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

Abstract

A cleaning device, a cleaning method and apparatus, and a storage medium and a program product. The cleaning device comprises: a distance measurement sensor group, which is disposed on an outer side of the cleaning device; and a visual sensor and a top distance measurement sensor, which are disposed at the top of the cleaning device, wherein the visual sensor is used to collect first top visual information of the top of the cleaning device, and the top distance measurement sensor is used to collect second distance information of the top of the cleaning device; and the distance measurement sensor group is used to collect first distance information around the cleaning device, so as to complete positioning of the cleaning device during operation on the basis of the first distance information, the first top visual information and the second distance information.

Description

Cleaning equipment, cleaning methods, apparatus, storage media and program products Cross-reference to related applications

[0001] This disclosure is based on and claims priority to Chinese Patent Application No. 202411580969.0, filed on November 6, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of cleaning technology, and more particularly to a cleaning device, cleaning method, apparatus, storage medium, and program product. Background Technology

[0003] With the development of electronic technology, there are more and more types of electronic devices, which have brought great convenience to people's lives. Examples include washing machines and robot vacuum cleaners.

[0004] In related technologies, liftable sweeping machines can be used to clean low spaces such as the space under beds and sofas. Liftable sweeping machines are equipped with LDS (Laser Distance Sensor) and obstacle avoidance modules. The LDS can be used to map and navigate the room, and the obstacle avoidance module can help the sweeping machine avoid obstacles during movement. Summary of the Invention

[0005] This disclosure provides a cleaning device, a cleaning method, an apparatus, a storage medium, and a program product.

[0006] The technical solution disclosed herein is implemented as follows:

[0007] In a first aspect, embodiments of this disclosure provide a cleaning device, comprising:

[0008] A range sensor group is disposed on the outside of the cleaning equipment, and the range sensor group is used to collect first distance information;

[0009] A visual sensor is installed on the top of the cleaning device to collect first top visual information;

[0010] A top-mounted distance sensor is installed on the top of the cleaning equipment to collect second distance information;

[0011] The cleaning device is used to locate itself during operation based on the first distance information, the first top visual information, and the second distance information.

[0012] Secondly, this disclosure provides a cleaning method applied to a cleaning device, the cleaning device comprising: a group of ranging sensors disposed on the outside of the cleaning device for collecting first distance information; a vision sensor disposed on the top of the cleaning device for collecting first top vision information; and a top ranging sensor disposed on the top of the cleaning device for collecting second distance information; the method comprising: collecting the first distance information, the first top vision information, and the second distance information during the execution of a cleaning task; and completing the positioning of the cleaning device during operation based on the first distance information, the first top vision information, and the second distance information.

[0013] Thirdly, this disclosure provides a cleaning device applied to a cleaning equipment, the cleaning equipment including: a group of distance sensors disposed on the outside of the cleaning equipment for collecting first distance information; a vision sensor disposed on the top of the cleaning equipment for collecting first top vision information; and a top distance sensor disposed on the top of the cleaning equipment for collecting second distance information; the device includes: an information acquisition module for collecting the first distance information, the first top vision information, and the second distance information during the execution of a cleaning task; and a positioning module for positioning the cleaning equipment during operation based on the first distance information, the first top vision information, and the second distance information.

[0014] Fourthly, embodiments of this disclosure provide a computer-readable storage medium storing at least one piece of program code, which is loaded and executed by a processor to implement the method as described in the second aspect.

[0015] Fifthly, embodiments of this disclosure provide a computer program product comprising a computer program 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 as described in the second aspect.

[0016] In a sixth aspect, embodiments of this disclosure provide a cleaning device, the cleaning device including one or more processors and one or more memories, the one or more memories storing 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 as described in the second aspect. Attached Figure Description

[0017] Figure 1 is a schematic diagram of the composition structure of a cleaning device provided in an embodiment of this disclosure;

[0018] Figure 2 is a schematic diagram of the installation position of an exemplary sensor in a cleaning device according to an embodiment of this disclosure;

[0019] Figure 3 is a schematic diagram of the installation position of an exemplary sensor in a cleaning device according to an embodiment of this disclosure;

[0020] Figure 4 is a flowchart of a cleaning method provided in an embodiment of this disclosure;

[0021] Figure 5 is a flowchart of an exemplary method for creating a regional map according to an embodiment of this disclosure;

[0022] Figure 6 is a flowchart of an exemplary cleaning method provided in an embodiment of this disclosure. Detailed Implementation

[0023] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this disclosure and are not intended to limit this disclosure.

[0024] In related technologies, liftable sweeping machines can be used to clean low spaces such as under beds and sofas. These machines are equipped with an LDS (Location-Based Mapping System) and an obstacle avoidance module. The LDS can be used to map and navigate the room, while the obstacle avoidance module helps the sweeping machine avoid obstacles during movement. However, because the LDS is located on the top of the liftable sweeping machine, it cannot navigate in low spaces. This can cause the sweeping machine to get lost when cleaning low spaces, thus reducing its cleaning efficiency.

[0025] This disclosure provides a cleaning device. Figure 1 is a schematic diagram of the composition structure of the cleaning device provided in this disclosure. As shown in Figure 1, the cleaning device includes:

[0026] A range sensor group 11 is disposed on the outside of the cleaning equipment, and the range sensor group is used to collect first distance information;

[0027] A visual sensor 12 is disposed on the top of the cleaning device for collecting first top visual information;

[0028] A top ranging sensor 13 is installed on the top of the cleaning device to collect second distance information;

[0029] The cleaning device is used to locate itself during operation based on the first distance information, the first top visual information, and the second distance information.

[0030] The cleaning device provided in this disclosure is suitable for scenarios involving cleaning tasks.

[0031] In the embodiments of this disclosure, the cleaning equipment can be implemented in various forms. For example, the cleaning equipment described in this disclosure may include devices with automatic cleaning functions such as sweeping machines, mopping machines, and vacuum cleaners. The specific type of cleaning equipment can be determined according to the actual situation, and the embodiments of this disclosure do not limit it in this regard.

[0032] In this embodiment of the disclosure, the number of ranging sensors in the ranging sensor group can be one or more. For example, the number of multiple ranging sensors can be three, four, or other numbers. The specific number of multiple ranging sensors can be determined according to the actual situation, and this embodiment of the disclosure does not limit it.

[0033] In this embodiment of the disclosure, each of the plurality of ranging sensors is of the same type and / or model. Any one of the plurality of ranging sensors can be a laser sensor, or any other sensor. The specific type and / or model of any one of the plurality of ranging sensors can be determined according to the actual situation, and this embodiment of the disclosure does not limit this.

[0034] In this embodiment of the disclosure, the visual sensor can be a camera, or it can be other types of sensors. The specific type of visual sensor can be determined according to the actual situation, and this embodiment of the disclosure does not limit it.

[0035] In the embodiments of this disclosure, the outer side of the cleaning device can refer to any one of the sides of the cleaning device other than the top, and this disclosure does not limit this.

[0036] It should be noted that the cleaning equipment can be cylindrical, cubic, or other three-dimensional shapes. The specific shape of the cleaning equipment can be determined according to the actual situation, and this disclosure does not limit it.

[0037] In this embodiment of the disclosure, if the cleaning device is cylindrical, the plane formed by the positions of the multiple ranging sensors in the ranging sensor group is perpendicular to the curved surface of the cylinder and parallel to the bottom surface of the cylinder.

