Cleaning device control method and apparatus, and device

Abstract

The present application relates to the technical field of floor cleaning, and discloses a cleaning device control method and apparatus, and a device, capable of avoiding identifying a complex behavior path of a specific space in a cleaning scenario, thereby improving cleaning efficiency. The method comprises: acquiring at least one marked spatial area having a cleaning height requirement; creating a cleaning task on the basis of task requirements of the marked spatial area in different cleaning scenarios; and in response to an execution instruction for the cleaning task in a preset cleaning scenario, controlling, on the basis of the cleaning task, a cleaning device to execute cleaning logic on the corresponding marked spatial area.

Description

Control methods, devices and equipment for cleaning equipment

[0001] This application claims priority to Chinese Patent Application No. 202411621415.0, filed on November 13, 2024, entitled "Control Method, Apparatus and Equipment for Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of floor cleaning technology, and in particular to a control method, apparatus and equipment for cleaning equipment. Background Technology

[0003] With the development of technology, various intelligent cleaning equipment has emerged, such as sweeping equipment, mopping equipment, and window cleaning equipment. These cleaning devices can be placed in specific areas to execute user-triggered commands, which not only liberates labor but also saves labor costs.

[0004] In related technologies, cleaning equipment features a liftable upper component, allowing for adjustments to the equipment's height. Specifically, in the control process of the cleaning equipment, line laser height measurement can be used to identify specific spaces with height requirements. Once a specific space is identified, cleaning can be achieved by raising or lowering a preset functional component. However, in some special cleaning scenarios, line laser height measurement has certain errors and cannot accurately identify specific spaces with height cleaning requirements in complex paths, making it difficult for the component to effectively clean those spaces through height adjustment. (Application Content)

[0005] In view of this, this application provides a control method, device and equipment for cleaning equipment, the main purpose of which is to solve the problem that in the prior art, linear laser height measurement cannot accurately identify specific spaces with high cleaning requirements in complex paths, making it difficult for components to achieve cleaning of specific spaces by lifting and lowering.

[0006] According to a first aspect of this application, a method for controlling a cleaning device is provided, comprising:

[0007] Obtain at least one labeled space area with a clean height requirement;

[0008] Based on the task requirements of the marked spatial area in different cleaning scenarios, create cleaning tasks;

[0009] In response to the execution command of the cleaning task in the preset cleaning scenario, the cleaning device is controlled to perform cleaning logic on the corresponding marked space area according to the cleaning task.

[0010] In one feasible implementation, obtaining at least one labeled space area with a cleanliness height requirement specifically includes:

[0011] Obtain map information of the area to be cleaned;

[0012] In response to the marking operation of the area to be cleaned, the spatial area with cleaning height requirements is marked in the area to be cleaned according to the map information, so as to obtain at least one marked spatial area.

[0013] In one feasible implementation, before marking the spatial areas with cleaning height requirements in the area to be cleaned according to the map information to obtain at least one marked spatial area, the method further includes:

[0014] Add a labeling option to the area to be cleaned to associate it with a target cleaning object that has a cleaning height requirement;

[0015] Accordingly, marking the spatial areas with cleaning height requirements in the area to be cleaned based on the map information, thereby obtaining at least one marked spatial area, specifically includes:

[0016] In response to the operation command of the annotation option, the attribute information of the target cleaning object associated with the annotation option is set to a type with cleaning height requirements;

[0017] The location information of the target cleaning object is determined based on the map information;

[0018] Based on the location information of the target cleaning object, mark the spatial areas with cleaning height requirements in the area to be cleaned, and obtain at least one marked spatial area.

[0019] In one feasible implementation, prior to obtaining at least one labeled space area with cleanliness requirements, the method further includes:

[0020] Obtain historical cleaning information of the cleaning equipment, including map information of historical cleaning and lifting information of preset functional components of the cleaning equipment during historical cleaning;

[0021] The lifting information is used to record the position of the preset functional components that were triggered to lift or lower during the historical cleaning process of the cleaning equipment.

