Control method and apparatus for cleaning device, cleaning device, and readable storage medium

Abstract

The present application relates to the field of home control, and provides a control method and apparatus for a cleaning device, a cleaning device, and a readable storage medium. The method comprises: during the execution of a cleaning task, recording an actual movement path of a cleaning device, and simulating the movement of the cleaning device in a stable edge-following state to obtain a simulated movement path; and on the basis of the comparison between the actual movement path and the simulated movement path, determining whether a cleaning area requires supplementary cleaning.

Description

Control methods, apparatus, cleaning equipment, and readable storage media for cleaning equipment Cross-references to related applications

[0001] This application claims priority to Chinese Patent Application No. 202411648424.9, filed on November 18, 2024, entitled "Control Method, Apparatus, Cleaning Equipment and Readable Storage Medium for Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of home control, and in particular to a method, apparatus, cleaning device, and readable storage medium for controlling a cleaning device. Background Technology

[0003] Currently, cleaning robots are widely used due to their convenience in automated cleaning. However, in narrow passageways or areas with a row of chairs, cleaning robots may miss areas when avoiding obstacles due to inaccurate path planning along edges (e.g., along walls) or excessive obstacle avoidance range. Incomplete coverage of the cleaning area will affect the cleaning effect of the robot on the ground. Summary of the Invention

[0004] In view of this, this application provides a control method, apparatus, cleaning equipment, and readable storage medium for cleaning equipment, which enables the cleaning equipment to perform supplementary cleaning, thereby covering a wider cleaning area and improving the cleaning effect of the cleaning equipment on the ground.

[0005] In a first aspect, embodiments of this application provide a method for controlling a cleaning device, including:

[0006] During the cleaning process of the cleaning equipment performing cleaning tasks on the cleaning area, the actual movement path of the cleaning equipment is recorded, and the simulated movement path is obtained by simulating the movement of the cleaning equipment in a stable edge state.

[0007] Whether additional cleaning is needed is determined by comparing the actual movement path with the simulated movement path.

[0008] Secondly, embodiments of this application provide a control device for a cleaning equipment, comprising:

[0009] The path recording module is used to record the actual movement path of the cleaning equipment during the cleaning process.

[0010] The path simulation module is used to simulate the movement of the cleaning equipment in a stable edge-adjacent state to obtain a simulated movement path.

[0011] The supplementary cleaning judgment module is used to determine whether supplementary cleaning is needed based on a comparison between the actual movement path and the simulated movement path.

[0012] Thirdly, embodiments of this application provide a cleaning device that includes a processor and a memory. The memory stores programs or instructions that can run on the processor, and when the programs or instructions are executed by the processor, they implement the steps of the method as described in the first aspect.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method as described in the first aspect.

[0014] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 shows a flowchart illustrating the control method of the cleaning equipment according to an embodiment of this application;

[0017] Figure 2 shows a structural block diagram of the control device of the cleaning equipment according to an embodiment of this application;

[0018] Figure 3 shows a structural block diagram of the cleaning equipment according to an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0020] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0021] The control method, apparatus, cleaning equipment, and readable storage medium of the cleaning equipment provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0022] This application provides a control method for a cleaning device, as shown in Figure 1. The method includes:

[0023] S101, during the cleaning process of the cleaning equipment performing the cleaning task on the cleaning area, record the actual movement path of the cleaning equipment and simulate the movement of the cleaning equipment in a stable edge state to obtain the simulated movement path.

[0024] In this step, the cleaning equipment performs cleaning tasks within the cleaning area. An expanded map is constructed based on a high-precision map of the cleaning area, and the actual movement path of the cleaning equipment in unstable edge-adjacent states is recorded on the expanded map. Furthermore, starting from the initial detection point on the expanded map, the cleaning equipment is transformed from a circle into a point, simulating the movement logic of the cleaning equipment in real stable edge-adjacent states. By moving forward on the expanded map, a simulated movement path is obtained, which is also the simulated optimal edge-adjacent path.