[0038] In this embodiment of the present disclosure, among the range sensor group disposed on the outside of the cleaning equipment, there is a range sensor disposed on the front end of the cleaning equipment.

[0039] In this embodiment of the disclosure, the top ranging sensor is a sensor of the same type as the plurality of ranging sensors in the ranging sensor group.

[0040] In this embodiment, both the visual sensor and the top ranging sensor are disposed on the top surface of the cleaning device and close to the front end of the cleaning device. If the cleaning device is cylindrical, both the visual sensor and the top ranging sensor are disposed on the top surface of the cylinder and close to the front end of the cleaning device. The front end refers to the end facing forward when the cleaning device moves forward.

[0041] It should be noted that the first top visual information refers to the visual information of the top of the cleaning equipment collected by the visual sensors during the cleaning process. The first distance information refers to the distance information between the range sensor group and objects around the cleaning equipment collected by the range sensor group during the cleaning process, representing the distance between the cleaning equipment and obstacles in its surrounding environment, thus reflecting the environmental information around the cleaning equipment. The second distance information refers to the distance information between the top range sensor and objects in the space above the top of the cleaning equipment collected by the top range sensor during the cleaning process, representing the distance between the cleaning equipment and obstacles in its upper environment, thus reflecting the environmental information of the space above the top of the cleaning equipment.

[0042] In some embodiments, before the cleaning device performs its first operation, it spins at a first position, where the range sensor group acquires third distance information and the vision sensor acquires second top visual information; it then spins at a second position, where the range sensor group acquires fourth distance information and the vision sensor acquires third top visual information; the cleaning device is used to stitch the third distance information and the fourth distance information together to obtain stitched surrounding environment information, and to establish a region map based on the surrounding environment information, the second top visual information, and the third top visual information.

[0043] It should be noted that the first position can be any position within the area where the cleaning equipment is to perform the cleaning task. The specific first position can be determined according to the actual situation, and this embodiment does not limit it. The second position is different from the first position. Specifically, the first position can be a blind spot of the second position, or it can be a non-blind spot of the second position.

[0044] The third distance information can be the distance information between the range sensor group and the objects around the cleaning device, collected by the range sensor group during the spinning process in the first position before the cleaning device works for the first time. This information represents the distance between the cleaning device and obstacles in its surrounding environment when it is in the first position, thus reflecting the environmental information around the cleaning device when it is in the first position. The second top visual information can be the visual information of the top of the cleaning device collected by the visual sensor during the spinning process in the first position before the cleaning device works for the first time.

[0045] The fourth distance information can be the distance information between the range sensor group and the objects around the cleaning device, collected by the range sensor group during the spinning process in the second position before the first operation. This information represents the distance between the cleaning device and obstacles in its surrounding environment when it is in the second position, thus reflecting the environmental information around the cleaning device when it is in the second position. The third top visual information can be the visual information of the top of the cleaning device collected by the visual sensor during the spinning process in the second position before the first operation.

[0046] In this embodiment, when the cleaning device is activated, it first needs to create a region map of the area to be cleaned (also known as the target area). First, the cleaning device rotates at a first position, and the range sensor group and vision sensor on the cleaning device also rotate accordingly. Simultaneously, the range sensor group acquires third distance information around the cleaning device; the vision sensor acquires second top visual information from the top of the cleaning device. When the cleaning device rotates at a second position, the range sensor group and vision sensor on the cleaning device also rotate accordingly. Simultaneously, the range sensor group acquires fourth distance information around the cleaning device; the vision sensor acquires third top visual information from the top of the cleaning device. Then, the cleaning device stitches the third and fourth distance information together to obtain stitched surrounding environment information; and based on the surrounding environment information, the second top visual information, and the third top visual information, it creates a region map.

[0047] It should be noted that the setting position and orientation of each ranging sensor and vision sensor in the ranging sensor group relative to the cleaning equipment can be fixed. The rotation of the ranging sensor group and vision sensor can be understood as not rotating on their own, but changing their position relative to the ground as the cleaning equipment rotates.

[0048] For example, the cleaning device has three distance sensors installed on its exterior, as shown in Figure 2. Each distance sensor collects limited distance information when the cleaning device is not rotating; for example, it can collect distance information with a FOV (Field of View) of 10°. If the cleaning device rotates 120° clockwise, all three distance sensors rotate 120° clockwise accordingly. Therefore, during the rotation of the cleaning device, the three distance sensors can collect distance information from the surrounding 360°. The distance information collected by each distance sensor is then stitched together to obtain a third distance information, which represents the distance information in the 360° environment surrounding the cleaning device. It should be noted that the fourth distance information collected by the group of distance sensors is obtained in the same way as the third distance information.

[0049] It is understandable that by having the cleaning equipment rotate at the first and second positions, a group of ranging sensors collects third and fourth distance information, a visual sensor collects second and third top visual information, and the fourth and third top visual information are used to supplement the third distance information and the second top visual information, the mapping process of the target area is improved, thus enhancing the accuracy of the regional map of the target area.

[0050] In some embodiments, the range sensor group includes one or more range sensors that are evenly distributed on the outside of the cleaning equipment.

[0051] In this embodiment, if the cleaning device is cylindrical, the multiple distance sensors in the distance sensor group can be evenly arranged on the outer side of the cylinder. That is, the angle formed by the line connecting any two adjacent distance sensors in the distance sensor group to the midpoint of the cleaning device is the same. Here, the midpoint can be understood as a point on the central axis of the cylindrical cleaning device. In other words, the projection points of the multiple distance sensors in the distance sensor group on the horizontal plane are evenly distributed on the same circumference centered on the center of the cylinder.

[0052] For example, the cleaning equipment is cylindrical, and the number of distance sensors in the distance sensor group is 3. The distance sensors are evenly spaced on the curved surface (i.e., the side surface of the cylinder), as shown in Figure 2 in the top view. The distance sensors are arranged on the edge of the circle, and the angle formed by the line connecting any two adjacent distance sensors to the center of the circle is the same. That is, the positions of the three distance sensors bisect the circle equally, and the angle formed between each pair of adjacent distance sensors and the center of the circle is 120 degrees. A top distance sensor and a vision sensor are arranged on the top surface of the cylinder.

[0053] For example, the cleaning equipment is cylindrical, and the number of distance sensors in the distance sensor group is 4. The 4 distance sensors are equally spaced on the curved surface (i.e. the side of the cylinder), as shown in the top view of Figure 3. The 4 distance sensors are set on the edge of the circle, and the angle formed by the line connecting any two adjacent distance sensors to the center of the circle is the same. That is, the positions of the 4 distance sensors bisect the circle equally, and the angle formed between each pair of adjacent distance sensors and the center of the circle is 90 degrees. A top distance sensor and a vision sensor are set on the top surface of the cylinder.

[0054] In some embodiments, the one or more ranging sensors are horizontally positioned outside the cleaning equipment or tilted relative to the horizontal direction. These ranging sensors are used to collect the first distance information, which is the distance information in the horizontal direction of the cleaning equipment or in the horizontal direction within a certain area. In some embodiments, the horizontal positioning of the ranging sensors outside the cleaning equipment may mean that the installation pitch angle of the ranging sensors is zero; the tilting of the ranging sensors outside the cleaning equipment relative to the horizontal direction may mean that the installation pitch angle of the ranging sensors is not zero.