[0022] If the number of times the cleaning equipment triggers the lifting and lowering of the preset functional component in the same position reaches a set number, then at least one marked spatial area with cleaning height is determined in the historical cleaning map information based on the positions where the preset functional component is repeatedly triggered to lift and lower.

[0023] In one feasible implementation, the step of creating a cleaning task based on the task requirements of the marked spatial area in different cleaning scenarios specifically includes:

[0024] Based on the task requirements of the marked space area in different cleaning scenarios, the cleaning logic executed by the cleaning equipment on the marked space area in different cleaning scenarios is generated.

[0025] A cleaning task is created based on the cleaning logic executed by the cleaning equipment on the marked space area in the different cleaning scenarios.

[0026] In one feasible implementation, the step of responding to the execution command of a cleaning task in a preset cleaning scenario and controlling the cleaning device to perform cleaning logic on the corresponding marked space area according to the cleaning task specifically includes:

[0027] In response to the execution command of the cleaning task in the preset cleaning scenario, the first cleaning command and / or the second cleaning command of the cleaning device for the marked space area are determined according to the cleaning task based on the set cleaning sequence.

[0028] When the cleaning equipment moves toward any marked space area, the cleaning equipment is controlled to avoid or enter the marked space area according to the first cleaning command and / or the second cleaning command.

[0029] In one feasible implementation, the change in cleaning mode of the cleaning device under the control of the first cleaning command does not affect the cleaning of the marked area. The cleaning device is controlled to avoid or enter the marked space area according to the first cleaning command, specifically including:

[0030] When the cleaning equipment moves to any marked space area, the cleaning progress completed by the cleaning equipment is obtained according to the first cleaning instruction;

[0031] Based on the cleaning progress already completed by the cleaning equipment, control the cleaning equipment to avoid or enter the marked space area;

[0032] The step of controlling the cleaning equipment to avoid or enter the marked space area based on the cleaning progress already completed by the cleaning equipment specifically includes:

[0033] If the cleaning equipment fails to clean all areas within the area to be cleaned except for the marked space area, the cleaning equipment is controlled to avoid the marked space area.

[0034] If the cleaning device has completed cleaning all areas within the area to be cleaned except for the marked space area, then the cleaning device is controlled to enter the marked space area for cleaning by lowering the preset functional components.

[0035] In one feasible implementation, the cleaning device, under the control of a second cleaning command, changes its cleaning mode, affecting the cleaning of the marked area. The second cleaning command controls the cleaning device to avoid or enter the marked area, specifically including:

[0036] When the cleaning equipment moves toward any marked space area, the cleaning mode of the cleaning equipment is obtained according to the second cleaning instruction;

[0037] According to the cleaning mode of the cleaning equipment, the cleaning equipment is controlled to avoid or enter the marked space area;

[0038] The step of controlling the cleaning equipment to avoid or enter the marked space area according to the cleaning mode of the cleaning equipment specifically includes:

[0039] If the cleaning mode of the cleaning equipment is zigzag cleaning mode, then the cleaning equipment is controlled to avoid the marked space area;

[0040] If the cleaning mode of the cleaning device is edge cleaning mode, then the cleaning device is controlled to enter the marked space area by lowering the preset functional component and to rise the preset functional component after leaving the marked space area, until the cleaning device has completed cleaning all areas in the area to be cleaned except for the marked space area, and then the cleaning device is controlled to enter the marked space area for cleaning.

[0041] In one feasible implementation, before controlling the cleaning equipment to perform cleaning logic on the corresponding injection space area according to the cleaning task, the method further includes:

[0042] During the movement of the cleaning equipment, spatial detection is performed on the current cleaning area;

[0043] If it is detected that the current cleaning area has a cleaning height requirement and overlaps with the marked space area, then the cleaning equipment is controlled to trigger a preset functional component to descend according to the order in which the cleaning equipment enters the current cleaning area or the marked space area, and the cleaning equipment is controlled to trigger a preset functional component to ascend when it leaves the current cleaning area and the marked space area.

[0044] In one feasible implementation, after obtaining at least one labeled space area with cleanliness requirements, the method further includes:

[0045] In response to a movement command for the cleaning equipment in a non-clean environment, the cleaning equipment is controlled to avoid the marked space area;

[0046] If the cleaning equipment cannot avoid the marked space area during movement, the cleaning equipment is controlled to lower the preset functional component to enter the marked space area and raise the preset functional component after leaving the marked space area.