[0025] In one embodiment, when the cleaning device is in an unstable edge-adjacent state, the coordinates of the cleaning device moving at a speed greater than a certain speed will be recorded at a certain frequency, thereby realizing the recording of the actual movement path.

[0026] Cleaning equipment operates in different states during cleaning, including edge-following state, stable edge-following state, unstable edge-following state, and obstacle avoidance state. Edge-following state refers to the cleaning equipment initially cleaning the boundary of the area at the current coordinates after entering the cleaning state. This boundary can be actual walls and obstacles in the user's home, or the cleaning boundary of this area. In this application, "edge-following" refers to the former, that is, cleaning along actual walls and obstacles in the user's home.

[0027] Obstacle avoidance refers to the following: the detection device on the cleaning equipment generates a series of point cloud data of the object it detects. The cleaning equipment then converts the point cloud data into obstacles with coordinates. When the cleaning equipment encounters such obstacles, it will perform avoidance actions.

[0028] A stable edge-avoidance state refers to a situation where the cleaning equipment is in an edge-avoidance state where the actual wall it is avoiding is a straight wall, and this state is maintained for a certain duration, such as 1 second. Conversely, a stable edge-avoidance state cannot be maintained for a certain duration; for example, it may perform at least one edge-avoidance obstacle avoidance action in an edge-avoidance state.

[0029] Cleaning equipment often misses cleaning in unstable edge states. This application embodiment can address the problem of missed cleaning in unstable edge states (i.e., between two stable edge states) due to excessive edge obstacle avoidance actions.

[0030] In one embodiment of this application, the method includes:

[0031] The obstacle point cloud data collected by the detection device of the cleaning equipment is updated to the map, and the obstacle location is determined on the map;

[0032] The map is expanded by using the location of the obstacle as the center and the radius of the cleaning equipment as the expansion radius. The expanded map is then marked as an impassable area.

[0033] In this embodiment, the cleaning equipment collects obstacle point cloud data through a detection device, which includes an LDS (Laser Direct Structuring) device, a line laser device, etc. The LDS device performs laser ranging and can return the shortest distance of obstacles in each degree within a fixed 360° range around the cleaning equipment every 200ms. The line laser device is similar to the LDS device and returns the shortest distance of obstacles in each degree within a 360° range around the cleaning equipment. The difference is that the obstacles measured by the LDS device are all at the same height (the same height as the cleaning equipment), while the line laser device can obtain data within different height ranges.

[0034] The high-precision map is updated using the collected obstacle point cloud data as the data source. The update method is as follows: when the cleaning equipment has not moved to the map boundary, the corresponding coordinates are calculated with the cleaning equipment as the center point of the data source. When the cleaning equipment moves to the map boundary, the map center is moved to the coordinates of the cleaning equipment. Point cloud data that is no longer within the map range is erased, while point cloud data that is still within the range is retained.

[0035] The location of obstacles is determined on a high-precision map. Specifically, obstacles are identified and colored on the high-precision map. When the same coordinate on the high-precision map is colored more than a preset threshold, the coordinate point is determined as a stable obstacle point, thereby determining the location of the obstacle.

[0036] Furthermore, map inflation is performed with the obstacle location as the center and the radius of the cleaning equipment as the inflation radius to obtain an inflation map for path planning. After inflation, the area corresponding to the obstacle location is marked as an impassable area for subsequent path planning.

[0037] Inflated maps provide additional safety space for cleaning equipment by expanding the boundaries of obstacles. When simulating paths based on inflated maps, the expanded boundaries ensure that the planned path will not collide with obstacles, guaranteeing a high level of safety. Furthermore, in dynamic environments, the position and state of obstacles may change; the expanded boundaries ensure that the planned path adapts to these changes, helping the cleaning equipment to react promptly to unexpected situations.

[0038] In one embodiment of this application, during the simulation of the movement path of the cleaning equipment, the simulated movement data of the cleaning equipment within a preset time period is less than the actual movement data of the cleaning equipment within the preset time period; the simulated movement data includes simulated movement speed or simulated movement distance, and the actual movement data includes actual movement speed or actual movement distance.