[0055] In this embodiment of the disclosure, the mounting pitch angle of each of the plurality of ranging sensors on the cylindrical curved surface can be the same or different. For example, each of the plurality of ranging sensors has the same mounting pitch angle on the cylindrical curved surface, which is an angle parallel to the bottom surface of the cylinder.

[0056] In some embodiments, when the cleaning device rotates at a preset first angle and a first frequency, the group of ranging sensors collects the first distance information.

[0057] In some embodiments, when the cleaning device also rotates at a preset second angle and second frequency according to environmental complexity, the group of ranging sensors collects the first distance information.

[0058] In some embodiments, the first angle and the first frequency are determined based on the number of ranging sensors in the ranging sensor group; the second angle and the second frequency are determined based on the number of ranging sensors in the ranging sensor group.

[0059] Here, the first angle and the second angle can refer to the range of motion of the cleaning equipment with each rotation. The first angle and the second angle can be different.

[0060] The first frequency and the second frequency can refer to the number of times the cleaning equipment performs the rotational motion. The first frequency and the second frequency can be different.

[0061] It should be noted that the rotation of the cleaning equipment may include clockwise rotation and counterclockwise rotation. In some embodiments, the value of the first frequency or the second frequency can be 1 if the cleaning equipment rotates clockwise and counterclockwise once (or rotates left and right once). Similarly, the value of the first frequency or the second frequency can be 2 if the cleaning equipment rotates clockwise and counterclockwise twice (or rotates left and right twice).

[0062] For example, during the movement of the cleaning equipment, it will rotate and shift according to a predetermined program (a first angle and a first frequency, or a second angle and a second frequency). The predetermined program of the cleaning equipment will match the rotation program according to changes in the installation position and the complexity of the environment. The rotation angle (first angle or second angle) is generally a fixed ratio of the angle between two adjacent outer edge ranging sensors. As shown in Figure 2, three fixed outer edge ranging sensors are installed on the cleaning equipment, placed at the front of the cleaning equipment, 120° to the left rear of the cleaning equipment, and 120° to the right rear of the cleaning equipment, respectively. When the machine performs cleaning, it will intelligently adjust the rotation angle of the cleaning equipment during the movement according to the complexity of the environment. It may be a single 60° rotation (i.e., the first angle is 60°), rotating left and right once each (i.e., the value of the first frequency is 1), or it may be a single 30° rotation (i.e., the second angle is 30°), rotating left and right twice each (i.e., the value of the second frequency is 2). The specific working logic depends on the design scheme of the predetermined program. As shown in Figure 3, four fixed outer edge ranging sensors are installed on the cleaning equipment, placed directly in front, behind, to the left, and to the right of the equipment. That is, the angle formed by any two adjacent ranging sensors and the center of the cleaning equipment is 90°. When the machine performs cleaning, it intelligently adjusts the rotation angle during its movement according to the complexity of the environment. This could be a single 45° rotation (i.e., the first angle is 45°), rotating left and right once each (i.e., the first frequency value is 1), or a single 22.5° rotation (i.e., the second angle is 22.5°), rotating left and right twice each (i.e., the second frequency value is 2). The specific working logic depends on the design scheme of the predetermined program.

[0063] In this embodiment of the present disclosure, during the execution of the cleaning task corresponding to the cleaning instruction, each ranging sensor in the ranging sensor group will rotate with the rotation of the cleaning equipment and will acquire environmental information in real time with high speed and high precision to obtain the first distance information.

[0064] In this embodiment of the disclosure, during the execution of the cleaning task corresponding to the cleaning instruction, the vision sensor acquires the top environmental information of the space where the cleaning equipment is located, and obtains the first top visual information.

[0065] In this embodiment of the disclosure, the cleaning equipment can also clean low spaces, such as the space under a bed or the space under a sofa. The specific low space can be determined according to the actual situation, and this embodiment of the disclosure does not limit it.

[0066] In some embodiments, the cleaning device is configured to determine whether the cleaning device is in a low space based on the second distance information. If it is in a low space, the device is positioned when working based on the first distance information, the first top visual information, and the second distance information. If the cleaning device is not in a low space, the device is positioned when working based on the first distance information and the first top visual information.

[0067] In this embodiment of the disclosure, it can be determined whether the cleaning device is in a low space based on the second distance information. If it is in a low space, the positioning of the cleaning device during operation is completed based on the first distance information, the first top visual information, and the second distance information. If it is determined that the cleaning device is not in a low space, the positioning of the cleaning device during operation is completed based on the first distance information and the first top visual information.

[0068] In some embodiments, the cleaning device is further configured to determine that the cleaning device is in a low-ceiling space if the second distance information is less than a low-ceiling threshold, and to determine that the cleaning device is not in a low-ceiling space if the second distance information is greater than or equal to the low-ceiling threshold; or, to determine that the cleaning device is in or about to be in a low-ceiling space based on changes in the second distance information.

[0069] It should be noted that a low-profile threshold can be set. If the distance value corresponding to the second distance information is less than or equal to the low-profile threshold, the cleaning device is determined to be in a low-profile space; if the distance value corresponding to the second distance information is greater than or equal to the low-profile threshold, the cleaning device is determined not to be in a low-profile space. Other methods can also be used to determine whether the cleaning device is in a low-profile space based on the second distance information. The specific implementation method can be determined according to the actual situation, and this disclosure does not limit this aspect.

[0070] In this embodiment of the disclosure, the top of the low space may not be a flat surface, but may be uneven. Therefore, during the cleaning task performed by the cleaning device in the low space, it is necessary to use a visual sensor to continuously collect the first top visual information of the top of the cleaning device, and use a top distance sensor to continuously collect the second distance information of the cleaning device in the low space. The top of the low space is judged based on the second top information and the second distance information, so as to avoid the cleaning device getting stuck when the top of the low space is uneven.

[0071] In this embodiment of the disclosure, when it is determined that the cleaning equipment is in a low-ceilinged space, the height of the cleaning equipment can be obtained and compared with the height value corresponding to a first area in the low-ceilinged space to determine whether the cleaning equipment can enter the first area of ​​the low-ceilinged space. For example, if the height value corresponding to the equipment height is less than the height value corresponding to the first area, it is determined that the cleaning equipment can enter the first area of ​​the low-ceilinged space; if the height value corresponding to the equipment height is greater than or equal to the height value corresponding to the first area, it is determined that the cleaning equipment cannot enter the first area of ​​the low-ceilinged space.

[0072] In some embodiments, the area where the low-rise space is located can be divided into multiple areas, with the first area being any one of these areas, and the three-dimensional space corresponding to the first area can be called the first space.

[0073] In this embodiment of the disclosure, when it is determined that the cleaning device can enter the first area in the low-ceilinged space, the cleaning device is controlled to enter the first area and perform a cleaning operation on the first area.

[0074] In this embodiment of the disclosure, if it is determined based on the second distance information that the cleaning device cannot enter the first area in the low-ceilinged space, the cleaning device is controlled to continue performing the cleaning task in the second area.

[0075] It should be noted that the second region is the remaining region in the low-ceilinged space excluding the first region.

[0076] Understandably, if it is determined that the cleaning equipment cannot enter the first area of ​​a low-ceilinged space, the cleaning equipment can be directly controlled to continue cleaning in the second area. This avoids the risk of the cleaning equipment getting stuck in the first space that cannot be cleaned, and improves the safety of the cleaning equipment.

[0077] In some embodiments, the cleaning equipment is equipped with a supplementary lighting device (also referred to as a supplementary lighting device). When the cleaning equipment is in or about to be in a low-ceilinged space, the supplementary lighting device is turned on to assist the visual sensor in collecting the first top visual information.