[0047] In one feasible implementation, before controlling the cleaning equipment to perform cleaning logic on the corresponding marked space area according to the cleaning task, the method further includes:

[0048] If the cleaning equipment triggers the rise of other preset components during its movement, the cleaning equipment is controlled to avoid the marked space area.

[0049] According to a second aspect of this application, a control device for a cleaning equipment is provided, comprising:

[0050] The first acquisition unit is used to acquire at least one labeled space region with a cleanliness height requirement;

[0051] A creation unit is used to create cleaning tasks based on the task requirements of the marked spatial area in different cleaning scenarios;

[0052] The first control unit is used to respond to the execution command of the cleaning task in the preset cleaning scenario and control the cleaning equipment to perform cleaning logic on the corresponding marked space area according to the cleaning task.

[0053] In one feasible implementation, the first acquisition unit includes:

[0054] The acquisition module is used to obtain map information of the area to be cleaned;

[0055] The annotation module is used to respond to the annotation operation of the area to be cleaned, and to mark the spatial areas with cleaning height requirements in the area to be cleaned according to the map information, so as to obtain at least one annotated spatial area.

[0056] In one feasible implementation, the first acquisition unit further includes:

[0057] An addition module is used to add a labeling option to the area to be cleaned, which has a cleaning height requirement, before marking the spatial area with cleaning height requirement in the area to be cleaned according to the map information to obtain at least one labeled spatial area.

[0058] Accordingly, the annotation module is specifically used for:

[0059] In response to the operation command of the annotation option, the attribute information of the target cleaning object associated with the annotation option is set to a type with cleaning height requirements;

[0060] The location information of the target cleaning object is determined based on the map information;

[0061] Based on the location information of the target cleaning object, mark the spatial areas with cleaning height requirements in the area to be cleaned, and obtain at least one marked spatial area.

[0062] In one feasible implementation, the device further includes:

[0063] The second acquisition unit is used to acquire historical cleaning information of the cleaning equipment before acquiring at least one marked spatial area with cleaning height requirements. The historical cleaning information includes map information of historical cleaning and lifting information of preset functional components of the cleaning equipment during historical cleaning.

[0064] The recording unit is used to record the position of the cleaning equipment triggering the lifting of preset functional components during historical cleaning processes, based on the lifting information.

[0065] The determining unit is used to determine at least one marked spatial area with cleaning height in the map information of the historical cleaning based on the position of the multiple triggering of the preset functional component lifting and lowering at the same position if the number of times the cleaning equipment triggers the lifting and lowering of the preset functional component reaches a set number.

[0066] In one feasible implementation, the creation unit is specifically used for:

[0067] Based on the task requirements of the marked space area in different cleaning scenarios, the cleaning logic executed by the cleaning equipment on the marked space area in different cleaning scenarios is generated.

[0068] A cleaning task is created based on the cleaning logic executed by the cleaning equipment on the marked space area in the different cleaning scenarios.

[0069] In one feasible implementation, the first control unit includes:

[0070] The determination module is used to respond to the execution instructions of the cleaning task in the preset cleaning scenario, and determine the first cleaning instruction and / or the second cleaning instruction of the cleaning equipment for the marked space area based on the cleaning task and the set cleaning sequence.

[0071] The control module is used to control the cleaning equipment to avoid or enter the marked space area according to the first cleaning command and / or the second cleaning command when the cleaning equipment moves toward any marked space area.

[0072] In one feasible implementation, the change in cleaning mode of the cleaning equipment under the control of the first cleaning command does not affect the cleaning of the marked area. The control module is specifically used for:

[0073] When the cleaning equipment moves to any marked space area, the cleaning progress completed by the cleaning equipment is obtained according to the first cleaning instruction;

[0074] Based on the cleaning progress already completed by the cleaning equipment, control the cleaning equipment to avoid or enter the marked space area;

[0075] The control module is further used for:

[0076] If the cleaning equipment fails to clean all areas within the area to be cleaned except for the marked space area, the cleaning equipment is controlled to avoid the marked space area.