[0039] In this embodiment, during the simulation of the cleaning equipment's movement path, attention needs to be paid to the speed of the simulated movement path. If the simulation speed is too fast, it may cause two problems:

[0040] (1) The simulation speed is too fast, and the obstacles in the places that the cleaning equipment does not reach are inaccurate, resulting in low accuracy of the simulated movement path.

[0041] Because obstacles are constantly updated as the cleaning equipment moves, point cloud data may exist for locations relatively far from the equipment, but this point cloud data is relatively inaccurate. The creation of an inflated map is highly dependent on the accuracy of the obstacle point cloud data; if the inflated map is inaccurate, the simulated movement path based on it will also be inaccurate.

[0042] (2) Simulation speed that is too fast will cause the path deviation to be extremely large.

[0043] Since some obstacles may appear when the cleaning equipment is relatively close (such as a pet that suddenly appears), the cleaning equipment needs to avoid the obstacle. If the simulation speed is too fast, the simulated movement path may have already crossed the obstacle, and in this case, the simulated movement path is an incorrect path.

[0044] Therefore, when simulating the movement path of cleaning equipment, it is necessary to control the simulated speed. This can be achieved by controlling the simulated movement speed of the cleaning equipment within a preset time period to be less than its actual movement speed within that time period, or by controlling the simulated movement distance within a preset time period to be less than its actual movement distance within that time period, thereby ensuring the accuracy of the simulated movement path.

[0045] S102, determine whether the cleaned area needs additional cleaning based on a comparison between the actual movement path and the simulated movement path.

[0046] In this step, the actual movement path and the simulated movement path are compared to determine whether the cleaning area of ​​the cleaning equipment needs additional cleaning.

[0047] In one embodiment of this application, the method of determining whether a clean area needs additional cleaning based on a comparison between the actual movement path and the simulated movement path includes: if there is a path deviation between the actual movement path and the simulated movement path, then it is determined that the clean area needs additional cleaning.

[0048] In this embodiment, from the start of detection, in most cases, there will be at least a short segment of similarity between the simulated and actual movement paths, leading to path divergence in certain missed cleaning areas. Therefore, the presence of missed cleaning areas can be determined based on whether there is a path deviation between the actual and simulated movement paths. If there is no path deviation between the actual and simulated movement paths, it is determined that no missed cleaning area has occurred; if there is a path deviation between the actual and simulated movement paths, it is determined that a missed cleaning area has occurred.

[0049] By comparing the simulated stable edge-side movement path with the actual movement path, it is possible to accurately determine whether a cleaning area needs additional cleaning, thereby controlling the cleaning equipment to perform additional cleaning on the areas that need additional cleaning.

[0050] In one embodiment of this application, the method for determining whether there is a path deviation between the actual movement path and the simulated movement path includes:

[0051] Obtain the distance and direction of travel between the endpoint of the actual movement path and the endpoint of the simulated movement path. If the distance exceeds a preset distance threshold and / or the angle between the directions of travel exceeds a first preset angle threshold, then a path deviation is determined to exist between the actual movement path and the simulated movement path; or,

[0052] A first travel path is predicted based on the actual travel path, and a second travel path is predicted based on the simulated travel path. If the angle between the travel direction of the first travel path and the travel direction of the second travel path exceeds a second preset angle threshold, then a path deviation is determined to exist between the actual travel path and the simulated travel path.

[0053] In one embodiment, the distance between the end point of the actual movement path and the end point of the simulated movement path, and the angle between the direction of the end point of the actual movement path and the direction of travel of the end point of the simulated movement path are calculated. If the distance exceeds a preset distance threshold and / or the angle between the directions of travel exceeds a first preset angle threshold, it indicates that there is a large deviation between the two, and then it is determined that there is a path deviation between the actual movement path and the simulated movement path.