[0078] In this embodiment of the disclosure, when the cleaning equipment is in or about to be in a low-ceilinged space, or in other situations where there is insufficient light, a supplementary lighting device is provided to increase the brightness when the supplementary lighting device is in working condition, thereby facilitating the visual sensor to collect the first top visual information of the top of the cleaning equipment at all times.

[0079] In this embodiment of the disclosure, there can be multiple supplementary lighting devices. The specific number of supplementary lighting devices can be determined according to the actual situation, and this embodiment of the disclosure does not limit this.

[0080] In this embodiment, the supplementary lighting device can be disposed on the top of the cleaning equipment, for example, next to the vision sensor, adjacent to the vision sensor. It should be noted that if there are multiple supplementary lighting devices, all of them can be disposed next to the vision sensor, adjacent to the vision sensor; alternatively, the multiple supplementary lighting devices can be disposed separately, at different locations on the top of the cleaning equipment and on the outside of the cleaning equipment. The method and location of the supplementary lighting device can be determined according to the actual situation, and this embodiment does not limit this.

[0081] In some embodiments, the cleaning device further includes an obstacle avoidance module and a controller;

[0082] The obstacle avoidance module is used to emit infrared light signals to the ground of the target area during the cleaning task; collect infrared light display information on the ground of the target area; and determine whether there are obstacles based on the infrared display information.

[0083] The controller is used to control the cleaning equipment to avoid the obstacle when an obstacle is detected.

[0084] It should be noted that the obstacle avoidance module is in operation while the cleaning equipment is moving. When in operation, the obstacle avoidance module continuously performs its obstacle avoidance function.

[0085] In this embodiment, the visual sensing device in the obstacle avoidance module needs to collect infrared light display information on the ground of the low-ceilinged space to determine whether there are obstacles in the low-ceilinged space. If the ambient brightness in the first area of ​​the low-ceilinged space is less than or equal to a preset brightness threshold, the visual sensing device may be unable to collect the infrared light display information on the ground of the low-ceilinged space. Therefore, it is necessary to use a supplementary lighting device to increase the ambient brightness, making it easier for the visual sensing device to collect the infrared light display information on the ground.

[0086] In this embodiment of the disclosure, the preset brightness threshold can be a threshold configured in the cleaning device, a threshold transmitted to the cleaning device from other devices, or a threshold obtained by the cleaning device through other means. The specific way in which the cleaning device obtains the preset brightness threshold can be determined according to the actual situation, and this embodiment of the disclosure does not limit it.

[0087] It should be noted that the obstacle avoidance module includes a light-emitting device, a visual sensing device, a visual recognition device, a supplementary lighting device, and a stake-finding device. The light-emitting device emits infrared light signals onto the ground of the target area; the visual sensing device collects infrared light display information from the ground in the target area and determines the presence of obstacles based on this information; the visual recognition device identifies the type of obstacle based on the infrared display information; the supplementary lighting device increases the ambient brightness of the target area when the ambient brightness is less than or equal to a preset brightness threshold, facilitating the collection of infrared light display information from the ground by the visual sensing device; and the stake-finding device locates cleaning stakes after completing the cleaning task in the target area, and uses these stakes to clean the cleaning components in the cleaning equipment.

[0088] Understandably, by setting a stake-finding device in the obstacle avoidance module, the cleaning equipment can directly use the stake-finding device to find the cleaning stake after completing the cleaning task, and use the cleaning stake to automatically clean the cleaning components in the cleaning equipment. This eliminates the need for manual movement of the cleaning equipment to the cleaning stake, thus improving the intelligence of cleaning the cleaning components in the cleaning equipment.

[0089] In the embodiments of this disclosure, the light-emitting device can be an infrared light emitting device or a device that can emit other light. The specific light-emitting device can be determined according to the actual situation, and the embodiments of this disclosure do not limit it.

[0090] In this embodiment of the disclosure, the visual sensing device can be a camera or other devices that can collect infrared light display information on the ground in low-ceilinged spaces. The specific visual sensing device can be determined according to the actual situation, and this embodiment of the disclosure does not limit it.

[0091] In this embodiment of the disclosure, after the visual sensing device collects infrared light display information on the ground, it determines the deformation information that has occurred based on the infrared light display information, thereby determining whether an obstacle exists. It should be noted that the method by which the visual sensing device determines the existence of an obstacle based on the infrared display information can be determined according to the actual situation, and this embodiment of the disclosure does not limit this method.

[0092] In this embodiment of the disclosure, the process by which the visual recognition device identifies the type of obstacle based on the infrared light display information can be determined according to the actual situation, and this embodiment of the disclosure does not limit this.

[0093] In this embodiment of the disclosure, when there is a slipper on the ground, the sensory recognition device can identify the obstacle as a slipper based on the infrared light display information, that is, identify the type of obstacle.

[0094] Understandably, when cleaning equipment is cleaning a target area, the obstacle avoidance module can smoothly avoid obstacles, thus preventing safety hazards caused by the cleaning equipment passing over or colliding with obstacles and improving the safety of the cleaning equipment.

[0095] It is understandable that by setting a range sensor group on the outside of the cleaning equipment and setting a vision sensor and a top range sensor on the top of the cleaning equipment, the range sensor group collects first distance information, the vision sensor collects first top visual information, and the top range sensor collects second distance information. Based on the second distance information, it is determined that the cleaning equipment is in a low space. Based on the first distance information, the first top visual information, and the second distance information, the positioning of the cleaning equipment during operation is completed, avoiding the problem of the cleaning equipment getting lost in low spaces and improving the efficiency of cleaning low spaces.

[0096] This disclosure provides a cleaning method applied to a cleaning device, which includes a range sensor group, a vision sensor, and a top range sensor. The range sensor group is disposed on the outside of the cleaning device; the vision sensor and the top range sensor are both disposed on the top of the cleaning device. The cleaning method includes:

[0097] During the cleaning task, the first distance information, the first top visual information, and the second distance information are collected.

[0098] The positioning of the cleaning equipment during operation is completed based on the first distance information, the first top visual information, and the second distance information.

[0099] The process of collecting the first distance information, the first top visual information, and the second distance information during the cleaning task may include:

[0100] During the cleaning task, a group of range sensors is used to collect first distance information, a visual sensor is used to collect first top visual information, and a top range sensor is used to collect second distance information.

[0101] It should be noted that the explanation of the cleaning equipment also applies to the cleaning method of the embodiments of this disclosure, and the explanation of the cleaning method will not be repeated here.

[0102] The cleaning method provided in this embodiment of the present disclosure, by setting a range sensor group on the outside of the cleaning device, and setting a visual sensor and a top range sensor on the top of the cleaning device, uses the range sensor group to collect first distance information, the visual sensor to collect first top visual information, and the top range sensor to collect second distance information. Based on the second distance information, it is determined that the device is in a low space. Based on the first distance information, the first top visual information, and the second distance information, the positioning of the cleaning device during operation is completed, avoiding the problem of the cleaning device getting lost in low spaces and improving the efficiency of cleaning low spaces.

[0103] The cleaning method of this disclosure embodiment will be further described below with reference to the accompanying drawings.

[0104] Figure 4 is a flowchart of a cleaning method provided in an embodiment of this disclosure. As shown in Figure 4, the cleaning method includes:

[0105] S101. Upon receiving a cleaning instruction, move according to the preset movement plan.