[0077] If the cleaning device has completed cleaning all areas within the area to be cleaned except for the marked space area, then the cleaning device is controlled to enter the marked space area for cleaning by lowering the preset functional components.

[0078] In one feasible implementation, the cleaning device, under the control of a second cleaning command, changes its cleaning mode, affecting the cleaning of the marked area. The control module is specifically used for:

[0079] When the cleaning equipment moves toward any marked space area, the cleaning mode of the cleaning equipment is obtained according to the second cleaning instruction;

[0080] According to the cleaning mode of the cleaning equipment, the cleaning equipment is controlled to avoid or enter the marked space area;

[0081] The control module is further used for:

[0082] If the cleaning mode of the cleaning equipment is zigzag cleaning mode, then the cleaning equipment is controlled to avoid the marked space area;

[0083] If the cleaning mode of the cleaning device is edge cleaning mode, then the cleaning device is controlled to enter the marked space area by lowering the preset functional component and to rise the preset functional component after leaving the marked space area, until the cleaning device has completed cleaning all areas in the area to be cleaned except for the marked space area, and then the cleaning device is controlled to enter the marked space area for cleaning.

[0084] In one feasible implementation, the device further includes:

[0085] The detection unit is used to perform spatial detection on the current cleaning area during the movement of the cleaning equipment before the cleaning equipment is controlled to perform cleaning logic on the corresponding marked space area according to the cleaning task.

[0086] The first control unit is further configured to, if it is detected that the current cleaning area has a cleaning height requirement and coincides with the marked space area, control the cleaning equipment to trigger a preset functional component to descend according to the order in which the cleaning equipment enters the current cleaning area or the marked space area, and control the cleaning equipment to trigger a preset functional component to rise when the cleaning equipment leaves the current cleaning area and the marked space area.

[0087] In one feasible implementation, the device further includes:

[0088] The second control unit is configured to, after obtaining at least one marked space area with cleaning height requirements, control the cleaning equipment to avoid the marked space area in response to a movement command of the cleaning equipment in a non-cleaning scenario.

[0089] The third control unit is used to control the cleaning equipment to enter the marked space area by lowering a preset functional component and to raise a preset functional component after leaving the marked space area if the cleaning equipment cannot avoid the marked space area during movement.

[0090] In one feasible implementation, the device further includes:

[0091] The fourth control unit is configured to, before controlling the cleaning device to perform cleaning logic on the corresponding marked space area according to the cleaning task, if the cleaning device triggers the rise of other preset components during the movement of the cleaning device, then control the cleaning device to avoid the marked space area.

[0092] According to a third aspect of this application, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the method for controlling the cleaning device described in the first aspect.

[0093] According to a fourth aspect of this application, a readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for controlling the cleaning equipment described in the first aspect.

[0094] Compared with the prior art, this application has at least the following beneficial effects:

[0095] This application provides a control method, apparatus, and device for cleaning equipment. Compared with the existing method of controlling cleaning equipment by raising and lowering components, the marked space area is a known specific space. The cleaning tasks created by the marked space area in different cleaning scenarios can avoid the need to identify complex behavioral paths in specific spaces in the cleaning scenario, thus improving cleaning efficiency. The marked space area allows the cleaning equipment to automatically raise and lower preset functional components when it moves to the edge of the area. This eliminates the need for frequent raising and lowering of preset functional components during the control process of the cleaning equipment, thereby achieving cleaning of specific spaces and saving the lifespan of cleaning components.