[0054] In another embodiment, a short segment of the actual movement path (i.e., the first movement path) is simulated, and a short segment of the simulated movement path (i.e., the second movement path) is simulated. The angle between the movement direction of the first movement path and the movement direction of the second movement path is calculated. If the angle exceeds a second preset angle threshold, it indicates that there is a large deviation between the movement directions of the two paths, and a path deviation is determined to exist between the actual movement path and the simulated movement path.

[0055] In one embodiment of this application, the starting point of the deviation between the actual movement path and the simulated movement path is obtained, and the starting point of the deviation is used as the target similarity point.

[0056] In this embodiment, after determining the divergence between the actual and simulated movement paths, it is also necessary to determine the starting point of the divergence, that is, to determine the starting point of the path deviation between the actual and simulated movement paths, which is the last similar coordinate between the actual and simulated movement paths. In some embodiments, the starting point of the deviation can be determined using DTW (Dynamic Time Warping) algorithms, path curvature methods, etc.

[0057] The DTW algorithm is used to compare the similarity of two time series and can handle problems of different lengths and local time distortions. The actual movement path and the simulated movement path can be regarded as two time series. First, the distance between every two points in the two sequences is calculated using Euclidean distance to obtain the Euclidean distance matrix. Based on the Euclidean distance matrix, the first point of significant deviation (i.e., the point where the Euclidean distance suddenly increases) is found, and this point is the starting point of the deviation.

[0058] The path curvature method compares the curvature of adjacent points between the actual and simulated movement paths. If two points on the two paths are within a certain range of curvature and distance thresholds, then these two points are considered similar. The more consecutive similar points there are, the more similar the path segments can be considered. If two points on the two paths are not within a certain range of curvature and distance thresholds, then these two points are called the starting points of the deviation.

[0059] In one embodiment of this application, after S102, the method further includes: if additional cleaning is required, determining an additional cleaning point in the simulated movement path; controlling the cleaning device to move to the additional cleaning point, and moving along the edge from the additional cleaning point to perform additional cleaning.

[0060] In this step, when it is determined that the cleaning area needs additional cleaning, a supplementary cleaning point is identified in the simulated movement path, serving as the data basis for controlling the cleaning equipment to perform supplementary cleaning. After identifying the supplementary cleaning point, the current state of the cleaning equipment is interrupted, and the equipment is controlled to reach the supplementary cleaning point. Then, the equipment is controlled to enter the edge-following state again, and supplementary cleaning can begin.

[0061] In related technologies, if obstacles appear in the direction of travel while the cleaning equipment is moving along the edge, the equipment may fail to enter a small area for cleaning due to inaccurate edge path planning or an excessively large obstacle avoidance range, resulting in missed cleaning of certain areas.

[0062] This application embodiment can detect cleaning omissions that occur during the movement of the cleaning equipment along the edge, and determine supplementary cleaning points when omissions are detected, thereby controlling the cleaning equipment to perform supplementary cleaning, thus covering a larger area of ​​the cleaning area and improving the cleaning effect of the cleaning equipment on the ground.

[0063] In one embodiment of this application, determining supplementary cleaning points in a simulated movement path includes:

[0064] Obtain the target similarity points between the actual movement path and the simulated movement path;

[0065] On the simulated movement path, starting from the target similarity point, traverse each path point of the simulated movement path to obtain multiple target path points that meet preset conditions, including that one side of the path point is a wall and there are no obstacles within the device width range of the path point.

[0066] For multiple target path points obtained, if the distance between the first target path point and the last target path point is greater than the preset distance, then the last target path point will be used as a supplementary cleaning point.

[0067] In this embodiment, the starting point of the deviation between the actual movement path and the simulated movement path is taken as the target similarity point, and supplementary cleaning points are determined based on the target similarity point.