[0106] The cleaning method provided in this disclosure is applicable to scenarios where cleaning tasks are performed using cleaning equipment.

[0107] In the embodiments of this disclosure, the cleaning equipment can be implemented in various forms. For example, the cleaning equipment described in this disclosure may include devices with automatic cleaning functions such as sweepers and vacuum cleaners. The specific type of cleaning equipment can be determined according to the actual situation, and the embodiments of this disclosure do not limit it in this regard.

[0108] In this embodiment of the disclosure, the number of ranging sensors in the ranging sensor group can be one or more. For example, the number of multiple ranging sensors can be three, four, or other numbers. The specific number of multiple ranging sensors can be determined according to the actual situation, and this embodiment of the disclosure does not limit it.

[0109] In this embodiment of the disclosure, each of the plurality of ranging sensors is of the same type and / or model. Any one of the plurality of ranging sensors can be a laser sensor, or any other sensor. The specific type and / or model of any one of the plurality of ranging sensors can be determined according to the actual situation, and this embodiment of the disclosure does not limit this.

[0110] In this embodiment of the disclosure, the visual sensor can be a camera, or it can be other types of sensors. The specific type of visual sensor can be determined according to the actual situation, and this embodiment of the disclosure does not limit it.

[0111] It should be noted that the cleaning equipment can be cylindrical, cubic, or other three-dimensional shapes. The specific shape of the cleaning equipment can be determined according to the actual situation, and this disclosure does not limit it.

[0112] In this embodiment, the ranging sensor group includes one or more ranging sensors, which are uniformly distributed on the outside of the cleaning device. If the cleaning device is cylindrical, the multiple ranging sensors in the ranging sensor group can be uniformly arranged on the outside of the cylinder, that is, the angle formed by the line connecting any two adjacent ranging sensors in the ranging sensor group to the midpoint of the cleaning device is the same. Here, the midpoint can be understood as a point on the central axis of the cylindrical cleaning device. In other words, the projection points of the multiple ranging sensors included in the ranging sensor group on the horizontal plane are uniformly distributed on the same circumference centered on the center of the cylinder.

[0113] For example, the cleaning equipment is cylindrical, and the number of distance sensors in the distance sensor group is 3. The distance sensors are evenly spaced on the curved surface (i.e., the side surface of the cylinder), as shown in Figure 2 in the top view. The distance sensors are arranged on the edge of the circle, and the angle formed by the line connecting any two adjacent distance sensors to the center of the circle is the same. That is, the positions of the three distance sensors bisect the circle equally, and the angle formed between each pair of adjacent distance sensors and the center of the circle is 120 degrees. A top distance sensor and a vision sensor are arranged on the top surface of the cylinder.

[0114] For example, the cleaning equipment is cylindrical, and the number of distance sensors in the distance sensor group is 4. The 4 distance sensors are equally spaced on the curved surface (i.e. the side of the cylinder), as shown in the top view of Figure 3. The 4 distance sensors are set on the edge of the circle, and the angle formed by the line connecting any two adjacent distance sensors to the center of the circle is the same. That is, the positions of the 4 distance sensors bisect the circle equally, and the angle formed between each pair of adjacent distance sensors and the center of the circle is 90 degrees. A top distance sensor and a vision sensor are set on the top surface of the cylinder.

[0115] In this embodiment of the disclosure, if the cleaning device is cylindrical, the plane formed by the positions of the multiple ranging sensors in the ranging sensor group is perpendicular to the curved surface of the cylinder and parallel to the bottom surface of the cylinder.

[0116] In this embodiment of the disclosure, the mounting pitch angle of each of the plurality of ranging sensors on the cylindrical curved surface can be the same or different. For example, each of the plurality of ranging sensors has the same mounting pitch angle on the cylindrical curved surface, which is an angle parallel to the bottom surface of the cylinder.

[0117] In this embodiment of the present disclosure, among the range sensor group disposed on the outside of the cleaning equipment, there is a range sensor disposed on the front end of the cleaning equipment.

[0118] In this embodiment of the disclosure, the top ranging sensor is a sensor of the same type as the multiple ranging sensors in the ranging sensor group.

[0119] In this embodiment, both the visual sensor and the top ranging sensor are disposed on the top surface of the cleaning device and close to the front end of the cleaning device. If the cleaning device is cylindrical, both the visual sensor and the top ranging sensor are disposed on the top surface of the cylinder and close to the front end of the cleaning device.

[0120] In this embodiment of the disclosure, the cleaning equipment can be moved according to a preset moving plan.

[0121] In some embodiments, the preset movement scheme includes a preset first angle and a first frequency. Accordingly, collecting first distance information may include: collecting first distance information using a group of ranging sensors while the cleaning device rotates according to the preset first angle and first frequency.

[0122] In some embodiments, the preset movement scheme includes a preset second angle and a second frequency. Correspondingly, collecting first distance information includes: when the cleaning equipment rotates according to the preset second angle and second frequency based on the environmental complexity, collecting the first distance information using a group of ranging sensors.

[0123] In some embodiments, the first angle and the first frequency are determined based on the number of ranging sensors in the ranging sensor group; the second angle and the second frequency are determined based on the number of ranging sensors in the ranging sensor group.

[0124] For example, during the movement of the cleaning equipment, it will rotate and shift according to a predetermined program (a first angle and a first frequency, or a second angle and a second frequency). The predetermined program of the cleaning equipment will match the rotation program according to changes in the installation position and the complexity of the environment. The rotation angle (first angle or second angle) is generally a fixed ratio of the angle between two adjacent outer edge ranging sensors. As shown in Figure 2, three fixed outer edge ranging sensors are installed on the cleaning equipment, placed at the front of the cleaning equipment, 120° to the left rear of the cleaning equipment, and 120° to the right rear of the cleaning equipment, respectively. When the machine performs cleaning, it will intelligently adjust the rotation angle of the cleaning equipment during the movement according to the complexity of the environment. It may be a single 60° rotation (i.e., the first angle is 60°), rotating left and right once each (i.e., the value of the first frequency is 1), or it may be a single 30° rotation (i.e., the second angle is 30°), rotating left and right twice each (i.e., the value of the second frequency is 2). The specific working logic depends on the design scheme of the predetermined program. As shown in Figure 3, four fixed outer edge ranging sensors are installed on the cleaning equipment, placed directly in front, behind, to the left, and to the right of the equipment. That is, the angle formed by any two adjacent ranging sensors and the center of the cleaning equipment is 90°. When the machine performs cleaning, it intelligently adjusts the rotation angle during its movement according to the complexity of the environment. This could be a single 45° rotation (i.e., the first angle is 45°), rotating left and right once each (i.e., the first frequency value is 1), or a single 22.5° rotation (i.e., the second angle is 22.5°), rotating left and right twice each (i.e., the second frequency value is 2). The specific working logic depends on the design scheme of the predetermined program.

[0125] In this embodiment, when the cleaning device is activated, it first needs to establish a region map of the area to be cleaned (also known as the target area). First, the cleaning device rotates at a first position, and the range sensor group and vision sensor on the cleaning device also rotate accordingly. Simultaneously, the range sensor group collects third distance information around the cleaning device; the vision sensor collects second top visual information from the top of the cleaning device. When the cleaning device rotates at a second position, the range sensor group and vision sensor also rotate accordingly. Simultaneously, the range sensor group collects fourth distance information around the cleaning device; the vision sensor collects third top visual information from the top of the cleaning device. Then, the cleaning device stitches the third and fourth distance information together to obtain stitched surrounding environment information; and establishes a region map based on the surrounding environment information, the second top visual information, and the third top visual information. This allows the cleaning device to be positioned during operation using the region map based on the first distance information, the first top visual information, and the second distance information.