[0096] 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

[0097] 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:

[0098] Figure 1 is a flowchart illustrating a control method for a cleaning device according to an embodiment of this application;

[0099] Figure 2 is a flowchart illustrating a specific implementation of step 101 in Figure 1;

[0100] Figure 3 is a schematic diagram of determining at least one marked space area in the area to be cleaned by means of a rectangular selection method in one embodiment of this application;

[0101] Figure 4 is a flowchart illustrating a control method for a cleaning device according to another embodiment of this application;

[0102] Figure 5 is a schematic flowchart of a specific implementation of step 102 in Figure 1;

[0103] Figure 6 is a schematic flowchart of a specific implementation method of step 103 in Figure 1;

[0104] Figure 7 is a flowchart illustrating a control method for a cleaning device according to another embodiment of this application;

[0105] Figure 8 is a schematic diagram of the structure of the control device of the cleaning equipment in one embodiment of this application;

[0106] Figure 9 is a schematic diagram of the device structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0107] The invention will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are described merely to enable those skilled in the art to better understand and thus implement the invention, and are not intended to imply any limitation on the scope of the invention.

[0108] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment".

[0109] In related technologies, cleaning equipment features a height-adjustable upper component, allowing for adjustments to the equipment's height. Specifically, in the control process of the cleaning equipment, line laser height measurement can be used to identify specific spaces with height requirements. Once a specific space is identified, cleaning can be achieved by raising or lowering the component. However, in some special cleaning scenarios, line laser height measurement has certain errors and cannot accurately identify specific spaces with height cleaning requirements in complex paths, making it difficult for the component to effectively clean those spaces by raising or lowering it.

[0110] Specifically, line laser recognition has the following problems in cleaning scenarios:

[0111] First, in order to reduce false judgments, line laser recognition usually sets a high recognition threshold. In other words, the passing height measured by line laser is not actually the limit of the cleaning equipment's passage height, which makes the cleaning equipment have the problem of missing scans.

[0112] Secondly, since exploring the boundaries of a specific space requires special actions, such as zigzag exploration, it has a significant impact on the cleaning efficiency of cleaning equipment.

[0113] Third, in some special cleaning scenarios, line laser recognition may have a certain degree of misjudgment, which may cause certain specific scenarios where components can be reduced to enter to be unrecognized, resulting in the cleaning equipment having the problem of missed scanning.

[0114] To address this problem, this embodiment provides a control method for cleaning equipment, as shown in Figure 1. This method is applied to the control terminal of the cleaning equipment and includes the following steps:

[0115] 101. Obtain at least one labeled space area with cleanliness requirements.

[0116] Among these, the cleaning height requirement restricts the height of the cleaning equipment. In the absence of any obstacles or obstructions, the cleaning equipment can move freely within a given space. However, considering the complexity of actual cleaning scenarios, many spaces contain various objects of a certain height, such as furniture and toys. For these objects, the height requirement of the cleaning equipment must be considered for the space they cover. If the space covered by the object is low, the cleaning equipment cannot move freely within that space without adjusting its height. In such cleaning scenarios, the space has a cleaning height requirement.

[0117] Specifically, after the cleaning equipment creates a cleaning map, it can receive a region selection operation on the cleaning map. Considering that different cleaning objects have different cleaning height requirements, the height that the cleaning equipment can enter in the corresponding marked space area is also different. In order to facilitate the height adjustment of the cleaning equipment in the subsequent cleaning process, a region is selected in the cleaning map through the region selection operation, and the entry height is marked for the selected space area, thereby obtaining at least one marked space area with cleaning height requirements.

[0118] The execution subject in this embodiment can be a control device or device for cleaning equipment, which can be configured on the control end of the cleaning equipment. It can control the cleaning equipment during the cleaning process. The control process includes controlling the accessories on the cleaning equipment and controlling the movement of the cleaning equipment. The height of the cleaning equipment can be changed through accessory control. For example, the height of the cleaning equipment can be adjusted by controlling the upgrade of preset functional components on the cleaning equipment. The position of the cleaning equipment can be changed through movement control. For example, the cleaning equipment can be moved into a certain space area by controlling the movement of the cleaning equipment.

[0119] 102. Create cleaning tasks based on the task requirements of the marked spatial area in different cleaning scenarios.

[0120] Considering that different labeled spatial areas have different cleaning requirements, some corresponding labeled spatial areas have different task requirements in different cleaning scenarios. These task requirements can include, but are not limited to, required cleaning height, required cleaning area, required cleaning times, and required cleaning mode. For example, in some cleaning scenarios, the labeled spatial area requires deep cleaning, in which case the required cleaning times can be set to at least two, and the required cleaning mode is deep cleaning. In some cleaning scenarios, the labeled area has significant movement restrictions, in which case the cleaning area can be set to a smaller size. In some cleaning scenarios, the cleaning object corresponding to the labeled spatial area is very short, in which case the required cleaning height is set according to the height of the cleaning object.