[0068] Specifically, in the simulated movement path, starting from the target similarity point, a supplementary cleaning point is searched backwards. Using each path point of the simulated movement path as the center, an n×n (n is a positive number, e.g., 3×3) grid is expanded outwards, traversing the area to determine if the path point satisfies the condition that there are no obstacles within a device width range and one side is a wall (e.g., the right side is a wall). Multiple path points satisfying these conditions are found. Further, it is determined whether the distance between the first and last path points is greater than a preset distance (e.g., 100mm). If it is, the last path point is designated as a supplementary cleaning point. If the distance between the first and last path points is not considered, and the cleaning device directly reaches the first path point, it is still possible to encounter obstacles. This application sets a preset distance, such as 100cm, approximately 1 / 3 of the device width, to ensure that obstacles are not encountered when crossing to the supplementary cleaning point.

[0069] The embodiments of this application can accurately determine the replenishment cleaning point through the above method, and can ensure that the cleaning equipment will not encounter obstacles when moving to the replenishment cleaning point, thus ensuring safe replenishment cleaning.

[0070] As a specific implementation of the control method for the above-mentioned cleaning equipment, this application provides a control device for the cleaning equipment. As shown in FIG2, the control device 200 for the cleaning equipment includes: a path recording module 201, a path simulation module 202, a supplementary cleaning judgment module 203, and a supplementary cleaning control module 204.

[0071] The path recording module 201 is used to record the actual movement path of the cleaning equipment during the cleaning process of the cleaning equipment performing cleaning tasks on the cleaning area.

[0072] The path simulation module 202 is used to simulate the movement of the cleaning equipment in a stable edge-adjacent state to obtain a simulated movement path.

[0073] The supplementary cleaning judgment module 203 is used to determine whether the cleaning area needs supplementary cleaning based on the comparison between the actual movement path and the simulated movement path.

[0074] This application embodiment can detect cleaning omissions that occur during the movement of the cleaning equipment along the edge, and determine supplementary cleaning points when omissions are detected, thereby controlling the cleaning equipment to perform supplementary cleaning, thus covering a larger area of ​​the cleaning area and improving the cleaning effect of the cleaning equipment on the ground.

[0075] Furthermore, the device also includes a supplementary cleaning control module, used to: determine a supplementary cleaning point in a simulated movement path when supplementary cleaning is required; and control the cleaning equipment to move to the supplementary cleaning point and move along the edge from the supplementary cleaning point to perform supplementary cleaning.

[0076] Furthermore, the device also includes: a map building module, used for:

[0077] The obstacle point cloud data collected by the detection device of the cleaning equipment is updated to the map, and the obstacle location is determined on the map;

[0078] Using the location of the obstacle as the center and the radius of the cleaning equipment as the expansion radius, a map expansion process is performed to obtain the expanded map. After expansion, the area corresponding to the location of the obstacle is marked as an impassable area.

[0079] Furthermore, during the simulation of the simulated movement path, the simulated movement data of the cleaning device within a preset time period is less than the actual movement data of the cleaning device within the preset time period; the simulated movement data includes simulated movement speed or simulated movement distance, and the actual movement data includes actual movement speed or actual movement distance.

[0080] Furthermore, the supplementary cleaning judgment module 203 is specifically used to: determine that the cleaning area needs to be cleaned if there is a path deviation between the actual movement path and the simulated movement path.

[0081] Furthermore, a cleaning judgment module 203 is added, specifically used for:

[0082] Obtain the distance and direction of travel between the endpoint of the actual movement path and the endpoint of the simulated movement path. If the distance exceeds a preset distance threshold and / or the angle between the directions of travel exceeds a first preset angle threshold, then it is determined that there is a path deviation between the actual movement path and the simulated movement path; or,

[0083] A first travel path is predicted based on the actual travel path, and a second travel path is predicted based on the simulated travel path. If the angle between the travel direction of the first travel path and the travel direction of the second travel path exceeds a second preset angle threshold, then a path deviation is determined to exist between the actual travel path and the simulated travel path.