[0126] Accordingly, the cleaning method provided in this disclosure may further include:

[0127] During the spin operation at the first position before the cleaning equipment works for the first time, a group of range sensors is used to collect third distance information, and a vision sensor is used to collect second top visual information.

[0128] During the spin operation at the second position before the cleaning equipment works for the first time, a group of range sensors is used to collect fourth distance information, and a vision sensor is used to collect third top visual information.

[0129] The third and fourth distance information are spliced ​​together to obtain spliced ​​surrounding environment information;

[0130] A regional map is created based on information about the surrounding environment, the second top visual information, and the third top visual information.

[0131] S102. During the process of executing the cleaning task corresponding to the cleaning instruction, first top visual information, first distance information and second distance information are collected.

[0132] In this embodiment of the disclosure, when the cleaning device receives a cleaning instruction, it will collect first top visual information, first distance information and second distance information during the process of moving according to a preset moving plan.

[0133] It should be noted that the first top visual information refers to the visual information of the top of the cleaning equipment collected by the visual sensors during the cleaning process. The first distance information refers to the distance information between the range sensor group and objects around the cleaning equipment collected by the range sensor group during the cleaning process, representing the distance between the cleaning equipment and obstacles in its surrounding environment, thus reflecting the environmental information around the cleaning equipment; the second distance information refers to the distance information between the top range sensor and objects in the space above the top of the cleaning equipment collected by the top range sensor during the cleaning process, representing the distance between the cleaning equipment and obstacles in its upper environment, thus reflecting the environmental information of the space above the top of the cleaning equipment.

[0134] In this embodiment of the present disclosure, during the execution of the cleaning task corresponding to the cleaning instruction, each ranging sensor in the ranging sensor group will rotate with the rotation of the cleaning equipment and will acquire environmental information in real time with high speed and high precision to obtain the first distance information.

[0135] In this embodiment of the disclosure, during the execution of the cleaning task corresponding to the cleaning instruction, the vision sensor acquires the top environmental information of the space where the cleaning equipment is located, and obtains the first top visual information.

[0136] S103. The positioning of the cleaning equipment during operation is completed based on the first distance information, the first top visual information, and the second distance information.

[0137] In this embodiment of the disclosure, after the cleaning device collects the first top visual information, the first distance information, and the second distance information, it completes the positioning of the cleaning device during operation based on the first distance information, the first top visual information, and the second distance information.

[0138] In this embodiment of the disclosure, the cleaning equipment can also clean low spaces, such as the space under a bed or the space under a sofa. The specific low space can be determined according to the actual situation, and this embodiment of the disclosure does not limit it.

[0139] In some embodiments, S103 may include: determining whether the cleaning device is in a low space based on the second distance information; if the cleaning device is in a low space, completing the positioning of the cleaning device when it is working based on the first distance information, the first top visual information, and the second distance information; if the cleaning device is not in a low space, completing the positioning of the cleaning device when it is working based on the first distance information and the first top visual information.

[0140] In some embodiments, determining whether a cleaning device is in a low-ceiling space based on the second distance information includes: determining that the cleaning device is in a low-ceiling space if the second distance information is less than a low-ceiling threshold, and determining that the cleaning device is not in a low-ceiling space if the second distance information is greater than or equal to the low-ceiling threshold; or, determining that the cleaning device is in or about to be in a low-ceiling space based on changes in the second distance information.

[0141] In some embodiments, the cleaning equipment is equipped with a supplementary lighting device, and the cleaning method provided in this disclosure may further include:

[0142] When the cleaning equipment is in or about to be in a low-ceilinged space, turn on the supplemental lighting to assist the visual sensor in acquiring first-level top visual information.

[0143] In this embodiment of the disclosure, the cleaning device can determine whether it is in a low space based on the second distance information collected by the top ranging sensor. If it is in a low space, the positioning of the cleaning device during operation is completed based on the first distance information, the first top visual information, and the second distance information. If the cleaning device is not in a low space, the positioning of the cleaning device during operation is completed based on the first distance information and the first top visual information.

[0144] In this embodiment of the present disclosure, the cleaning device emits infrared light signals to the ground during the cleaning task; collects infrared light display information on the ground, determines whether there are obstacles based on the infrared display information; and controls the cleaning device to avoid obstacles if obstacles are determined to exist.

[0145] In this embodiment, the cleaning device uses a top-mounted ranging sensor to collect second distance information. If the second distance information indicates the cleaning device is in a low-ceilinged space, the device is positioned based on the first distance information, the first top-view information, and the second distance information. If the cleaning device is not in a low-ceilinged space, it is positioned based on the first distance information and the first top-view information. During the cleaning process in the target area, the device emits infrared light signals to the ground; it collects infrared light display information from the ground and determines whether obstacles exist based on this information; if obstacles are identified, the device is controlled to avoid them.

[0146] In this embodiment, the obstacle avoidance module includes a light-emitting device, a visual sensing device, a visual recognition device, a supplementary lighting device, and a stake-finding device. The light-emitting device emits infrared light signals to the ground of the target area; the visual sensing device collects infrared light display information on the ground of the target area and determines the presence of obstacles based on this information; the visual recognition device identifies the type of obstacle based on the infrared display information; the supplementary lighting device increases the ambient brightness of the target area when the ambient brightness is less than or equal to a preset brightness threshold, facilitating the collection of infrared light display information on the ground of the target area by the visual sensing device; and the stake-finding device locates cleaning stakes after completing the cleaning task of the target area, and uses these cleaning stakes to clean the cleaning components in the cleaning equipment.

[0147] In this embodiment of the disclosure, an exemplary method for creating a regional map is shown in Figure 5:

[0148] S10, the cleaning equipment performs a spin at the first position, the range sensor group collects the third distance information; the vision sensor collects the second top visual information.

[0149] S11, the cleaning equipment performs a spin in the second position, the range sensor group collects the fourth distance information, and the vision sensor collects the third top visual information.

[0150] S12. The third distance information and the fourth distance information are stitched together to obtain the stitched surrounding environment information. Based on the surrounding environment information, the second top visual information and the third top visual information, a regional map is built.

[0151] In this embodiment of the disclosure, an exemplary cleaning method is shown in Figure 6:

[0152] S21. Begin the cleaning task.

[0153] S22. Determine whether it is a regular space.

[0154] It should be noted that, upon receiving a cleaning instruction, the system can use the second distance information collected by the top ranging sensor to determine whether the space is in a low-ceilinged area. If it is not in a low-ceilinged area, it is determined to be a regular space; if it is in a low-ceilinged space or will be in a low-ceilinged space, it is determined not to be a regular space.

[0155] S23. When it is determined that the space is not low, the positioning of the cleaning equipment during operation is completed based on the first distance information and the first top visual information.

[0156] It should be noted that the location of the cleaning equipment during operation can be determined on the regional map based on the first distance information and the first top visual information.

[0157] S24. Use the obstacle avoidance module to perform obstacle avoidance operations.

[0158] It should be noted that when not in a low-ceilinged space, the obstacle avoidance module will be used continuously during the cleaning process. Even when in a low-ceilinged space, the obstacle avoidance module will still be used for obstacle avoidance.

