the subsequent process is increased. Therefore, by determining whether there is a skirting line in the to-be-identified area through the target image, the accuracy of skirting line identification can be ensured, and the identification efficiency of the skirting line can also be improved.

[0018] According to a second aspect of the embodiments of the present disclosure, a cleaning device control method is provided, which comprises: obtaining skirting line distribution data obtained by the method according to the first aspect of the embodiments; planning a skirting line cleaning route according to the skirting line distribution data; and controlling the cleaning device to perform a cleaning task according to the skirting line cleaning route.

[0019] In some embodiments of the present disclosure, the method further comprises: if it is detected that the skirting line position information changes during the cleaning task performed by the cleaning device, updating the skirting line distribution data based on the changed skirting line position information.

[0020] Based on the technical solutions proposed in the present disclosure, by identifying the skirting line of each to-be-identified area in the room and marking the identified skirting line position information on the cleaning map to obtain the skirting line distribution data, the cleaning device can be supported to plan a skirting line cleaning route based on the skirting line distribution data, so as to clean the skirting line in the room according to the skirting line cleaning route, support the cleaning device to realize the skirting line cleaning function, and thus the cleanliness of the room can be improved.

[0021] According to a third aspect of the embodiments of the present disclosure, a skirting line identification apparatus is provided, which comprises: a first obtaining unit configured to obtain a target point cloud image of a to-be-identified area, the target point cloud image including uniformly distributed point clouds; and a determining unit configured to determine that there is a skirting line in the to-be-identified area if the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface.

[0022] According to a fourth aspect of the embodiments of the present disclosure, a cleaning device control apparatus is provided, the apparatus comprising: a second acquisition unit configured to acquire the skirting line distribution data obtained by the method according to the first aspect of the embodiments; a planning unit configured to plan a skirting line cleaning route according to the skirting line distribution data; and a control unit configured to control the cleaning device to perform a cleaning task according to the skirting line cleaning route.

[0023] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, the computer program product comprising computer instructions stored in a computer readable storage medium; the computer instructions are read and executed by a processor, so that a computer device having the processor performs to realize the method according to any one of the first aspect of the embodiments to the second aspect of the embodiments.

[0024] According to a sixth aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, the computer readable storage medium stores at least one computer program instruction, when the at least one computer program instruction is loaded and executed by a processor, the processor realizes the method according to any one of the first aspect of the embodiments to the second aspect of the embodiments.

[0025] According to a seventh aspect of the embodiments of the present disclosure, a cleaning device is provided, the cleaning device comprising one or more processors and one or more memories, the one or more memories store at least one computer program instruction, when the at least one computer program instruction is loaded and executed by the one or more processors, the one or more processors realize the operations performed by the method according to any one of the first aspect of the embodiments to the second aspect of the embodiments.

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

[0027] The drawings herein are incorporated into the specification and form a part of the specification, show embodiments consistent with the present disclosure, and together with the specification serve to explain the principles of the present disclosure. It is obvious that 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. In the drawings:

[0028] FIG. 1 shows a schematic diagram of a skirting line according to some embodiments of the present disclosure;

[0029] FIG. 2 shows a flowchart of a skirting line identification method according to some embodiments of the present disclosure;

[0030] FIG. 3 shows a target point cloud image extracted from a planar array point cloud image according to some embodiments of the present disclosure;

[0031] FIG. 4 shows a target point cloud image extracted from a linear array point cloud image according to some embodiments of the present disclosure;

[0032] FIG. 5 shows a detailed flowchart of a skirting line recognition method according to some embodiments of the present disclosure;

[0033] FIG. 6 shows a cleaning map including skirting line distribution data according to some embodiments of the present disclosure;

[0034] FIG. 7 shows a flowchart of a cleaning device control method according to some embodiments of the present disclosure;

[0035] FIG. 8 shows a block diagram of a skirting line recognition apparatus according to some embodiments of the present disclosure;

[0036] FIG. 9 shows a block diagram of a cleaning device control apparatus according to some embodiments of the present disclosure;

[0037] FIG. 10 shows a structural schematic diagram of a cleaning device according to some embodiments of the present disclosure. Embodiments of the present disclosure

[0038] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some 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.