[0084] Furthermore, a cleaning judgment module 203 is added, specifically used for:

[0085] Obtain the target similarity points between the actual movement path and the simulated movement path;

[0086] On the simulated movement path, starting from the target similarity point, each path point of the simulated movement path is traversed to obtain multiple target path points that meet preset conditions, including that one side of the path point is a wall and there are no obstacles within the device width range of the path point;

[0087] For the multiple target path points obtained, if the distance between the first target path point and the last target path point is greater than a preset distance, then the last target path point is used as the supplementary cleaning point.

[0088] Furthermore, a cleaning judgment module 203 is added, specifically used for:

[0089] Obtain the starting point of the path deviation between the actual movement path and the simulated movement path, and use the starting point of the deviation as the target similarity point.

[0090] The control device 200 for the cleaning equipment in this embodiment can be the cleaning equipment itself, or a component within the cleaning equipment, such as an integrated circuit or a chip. The control device 200 for the cleaning equipment provided in this embodiment can implement the various processes implemented in the control method embodiment of the cleaning equipment in FIG1; to avoid repetition, these will not be described again here.

[0091] This application embodiment also provides a cleaning device, as shown in FIG3. The cleaning device 300 includes a processor 301 and a memory 302. The memory 302 stores a program or instructions that can run on the processor 301. When the program or instructions are executed by the processor 301, they implement the various steps of the control method embodiment of the cleaning device described above and can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0092] The memory 302 can be used to store software programs and various data. The memory 302 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 302 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 302 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0093] Processor 301 may include one or more processing units; optionally, processor 301 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 301.

[0094] This application also provides a computer-readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the control method embodiment of the cleaning equipment described above and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0095] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0096] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A control method of a cleaning apparatus, wherein, include: During the cleaning process of the cleaning equipment performing cleaning tasks on the cleaning area, the actual movement path of the cleaning equipment is recorded, and the simulated movement path is obtained by simulating the movement of the cleaning equipment in a stable edge state. The determination of whether the cleaning area needs additional cleaning is based on a comparison between the actual movement path and the simulated movement path.

2. The method of claim 1, wherein, The method includes: After the determination, if additional cleaning is required, a supplementary cleaning point is determined in the simulated movement path; the cleaning equipment is controlled to move to the supplementary cleaning point, and the equipment moves along the edge from the supplementary cleaning point to perform supplementary cleaning.

3. The method of claim 1 or 2, wherein, The method includes: The obstacle point cloud data collected by the detection device of the cleaning equipment is updated to the map, and the obstacle location is determined on the map; Using the location of the obstacle as the center and the radius of the cleaning equipment as the expansion radius, map expansion processing is performed to obtain an expanded map. After expansion, the area corresponding to the location of the obstacle is marked as an impassable area.

4. The method according to claim 1, wherein, During the simulation of the simulated movement path, the simulated movement data of the cleaning device within a preset time period is less than the actual movement data of the cleaning device within the preset time period. The simulated movement data includes simulated movement speed or simulated movement distance, and the actual movement data includes actual movement speed or actual movement distance.

5. The method of claim 1, wherein, Methods for determining whether the cleaning area needs additional cleaning based on a comparison between the actual movement path and the simulated movement path include: If there is a path deviation between the actual movement path and the simulated movement path, then the cleaning area is determined to need additional cleaning.

6. The method of claim 5, wherein, Methods for determining whether there is a path deviation between the actual movement path and the simulated movement path include: Obtain the distance and direction of travel between the endpoint of the actual movement path and the endpoint of the simulated movement path. If the distance exceeds a preset distance threshold and / or the angle between the directions of travel exceeds a first preset angle threshold, then it is determined that there is a path deviation between the actual movement path and the simulated movement path; or, A first travel path is predicted based on the actual travel path, and a second travel path is predicted based on the simulated travel path. If the angle between the travel direction of the first travel path and the travel direction of the second travel path exceeds a second preset angle threshold, then a path deviation is determined to exist between the actual travel path and the simulated travel path.