[0159] S25. If it is determined that the space will be low based on the change of the second distance information, determine whether it is possible to enter the low space based on the second distance information.

[0160] S26. If it is determined that the low-ceilinged space can be accessed, the positioning of the cleaning equipment during operation is completed based on the first distance information, the first top visual information, and the second distance information.

[0161] S27. If it is determined that entry into the low-ceilinged space is not permitted, clean all other areas except the low-ceilinged space.

[0162] S28. Determine whether it is possible to enter the first space in the low-ceilinged space based on the second distance information.

[0163] S29. Once it is determined that entry into the first space is possible, the positioning of the cleaning equipment during operation is completed based on the first distance information, the first top visual information, and the second distance information.

[0164] It should be noted that the second distance information can be used to determine whether there is a risk of the cleaning equipment getting stuck in the first space. If there is, it is determined that the first space cannot be entered; if not, it is determined that the first space can be entered.

[0165] S30. If it is determined that the first space cannot be entered, do not clean the first space, but clean the second space in the low-ceilinged space.

[0166] It should be noted that the second space is the remaining space in the low-ceilinged space excluding the first space.

[0167] S31. Cleaning task completed.

[0168] It should be noted that the above description of the embodiments of the cleaning equipment also applies to the cleaning methods of the embodiments of this application, and will not be repeated here.

[0169] This disclosure also provides a cleaning device applied to a cleaning equipment. The cleaning equipment includes: a group of ranging sensors disposed on the outside of the cleaning equipment for collecting first distance information; a vision sensor disposed on the top of the cleaning equipment for collecting first top vision information; and a top ranging sensor disposed on the top of the cleaning equipment for collecting second distance information. The cleaning device includes:

[0170] The information acquisition module is used to collect first distance information, first top visual information, and second distance information during the cleaning task.

[0171] The positioning module is used to locate the cleaning equipment during operation based on the first distance information, the first top visual information, and the second distance information.

[0172] It should be noted that the information acquisition module is specifically used to collect first distance information using a group of ranging sensors, to collect first top visual information using a visual sensor, and to collect second distance information using a top ranging sensor.

[0173] In some embodiments, the cleaning device further includes:

[0174] The first control module is used to control the cleaning equipment to move according to a preset movement plan when a cleaning instruction is received.

[0175] Correspondingly, the information acquisition module is used for:

[0176] During the execution of the cleaning task corresponding to the cleaning instruction, first distance information, first top visual information, and second distance information are collected.

[0177] In some embodiments, the information acquisition module is further configured to:

[0178] During the spin operation at the first position before the cleaning equipment works for the first time, a group of range sensors is used to collect third distance information, and a vision sensor is used to collect second top visual information.

[0179] During the spin operation at the second position before the cleaning equipment works for the first time, a group of range sensors is used to collect fourth distance information, and a vision sensor is used to collect third top visual information.

[0180] The cleaning device also includes:

[0181] The processing module is used to stitch together the third distance information and the fourth distance information to obtain the stitched surrounding environment information;

[0182] The generation module is used to create a regional map based on surrounding environmental information, second top visual information, and third top visual information.

[0183] In some embodiments, the range sensor group includes one or more range sensors, which are evenly distributed on the outside of the cleaning equipment.

[0184] In some embodiments, one or more ranging sensors are arranged horizontally on the outside of the cleaning equipment or tilted relative to the horizontal direction. The one or more ranging sensors are used to collect first distance information, which is the horizontal distance information of the cleaning equipment in the horizontal direction or in a certain area.

[0185] In some embodiments, the preset movement scheme includes a preset first angle and a first frequency, and the information acquisition module is used for:

[0186] While the cleaning equipment rotates at a preset first angle and first frequency, a group of ranging sensors is used to collect first distance information.

[0187] In some embodiments, the preset movement scheme further includes a preset second angle and a second frequency, and the information acquisition module is further configured to:

[0188] While the cleaning equipment rotates at a preset second angle and second frequency according to the environmental complexity, a group of ranging sensors is used to collect first distance information.

[0189] In some embodiments, the first angle and the first frequency are determined based on the number of ranging sensors in the ranging sensor group; the second angle and the second frequency are determined based on the number of ranging sensors in the ranging sensor group.

[0190] In some embodiments, the positioning module is used for:

[0191] Determine whether the cleaning equipment is located in a low-ceilinged space based on the second distance information;

[0192] When the cleaning equipment is in a low-ceilinged space, the positioning of the cleaning equipment during operation is completed based on the first distance information, the first top visual information, and the second distance information.

[0193] When the cleaning equipment is not in a low-ceilinged space, the positioning of the cleaning equipment during operation is completed based on the first distance information and the first top visual information.

[0194] In some embodiments, the positioning module is used for:

[0195] If the second distance information is less than the low-profile threshold, the cleaning equipment is determined to be in the low-profile space; if the second distance information is greater than or equal to the low-profile threshold, the cleaning equipment is determined not to be in the low-profile space; or,

[0196] Based on changes in the second distance information, it can be determined whether the cleaning equipment is in or about to be in a low-ceilinged space.

[0197] In some embodiments, the cleaning device is provided with a supplementary lighting device, and the cleaning device further includes a second control module for:

[0198] When the cleaning equipment is in or about to be in a low-ceilinged space, turn on the supplemental lighting to assist the visual sensor in acquiring first-level top visual information.

[0199] It should be noted that the explanations and descriptions of the embodiments of the cleaning equipment and cleaning methods also apply to the cleaning apparatus of the embodiments of this disclosure, and the explanations and descriptions of the cleaning apparatus will not be repeated here.

[0200] This disclosure provides a computer-readable storage medium storing at least one line of program code, which is loaded and executed by a processor to implement the cleaning method described above.

[0201] This disclosure provides a computer program product comprising a computer program or computer-executable instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor, causing a computer device having the processor to perform the cleaning method described in this disclosure. The computer device is, for example, a cleaning device; that is, the processor of the cleaning device reads the computer-executable instructions from the computer-readable storage medium, executes the computer-executable instructions, and causes the cleaning device to perform the cleaning method described in this disclosure.

[0202] It is understandable that by setting a range sensor group on the outside of the cleaning equipment and setting a vision sensor and a top range sensor on the top of the cleaning equipment, the range sensor group collects first distance information, the vision sensor collects first top visual information, and the top range sensor collects second distance information. Based on the second distance information, it is determined that the cleaning equipment is in a low space. Based on the first distance information, the first top visual information, and the second distance information, the positioning of the cleaning equipment during operation is completed, avoiding the problem of the cleaning equipment getting lost in low spaces and improving the efficiency of cleaning low spaces.

[0203] This disclosure also provides a cleaning device, which includes one or more processors and one or more memories. The one or more memories store at least one piece of program code, which is loaded and executed by the one or more processors to implement the cleaning method described in the above embodiments of this disclosure.

[0204] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0205] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0206] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0207] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0208] The above description is merely a preferred embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure.

[0209] All embodiments disclosed herein can be executed individually or in combination with other embodiments, and are all considered to be within the scope of protection claimed by this disclosure.

Claims

1. A cleaning device, characterized in that, The cleaning equipment includes: A range sensor group is disposed on the outside of the cleaning equipment, and the range sensor group is used to collect first distance information; A visual sensor is installed on the top of the cleaning device to collect first top visual information; A top-mounted distance sensor is installed on the top of the cleaning equipment to collect second distance information; The cleaning device is used to locate itself during operation based on the first distance information, the first top visual information, and the second distance information.