[0039] In addition, the described features, structures or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to give a full understanding of the embodiments of the present 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.

[0040] The block diagrams shown in the 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 drawings, in order to ensure the simplicity of the drawings, some components in the drawings that do not affect the explanation of the technical solutions of the present disclosure are omitted.

[0041] The flowcharts shown in the drawings are merely illustrative, and are not necessarily required to include all the contents and operations / steps, nor are they necessarily 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.

[0042] In the description of the present disclosure, it should be understood that the terms "first", "second" are used 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 with "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.

[0043] In order for those skilled in the art to better understand the present disclosure, first, the skirting line involved in the present disclosure will be briefly described in conjunction with FIG. 1.

[0044] FIG. 1 shows a schematic diagram of a skirting line according to some embodiments of the present disclosure.

[0045] The skirting line 102 in the scenario shown in FIG. 1, also called skirting or skirting board, is a component at the junction of the wall surface 101 and the ground 103. In the scenario shown in FIG. 1, the skirting line 102 protrudes from the wall surface 101. However, it should be noted that in other embodiments, the skirting line can also be recessed in the wall surface, thereby being hidden at the root of the wall.

[0046] The first function of the skirting line is that, from the perspective of space aesthetics, the skirting line 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 line can divide the transition of space, and when the layer height is limited, a narrow and thin skirting line 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 line 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 line is to protect the wall surface: if there is no skirting line, the place near the ground on the wall is easy to be stepped on. Making a skirting line can better combine the wall and the ground, reduce wall deformation, and avoid damage caused by external force collision; in addition, the skirting line is also easy to clean, and if dirty water is splashed during mopping, it is very convenient to clean. From the practical point of view, too low skirting line is more difficult to play the function of protecting the wall foot, for example, a 4 cm skirting line is generally only surface-mounted, because if it is darkly attached, the mop will touch the wall body during mopping, so a skirting line with a width of 6 cm or more is generally selected. The third function of the skirting line is to shield and protect the wiring.

[0047] The material of the skirting line is generally wood, metal, ceramic tile or stone, etc., and the color is generally white, wood color, black or gray, etc. A period of time skirting line top surface (such as the plane A shown in FIG. 1) will accumulate dust, and the side surface (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, a mopping machine, etc., the cleanliness of the room will be further enhanced. Accurate identification of the skirting line is an important prerequisite for cleaning equipment to realize automatic cleaning of the skirting line. Based on this, the present disclosure proposes a skirting line identification scheme to ensure the accuracy of skirting line identification. Next, the present disclosure will elaborate on the proposed skirting line identification scheme.

[0048] In the present disclosure, referring to FIG. 2, a flowchart of a skirting line identification method according to some embodiments of the present disclosure is shown, which can be executed by a device with computing processing function; the skirting line identification method at least includes steps 210 to 220.

[0049] In step 210, a target point cloud image of a to-be-identified region is acquired, and the target point cloud image includes uniformly distributed point clouds.

[0050] In some embodiments, the acquisition of the target point cloud image of the to-be-identified region can include:

[0051] Step 211, an original point cloud image of the to-be-identified region collected by the cleaning device is acquired;

[0052] Step 212, if there are uniformly distributed point clouds in the original point cloud image, the uniformly distributed point clouds are extracted from the original point cloud image to obtain a target point cloud image in the to-be-identified region;

[0053] In some embodiments, the skirting line identification method can further include:

[0054] Step 213, if there are no uniformly distributed point clouds in the original point cloud image, it is determined that there is no skirting line in the to-be-identified region.