7. The method of claim 2, wherein, Determining supplementary cleaning points in the simulated movement path includes: Obtain the target similarity points between the actual movement path and the simulated movement path; On the simulated movement path, starting from the target similarity point, each path point of the simulated movement path is traversed to obtain multiple target path points that meet preset conditions, including that one side of the path point is a wall and there are no obstacles within the device width range of the path point; For the multiple target path points obtained, if the distance between the first target path point and the last target path point is greater than a preset distance, then the last target path point is used as the supplementary cleaning point.

8. The method of claim 7, wherein, The step of obtaining the target similarity points between the actual movement path and the simulated movement path includes: Obtain the starting point of the path deviation between the actual movement path and the simulated movement path, and use the starting point of the deviation as the target similarity point.

9. A control device for a cleaning apparatus, wherein, include: The path recording module is used to record the actual movement path of the cleaning equipment during the cleaning process. The path simulation module is used to simulate the movement of the cleaning equipment in a stable edge-adjacent state to obtain a simulated movement path. The supplementary cleaning judgment module is used to determine whether the cleaning area needs supplementary cleaning based on a comparison between the actual movement path and the simulated movement path.

10. The apparatus of claim 9, wherein, The device further includes: A supplementary cleaning control module is used to: determine a supplementary cleaning point in the simulated movement path when supplementary cleaning is required; and control the cleaning equipment to move to the supplementary cleaning point and perform supplementary cleaning by moving along the edge from the supplementary cleaning point.

11. The apparatus of claim 9 or 10, wherein, The device further includes: The map building module is used to: update the obstacle point cloud data collected by the detection device of the cleaning equipment to the map, and determine the obstacle position on the map; and perform map expansion processing with the obstacle position as the center and the radius of the cleaning equipment as the expansion radius to obtain an expanded map, and the area corresponding to the obstacle position after expansion is marked as an impassable area.

12. The apparatus according to claim 9, wherein, During the simulation of the simulated movement path, the simulated movement data of the cleaning device within a preset time period is less than the actual movement data of the cleaning device within the preset time period. The simulated movement data includes simulated movement speed or simulated movement distance, and the actual movement data includes actual movement speed or actual movement distance.

13. The apparatus of claim 9, wherein, The supplementary cleaning judgment module is used for: If there is a path deviation between the actual movement path and the simulated movement path, then the cleaning area is determined to need additional cleaning.

14. The apparatus of claim 13, wherein, The supplementary cleaning judgment module is used for: Obtain the distance and direction of travel between the end point of the actual movement path and the end point of the simulated movement path. If the distance exceeds a preset distance threshold and / or the angle between the directions of travel exceeds a first preset angle threshold, then it is determined that there is a path deviation between the actual movement path and the simulated movement path. or, A first travel path is predicted based on the actual travel path, and a second travel path is predicted based on the simulated travel path. If the angle between the travel direction of the first travel path and the travel direction of the second travel path exceeds a second preset angle threshold, then a path deviation is determined to exist between the actual travel path and the simulated travel path.

15. The apparatus of claim 10, wherein, The supplementary cleaning judgment module is used for: Obtain the target similarity points between the actual movement path and the simulated movement path; On the simulated movement path, starting from the target similarity point, each path point of the simulated movement path is traversed to obtain multiple target path points that meet preset conditions, including that one side of the path point is a wall and there are no obstacles within the device width range of the path point; For the multiple target path points obtained, if the distance between the first target path point and the last target path point is greater than a preset distance, then the last target path point is used as the supplementary cleaning point.

16. The apparatus of claim 15, wherein, The supplementary cleaning judgment module is used for: Obtain the starting point of the path deviation between the actual movement path and the simulated movement path, and use the starting point of the deviation as the target similarity point.

17. A cleaning apparatus wherein, It includes a processor and a memory, the memory storing a program or instructions that run on the processor, the program or instructions being executed by the processor to implement the steps of the control method for the cleaning equipment as described in any one of claims 1 to 8.

18. A computer readable storage medium having stored thereon a program or instructions, wherein, When the program or instructions are executed by the processor, they implement the steps of the control method for the cleaning equipment as described in any one of claims 1 to 8.

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