2. The cleaning equipment as described in claim 1, characterized in that, Before its first operation, the cleaning device performs a spin at a first position, where the range sensor group acquires third distance information and the vision sensor acquires second top visual information; at the second position, it performs a spin, where the range sensor group acquires fourth distance information and the vision sensor acquires third top visual information. The cleaning device is used to stitch together the third distance information and the fourth distance information to obtain stitched surrounding environment information, and to establish a regional map based on the surrounding environment information, the second top visual information and the third top visual information.

3. The cleaning equipment as described in claim 1 or 2, characterized in that, The range sensor group includes one or more range sensors, which are evenly distributed on the outside of the cleaning equipment.

4. The cleaning equipment as described in claim 3, characterized in that, The one or more distance sensors are arranged horizontally on the outside of the cleaning equipment or tilted relative to the horizontal direction. The one or more distance sensors are used to collect the first distance information, which is the horizontal distance information of the cleaning equipment or the horizontal distance information within a certain area.

5. The cleaning equipment as described in any one of claims 1-4, characterized in that, When the cleaning equipment rotates at a preset first angle and first frequency, the group of ranging sensors collects the first distance information.

6. The cleaning equipment as described in claim 5, characterized in that, While the cleaning equipment rotates at a preset second angle and second frequency according to the environmental complexity, the ranging sensor group collects the first distance information.

7. The cleaning equipment as described in claim 6, characterized in that, The first angle and the first frequency are determined based on the number of ranging sensors in the ranging sensor group; the second angle and the second frequency are determined based on the number of ranging sensors in the ranging sensor group.

8. The cleaning equipment as described in any one of claims 1-7, characterized in that, The cleaning device is used to determine whether it is in a low space based on the second distance information. If it is in a low space, the device is positioned when it is working based on the first distance information, the first top visual information, and the second distance information. If the device is not in the low space, the device is positioned when it is working based on the first distance information and the first top visual information.

9. The cleaning equipment as described in claim 8, characterized in that, The cleaning device is further configured to determine that the cleaning device is in the low-ceiling space if the second distance information is less than the low-ceiling threshold, and to determine that the cleaning device is not in the low-ceiling space if the second distance information is greater than or equal to the low-ceiling threshold; or, to determine that the cleaning device is in or about to be in the low-ceiling space based on the change in the second distance information.

10. The cleaning equipment as described in claim 8 or 9, characterized in that, The cleaning equipment is equipped with a supplementary lighting device. When the cleaning equipment is in or about to be in the low-ceilinged space, the supplementary lighting device is turned on to assist the visual sensor in collecting the first top visual information.

11. A cleaning method, characterized in that, The method is applied to a cleaning device, the cleaning device comprising: a group of distance sensors disposed on the outside of the cleaning device for acquiring first distance information; a vision sensor disposed on the top of the cleaning device for acquiring first top vision information; and a top distance sensor disposed on the top of the cleaning device for acquiring second distance information; the method comprising: During the cleaning task, the first distance information, the first top visual information, and the second distance information are collected. The positioning of the cleaning equipment during operation is completed based on the first distance information, the first top visual information, and the second distance information.

12. The method according to claim 11, characterized in that, The method further includes: Upon receiving a cleaning instruction, it moves according to a preset movement plan; During the cleaning task, the collection of the first distance information, the first top visual information, and the second distance information includes: During the execution of the cleaning task corresponding to the cleaning instruction, the first distance information, the first top visual information, and the second distance information are collected.

13. The method according to claim 11 or 12, characterized in that, The method further includes: During the spin-on process performed at the first position before the cleaning equipment works for the first time, the range sensor group collects third distance information and the vision sensor collects second top visual information. During the spin-on process performed at the second position before the cleaning device operates for the first time, the range sensor group collects fourth distance information, and the vision sensor collects third top visual information. The third distance information and the fourth distance information are spliced ​​together to obtain spliced ​​surrounding environment information; A regional map is created based on the surrounding environment information, the second top visual information, and the third top visual information.

14. The method according to any one of claims 11-13, characterized in that, The range sensor group includes one or more range sensors, which are evenly distributed on the outside of the cleaning equipment.

15. The method as described in claim 14, characterized in that, The one or more distance sensors are arranged horizontally on the outside of the cleaning equipment or tilted relative to the horizontal direction. The one or more distance sensors are used to collect the first distance information, which is the horizontal distance information of the cleaning equipment or the horizontal distance information within a certain area.

16. The method according to any one of claims 11-15, characterized in that, The preset movement scheme includes a preset first angle and a first frequency, and the acquisition of the first distance information includes: When the cleaning equipment rotates at the preset first angle and first frequency, the first distance information is collected by the group of ranging sensors.

17. The method as described in claim 16, characterized in that, The preset movement scheme further includes a preset second angle and a second frequency, and the acquisition of the first distance information further includes: When the cleaning equipment rotates at a preset second angle and second frequency according to the environmental complexity, the first distance information is collected by the group of ranging sensors.

18. The method as described in claim 17, characterized in that, The first angle and the first frequency are determined based on the number of ranging sensors in the ranging sensor group; the second angle and the second frequency are determined based on the number of ranging sensors in the ranging sensor group.

19. The method according to any one of claims 11-18, characterized in that, The step of positioning the cleaning equipment during operation based on the first distance information, the first top visual information, and the second distance information includes: Based on the second distance information, determine whether the cleaning equipment is located in a low-ceilinged space; When the cleaning equipment is in a low-ceilinged space, the positioning of the cleaning equipment during operation is completed based on the first distance information, the first top visual information, and the second distance information. When the cleaning equipment is not in the low-ceilinged space, the positioning of the cleaning equipment during operation is completed based on the first distance information and the first top visual information.

20. The method as described in claim 19, characterized in that, The step of determining whether the cleaning equipment is in a low-ceilinged space based on the second distance information includes: If the second distance information is less than the low-profile threshold, it is determined that the cleaning device is in the low-profile space; if the second distance information is greater than or equal to the low-profile threshold, it is determined that the cleaning device is not in the low-profile space; or, Based on the change in the second distance information, it is determined that the cleaning equipment is in or about to be in the low-ceilinged space.

21. The method as described in claim 19 or 20, characterized in that, The cleaning equipment is equipped with a supplemental lighting device, and the method further includes: When the cleaning equipment is in or about to be in the low-ceilinged space, the supplementary lighting device is turned on to assist the visual sensor in acquiring the first top visual information.

22. A cleaning device, characterized in that, An apparatus for use in cleaning equipment, the cleaning equipment comprising: a group of distance sensors disposed on the outside of the cleaning equipment for acquiring first distance information; a vision sensor disposed on the top of the cleaning equipment for acquiring first top vision information; and a top distance sensor disposed on the top of the cleaning equipment for acquiring second distance information; the apparatus comprising: The information acquisition module is used to collect the first distance information, the first top visual information, and the second distance information during the cleaning task. The positioning module is used to locate the cleaning equipment during operation based on the first distance information, the first top visual information, and the second distance information.

23. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the method as claimed in any one of claims 11 to 21.

24. A computer program product, characterized in that, The computer program product includes a computer program 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 as claimed in any one of claims 11 to 21.

25. A cleaning device, characterized in that, The cleaning device includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to implement the method as claimed in any one of claims 11 to 21.

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