[0055] In the present disclosure, the cleaning device can be configured with sensors such as 3D depth cameras (i.e. TOF sensors), line laser sensors, etc. (the present disclosure is not limited to these sensors). The cleaning device can collect point cloud images of the environment around the cleaning device through the sensors configured thereto. For example, when the cleaning device is walking, it can collect point cloud images of a certain area in the surrounding environment through the sensors. The present disclosure defines the point cloud images directly collected by the sensors as original point cloud images. It can be understood that the cleaning device will sequentially collect multiple frames of original point cloud images during walking, and each frame of original point cloud image can reflect the shape and position information of the objects in the corresponding area, such as one or more of the shape and position information of obstacles, walls, and skirting lines.

[0056] It should be noted that in the present disclosure, objects other than walls and skirting lines are defined as obstacles.

[0057] It can be understood that the objects in different to-be-identified areas are different. For example, some areas only have obstacles, some areas only have walls, some areas only have both obstacles and walls, some areas only have both walls and skirting lines, and some areas have obstacles, walls, and skirting lines.

[0058] The present disclosure finds that, compared with obstacles, the shapes of walls and skirting lines are generally more regular, and therefore the point clouds formed by the corners of walls or skirting lines are generally more evenly distributed. Based on this, the present disclosure extracts evenly distributed point clouds from the original images to obtain target point cloud images, which can exclude original point cloud images that only have obstacle information, increase the probability of identifying skirting lines from target point cloud images in subsequent processes, and thus improve the efficiency of identifying skirting lines while ensuring the accuracy of identifying skirting lines.

[0059] Continuing to refer to FIG. 2, in step 220, if the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall, it is determined that the to-be-identified area has a skirting line.

[0060] It should be noted that in the present disclosure, the sensor used to collect the original point cloud image in the to-be-identified area can be a TOF sensor or a line laser sensor. Since the point cloud morphology of the point cloud images collected by the TOF sensor and the line laser sensor is different, i.e. the original point cloud image collected by the TOF sensor is a planar array point cloud image, and the original point cloud image collected by the line laser sensor is a linear array point cloud image. Therefore, the point cloud morphology of the target point cloud image determined from the planar array point cloud image and the target point cloud image determined from the linear array point cloud image is also different.

[0061] In one embodiment of the present disclosure, if the original point cloud image is a planar point cloud image, the target point cloud image includes point clouds uniformly distributed on at least one plane.

[0062] In another embodiment of the present disclosure, if the original point cloud image is a linear point cloud image, the target point cloud image includes point clouds uniformly distributed on at least one straight line.

[0063] Next, the present disclosure will make specific descriptions on how to determine whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface based on the two different point cloud forms of the target point cloud image.

[0064] In the embodiment in which the point clouds are uniformly distributed on at least one plane (i.e. in the embodiment in which the original point cloud image is a planar point cloud image), determining whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface can include:

[0065] Step 231, extracting point cloud coordinates in the target point cloud image, and determining a point cloud plane in the target point cloud image according to the point cloud coordinates;

[0066] Step 232, determining whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface according to the point cloud plane characteristics in the target point cloud image.

[0067] It should be noted that the cleaning device collects the original point cloud image of the to-be-identified region, which actually collects the coordinate data of each point on the object in the to-be-identified region. Therefore, in the present disclosure, first, the point cloud coordinates of each point cloud in the target point cloud image can be extracted, and a point cloud plane in the target point cloud image can be determined according to the extracted point cloud coordinates. Then, whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface can be determined according to the point cloud plane characteristics in the target point cloud image.

[0068] It can be understood that the target point cloud image can include only one point cloud plane (i.e. all point clouds are distributed on the same plane), or can include multiple point cloud planes (i.e. the point clouds in the target point cloud image are distributed on multiple planes).

[0069] In order for those skilled in the art to better understand the point cloud plane, a specific embodiment will be described below in conjunction with FIG. 3.

[0070] FIG. 3 shows a target point cloud image extracted from a planar point cloud image according to some embodiments of the present disclosure.

[0071] As shown in the target point cloud image in FIG. 3, according to the point cloud coordinates therein, it can be determined that the target point cloud image includes a point cloud plane 301 and a point cloud plane 302. Between the point cloud plane 301 and the point cloud plane 302, there is also a point cloud 303 (generally, the point cloud 303 is the point cloud reflected by the top surface of the skirting line).

[0072] In some embodiments, the determining, according to the point cloud plane features in the target point cloud image, whether the point cloud distribution in the target point cloud image satisfies the shape and position features of the skirting line and the wall, can include:

[0073] Step 2321, if the target point cloud image includes a first point cloud plane and a second point cloud plane, and the lower edge of the first point cloud plane is close to the upper edge of the second point cloud plane, it is determined that the point cloud distribution in the target point cloud image satisfies the shape and position features of the skirting line and the wall.

[0074] It should be noted that the skirting line is installed at the root of the wall, and can be protruding from the wall or recessed in the wall. Therefore, the space at least includes the wall and the side of the skirting line, and the lower edge of the wall is close to the upper edge of the side of the skirting line. Then the point cloud reflected by the wall and the side of the skirting line will be distributed on two different planes, and the edges of the two different planes are close to each other.

[0075] It should also be noted that the top surface of the skirting line is between the wall and the side of the skirting line, and the top surface of the skirting line can also be reflected in the target point cloud image, that is, the point cloud reflected by the point cloud planes reflected by the wall and the side of the skirting line is the point cloud reflected by the top surface of the skirting line.

[0076] It should also be noted that in some scenarios, the height of the entire wall is much higher than the height of the entire side of the skirting line, and the flatness of the wall can also be higher than that of the side of the skirting line.

[0077] As can be seen, based on the shape and position features of the skirting line and the wall as described above, if the target point cloud image includes a first point cloud plane and a second point cloud plane, and the lower edge of the first point cloud plane is close to the upper edge of the second point cloud plane, it can be determined that the point cloud distribution in the target point cloud image satisfies the shape and position features of the skirting line and the wall, and it can be determined that the skirting line exists in the to-be-identified region. In this way, the accuracy of the skirting line identification is ensured.

[0078] It should be further noted that the wall surface and the side surface of the skirting line generally satisfy a parallel relationship. Based on this, in some embodiments, if the first point cloud plane and the second point cloud plane satisfy a parallel relationship, it can be further determined that the point cloud distribution in the target point cloud image satisfies the shape position feature of the skirting line and the wall surface, so that it can be further determined that the skirting line exists in the to-be-identified region, and thus the accuracy of the identification of the skirting line can be further ensured.

[0079] In the embodiment in which the point clouds are uniformly distributed on at least one straight line (i.e., in the embodiment in which the original point cloud image is a line array point cloud image), determining whether the point cloud distribution in the target point cloud image satisfies the shape position feature of the skirting line and the wall surface can include:

[0080] Step 241, extracting the point cloud coordinates in the target point cloud image, and determining a point cloud straight line in the target point cloud image according to the point cloud coordinates.

[0081] Step 242, determining whether the point cloud distribution in the target point cloud image satisfies the shape position feature of the skirting line and the wall surface according to the point cloud straight line feature in the target point cloud image.

[0082] In the present disclosure, the point cloud coordinates of each point cloud in the target point cloud image can be extracted first, and a point cloud straight line can be determined in the target point cloud image according to the extracted point cloud coordinates. Then, it can be determined whether the point cloud distribution in the target point cloud image satisfies the shape position feature of the skirting line and the wall surface according to the point cloud straight line feature in the target point cloud image.

[0083] It can be understood that the target point cloud image can include only one point cloud straight line (i.e., all point clouds are distributed on the same straight line), or can include multiple point cloud straight lines (i.e., the point clouds in the target point cloud image are respectively distributed on multiple straight lines).

[0084] In order for those skilled in the art to better understand the point cloud plane, a specific embodiment is described below in conjunction with FIG. 4.

[0085] FIG. 4 shows a target point cloud image extracted from a line array point cloud image according to some embodiments of the present disclosure.

[0086] As shown in the target point cloud image in FIG. 4, according to the point cloud coordinates therein, it can be determined that the target point cloud image includes a point cloud straight line 401 and a point cloud straight line 402. Between the point cloud straight line 401 and the point cloud straight line 402, there is also a point cloud 403 that is not on the two point cloud straight lines.

[0087] In some embodiments, the determination of whether the point cloud distribution in the target point cloud image satisfies the shape position feature of the skirting line and the wall surface according to the point cloud straight line feature in the target point cloud image can include:

[0088] Step 2421, if the target point cloud image includes a first point cloud straight line and a second point cloud straight line, and the lower end of the first point cloud straight line is close to the upper end of the second point cloud straight line, it is determined that the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface.

[0089] In the present disclosure, since the skirting line is installed at the root of the wall surface, the wall surface and the side of the skirting line are included in space, and the lower edge of the wall surface is close to the upper edge of the side of the skirting line. Then the point cloud reflected by the wall surface and the side of the skirting line will also be distributed on two different straight lines, and the end points of the two different straight lines are close to each other.

[0090] In the present disclosure, based on the shape and position characteristics of the skirting line and the wall surface as described above, if the target point cloud image includes a first point cloud straight line and a second point cloud straight line, and the lower end of the first point cloud straight line is close to the upper end of the second point cloud straight line, it can be determined that the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface, and it can be further determined that the skirting line exists in the to-be-identified region. In this way, the accuracy of the skirting line identification is ensured.

[0091] In some embodiments, if the first point cloud straight line and the second point cloud straight line meet the parallel relationship, it can be further determined that the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface, so that it can be further determined that the skirting line exists in the to-be-identified region, and the accuracy of the skirting line identification can be further ensured.

[0092] In order for those skilled in the art to better understand the present disclosure, the embodiments of the present disclosure are described in the whole from the perspective of Figure 5.

[0093] Figure 5 shows a detailed flowchart of the skirting line identification method according to some embodiments of the present disclosure. The skirting line identification method can include:

[0094] Step 501, start;

[0095] Step 502, obtain the original point cloud image in each to-be-identified region collected by the cleaning device;

[0096] Step 503, whether there is uniformly distributed point cloud in the original point cloud image (i.e. whether it meets the skirting line monitoring scene)? If it meets the skirting line monitoring scene, execute step 504, if it does not meet the skirting line monitoring scene, execute step 507;

[0097] Step 504, extract the target point cloud image including only uniformly distributed point cloud;

[0098] Step 505, whether the point cloud distribution in the target point cloud image meets the geometric characteristics of the skirting line and the wall? If the geometric characteristics of the skirting line and the wall are met, step 506 is performed, and if the geometric characteristics of the skirting line and the wall are not met, step 507 is performed.

[0099] Step 506, determining that the skirting line exists in the to-be-identified region;

[0100] Step 507, determining that the skirting line does not exist in the to-be-identified region;

[0101] Step 508, ending.

[0102] In the present disclosure, after determining the skirting line existing in the corresponding to-be-identified region according to each frame of target point cloud image, the skirting line position information of the skirting line in the to-be-identified region can be calculated according to the position information of the cleaning device.

[0103] In some embodiments, the skirting line identification method can further include:

[0104] Step 251, obtaining the skirting line position information of the skirting line identified in each to-be-identified region, and marking the skirting line position information on the cleaning map to obtain skirting line distribution data.

[0105] In the present disclosure, the skirting line position information of the skirting line obtained in each to-be-identified region is marked on the cleaning map, and the skirting line distribution data of the skirting line in the entire room can be obtained.

[0106] In order for those skilled in the art to better understand the skirting line distribution data, the following will be illustrated by taking FIG. 6 as an example.

[0107] Referring to FIG. 6, a cleaning map including skirting line distribution data according to some embodiments of the present disclosure is shown. As shown in FIG. 6, in the cleaning map 600, the cleaning device 601 can explore the skirting line according to the walking track 603 in the room, and mark the skirting line position information obtained by exploration on the cleaning map 600 to obtain the skirting line distribution data 602 of the skirting line on the cleaning map 600.

[0108] On the basis of the above-mentioned skirting line identification method, the present disclosure further proposes a cleaning device control method. FIG. 7 shows a flowchart of a cleaning device control method according to some embodiments of the present disclosure, which can be executed by a device with computing processing function. Referring to FIG. 7, the cleaning device control method at least includes:

[0109] Step 710, obtaining the skirting line distribution data obtained according to the above-mentioned skirting line identification method;

[0110] At step 720, a skirting line cleaning route is planned according to the skirting line distribution data.

[0111] At step 730, the cleaning device is controlled to perform a cleaning task according to the skirting line cleaning route.

[0112] In the present disclosure, by identifying the skirting lines of each to-be-identified region in the room and marking the identified skirting line position information on a cleaning map, skirting line distribution data is obtained, so that the cleaning device can plan a skirting line cleaning route based on the skirting line distribution data, clean the skirting lines in the room according to the skirting line cleaning route, and implement the skirting line cleaning function of the cleaning device, thereby improving the cleanliness of the room.

[0113] In the present disclosure, the cleaning device control method can further include:

[0114] At step 741, during the cleaning task performed by the cleaning device, if it is detected that the skirting line position information has changed, the skirting line distribution data is updated based on the changed skirting line position information.

[0115] During the cleaning task performed by the cleaning device, if it is detected that the skirting line position information has changed (for example, at a certain position, the skirting line existed in the last detection but does not exist in the current detection. For another example, at a certain position, the skirting line does not exist in the last detection but exists in the current detection), the skirting line distribution data is updated based on the changed skirting line position information, so as to update the skirting line cleaning route in a timely manner, thereby ensuring the accuracy of cleaning the skirting line by the cleaning device in the subsequent process.

[0116] The following describes a device embodiment of the present disclosure, which can be used to execute the skirting line identification method in the above-mentioned embodiments of the present disclosure. For details not disclosed in the device embodiment of the present disclosure, please refer to the above-mentioned embodiments of the skirting line identification method of the present disclosure.

[0117] FIG. 8 shows a block diagram of a skirting line identification device according to some embodiments of the present disclosure.

[0118] As shown in FIG. 8, the skirting line identification device 800 according to the embodiments of the present disclosure includes a first acquisition unit 801 and a determination unit 802.

[0119] In some embodiments, the first acquisition unit 801 is configured to acquire a target point cloud image of a to-be-identified region, and the target point cloud image includes uniformly distributed point clouds; and the determination unit 802 is configured to determine that a skirting line exists in the to-be-identified region if the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface.

[0120] In some embodiments of the present disclosure, the first acquisition unit 801 is configured to: acquire a raw point cloud image in the to-be-identified area collected by the cleaning device; and if there are uniformly distributed point clouds in the raw point cloud image, extract the uniformly distributed point clouds from the raw point cloud image to obtain a target point cloud image in the to-be-identified area.

[0121] In some embodiments of the present disclosure, if the raw point cloud image is a planar point cloud image, the target point cloud image includes point clouds uniformly distributed on at least one plane.

[0122] In some embodiments of the present disclosure, the device further includes a first judgment unit configured to: extract point cloud coordinates in the target point cloud image, and determine a point cloud plane in the target point cloud image according to the point cloud coordinates; and determine whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface according to the point cloud plane features in the target point cloud image.

[0123] In some embodiments of the present disclosure, the first judgment unit is configured to: if the target point cloud image includes a first point cloud plane and a second point cloud plane, and the lower edge of the first point cloud plane is close to the upper edge of the second point cloud plane, determine that the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface.

[0124] In some embodiments of the present disclosure, if the raw point cloud image is a linear point cloud image, the target point cloud image includes point clouds uniformly distributed on at least one straight line.

[0125] In some embodiments of the present disclosure, the device further includes a second judgment unit configured to: extract point cloud coordinates in the target point cloud image, and determine a point cloud straight line in the target point cloud image according to the point cloud coordinates; and determine whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface according to the point cloud straight line features in the target point cloud image.

[0126] In some embodiments of the present disclosure, the second judgment unit is configured to: if the target point cloud image includes a first point cloud straight line and a second point cloud straight line, and the lower end of the first point cloud straight line is close to the upper end of the second point cloud straight line, determine that the point cloud distribution in the target point cloud image meets the shape and position characteristics of the skirting line and the wall surface.

[0127] In some embodiments of the present disclosure, the determination unit 802 is configured to: if there are no uniformly distributed point clouds in the raw point cloud image, determine that there is no skirting line in the to-be-identified area.

[0128] In some embodiments of the present disclosure, the device further comprises a marking unit configured to obtain the skirting line position information of the skirting line identified in each to-be-identified region, and mark the skirting line position information on the cleaning map to obtain skirting line distribution data.

[0129] Another device embodiment of the present disclosure is introduced below, which can be used to execute the cleaning device control method in the above-mentioned embodiments of the present disclosure. For details not disclosed in the device embodiments of the present disclosure, please refer to the above-mentioned embodiments of the cleaning device control method of the present disclosure.

[0130] FIG. 9 shows a block diagram of a cleaning device control device according to some embodiments of the present disclosure.

[0131] As shown in FIG. 9, the cleaning device control device 900 according to the embodiments of the present disclosure comprises a second acquisition unit 901, a planning unit 902 and a control unit 903.

[0132] In some embodiments, the second acquisition unit 901 is configured to acquire the skirting line distribution data obtained according to the above-mentioned skirting line identification method; the planning unit 902 is configured to plan a skirting line cleaning route according to the skirting line distribution data; and the control unit 903 is configured to control the cleaning device to perform a cleaning task according to the skirting line cleaning route.

[0133] In some embodiments of the present disclosure, the device further comprises an updating unit configured to, if a change in the skirting line position information is detected during the cleaning task performed by the cleaning device, update the skirting line distribution data based on the changed skirting line position information.

[0134] Based on the same inventive concept, the embodiments of the present disclosure provide a computer program product, which comprises computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to enable a computer device having the processor to implement the above-mentioned skirting line identification method and the cleaning device control method.

[0135] Based on the same inventive concept, the embodiments of the present disclosure provide a computer readable storage medium, which stores at least one computer program instruction, and the at least one computer program instruction is loaded and executed by a processor to enable the processor to implement the above-mentioned skirting line identification method and the cleaning device control method.

[0136] Based on the same inventive concept, this disclosure also provides a cleaning device. Referring to FIG10, a schematic diagram of the structure of a cleaning device according to some embodiments of this disclosure is shown. The cleaning device includes one or more memories 1004, one or more processors 1002, and at least one computer program (computer program instructions) stored in the memory 1004 and executable on the processor 1002. When the processor 1002 executes the computer program, it implements the skirting board recognition method and the cleaning device control method as described above.

[0137] In Figure 10, a bus architecture (represented by bus 1000) is shown. Bus 1000 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 1002 and memory represented by memory 1004. Bus 1000 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 1005 provides an interface between bus 1000 and receiver 1001 and transmitter 1003. Receiver 1001 and transmitter 1003 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 1002 is responsible for managing bus 1000 and general processing, while memory 1004 may be used to store data used by processor 1002 during operation.

[0138] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this disclosure and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0139] In several embodiments provided by the present disclosure, it should be understood that the disclosed technology can be implemented in other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0140] The units described as separate components can or can not be physically separated, and the components of the control device can or can not be physical units, i.e. can be located in one place or can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0141] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present disclosure essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for making a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present disclosure. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various computer program instruction storage media.

[0142] The above only describes the embodiments of the present disclosure and does not limit the present disclosure. For those skilled in the art, the present disclosure can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present disclosure shall be included in the scope of claims of the present disclosure.

Claims

1. A skirting board identification method, comprising: obtaining a target point cloud image of a to-be-identified region, the target point cloud image comprising uniformly distributed point clouds; and if the point cloud distribution in the target point cloud image meets the shape and position characteristics of a skirting board and a wall, determining that a skirting board exists in the to-be-identified region.

2. The method of claim 1, wherein, The obtaining of the target point cloud image of the to-be-identified region comprises: obtaining an original point cloud image of the to-be-identified region collected by a cleaning device; and if uniformly distributed point clouds exist in the original point cloud image, extracting the uniformly distributed point clouds from the original point cloud image to obtain the target point cloud image of the to-be-identified region.

3. The method of claim 2, wherein, If the original point cloud image is a planar point cloud image, the target point cloud image comprises point clouds uniformly distributed on at least one plane.

4. The method of claim 3, further comprising: extracting point cloud coordinates in the target point cloud image, and determining a point cloud plane in the target point cloud image according to the point cloud coordinates; and judging whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of a skirting board and a wall according to the point cloud plane characteristics in the target point cloud image.

5. The method of claim 4, wherein, The judging whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of a skirting board and a wall according to the point cloud plane characteristics in the target point cloud image comprises: if the target point cloud image comprises a first point cloud plane and a second point cloud plane, and the lower edge of the first point cloud plane is close to the upper edge of the second point cloud plane, determining that the point cloud distribution in the target point cloud image meets the shape and position characteristics of a skirting board and a wall.

6. The method of claim 2, wherein, If the original point cloud image is a linear point cloud image, the target point cloud image comprises point clouds uniformly distributed on at least one straight line.

7. The method of claim 6, further comprising: extracting point cloud coordinates in the target point cloud image, and determining a point cloud straight line in the target point cloud image according to the point cloud coordinates; and judging whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of a skirting board and a wall according to the point cloud straight line characteristics in the target point cloud image.

8. The method of claim 7, wherein, The judging whether the point cloud distribution in the target point cloud image meets the shape and position characteristics of a skirting board and a wall according to the point cloud straight line characteristics in the target point cloud image comprises: if the target point cloud image comprises a first point cloud straight line and a second point cloud straight line, and the lower end of the first point cloud straight line is close to the upper end of the second point cloud straight line, determining that the point cloud distribution in the target point cloud image meets the shape and position characteristics of a skirting board and a wall.

9. The method of claim 2, further comprising: if no uniformly distributed point clouds exist in the original point cloud image, determining that no skirting board exists in the to-be-identified region.

10. The method of any one of claims 1 to 9, further comprising: obtaining skirting board position information of the skirting board identified in each to-be-identified region, and marking the skirting board position information on a cleaning map to obtain skirting board distribution data.

11. A cleaning device control method, comprising: obtaining skirting board distribution data; planning a skirting line cleaning route according to the skirting line distribution data; and controlling the cleaning device to perform a cleaning task according to the skirting line cleaning route.

12. The method of claim 11, further comprising: updating the skirting line distribution data based on the changed skirting line position information if a change in the skirting line position information is detected during the cleaning task performed by the cleaning device.

13. A skirting line identification apparatus, comprising: a first obtaining unit configured to obtain a target point cloud image of a to-be-identified region, the target point cloud image comprising uniformly distributed point clouds; and a determining unit configured to determine that a skirting line exists in the to-be-identified region if the point cloud distribution in the target point cloud image meets shape and position characteristics of the skirting line and a wall surface.

14. A cleaning device control apparatus, comprising: a second obtaining unit configured to obtain skirting line distribution data; a planning unit configured to plan a skirting line cleaning route according to the skirting line distribution data; and a control unit configured to control the cleaning device to perform a cleaning task according to the skirting line cleaning route.

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 12.

16. A computer readable storage medium, comprising at least one piece of program code stored thereon, the at least one piece of program code being loaded and executed by a processor to implement the method of any one of claims 1 to 12.

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 piece of program code, the at least one piece of program code being loaded and executed by the one or more processors to implement the method of any one of claims 1 to 12.

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