[0121] For example, in a deep cleaning scenario, the required cleaning mode for marked spatial area A is zigzag cleaning, the required cleaning height is 20cm, and the required number of cleaning cycles is 3. In a corner cleaning scenario, the required cleaning mode for marked spatial area A is edge cleaning, the required cleaning height is 40cm, and the required number of cleaning cycles is 2.

[0122] Understandably, based on the completion of the cleaning task, for the marked space area in the selected cleaning scene, the built-in sensors and algorithms can plan the first path for the cleaning equipment to move to the marked space area and the second path for the cleaning equipment to clean within the marked space area. Accordingly, movement control commands are issued to the cleaning equipment according to the first path and the second path.

[0123] 103. In response to the execution command of the cleaning task in the preset cleaning scenario, the cleaning device is controlled to perform cleaning logic on the corresponding marked space area according to the cleaning task.

[0124] In this embodiment, the cleaning tasks in the preset cleaning scenario can be triggered by the user's real-time operation of the cleaning equipment. For example, the user can send control commands to the cleaning equipment through the terminal to achieve deep cleaning of space area B. The cleaning equipment can also automatically jump to the cleaning task of the preset scenario according to the task stage. For example, after the cleaning equipment has completed the cleaning tasks of all space areas except the marked space area B, it can jump to the next task stage, that is, the cleaning task of the marked space area B.

[0125] Understandably, after receiving a cleaning task from a preset cleaning scenario, the cleaning device will control itself to move to the area to be cleaned. During this movement, the device may move towards any marked area. The cleaning logic for these marked areas differs depending on the cleaning scenario and task. Consequently, the device will receive different control commands. In one scenario, the device will receive a command to enter and clean the marked area, leaving after cleaning. In another scenario, the device will receive a command to avoid the marked area, cleaning other areas before entering it. In yet another scenario, while the device receives a command to enter the marked area, it may move towards the edge of the marked area from outside to leave from within.

[0126] The cleaning equipment control method provided in this application embodiment, compared with the existing method of controlling the cleaning equipment by raising and lowering components, avoids the complex behavioral paths of identifying specific spaces in the cleaning scene by creating cleaning tasks based on the task requirements of the marked space area in different cleaning scenarios, thus improving cleaning efficiency. The marked space area allows the cleaning equipment to automatically raise and lower preset functional components when it moves to the edge of the area, so that the cleaning equipment can achieve cleaning of specific spaces without frequently raising and lowering preset functional components during the control process, thus saving the life of cleaning components.

[0127] In practical applications, users can select areas on a map using their terminal devices to mark spatial areas with high cleaning requirements, thus obtaining at least one marked spatial area. Specifically, in the above embodiment, as shown in Figure 2, step 101 includes the following steps:

[0128] 201. Obtain map information of the area to be cleaned.

[0129] 202. In response to the marking operation of the area to be cleaned, mark the spatial area with cleaning height requirements in the area to be cleaned according to the map information, and obtain at least one marked spatial area.

[0130] In this embodiment, before cleaning, the cleaning device typically performs map modeling of the area to be cleaned using a localization method to obtain map information about the area. This map modeling process requires the cleaning device to start from an unknown location in an unknown environment and, during movement, repeatedly observe map features (such as corners, pillars, etc.) to determine its own position and orientation. Then, it incrementally builds the map based on its own position, thus achieving simultaneous localization and map construction. In other words, starting from a certain location, the cleaning device uses sensors to explore the environment, obtain environmental information, interpret the scene, and update or construct map information through certain algorithms.

[0131] Understandably, the map information of the area to be cleaned is usually obtained by combining multiple different spatial regions. For spatial regions with cleaning height requirements, at least one labeled spatial region can be obtained by selecting from multiple different spatial regions through annotation. This labeled spatial region can be a custom shape, or it can be a circle, rectangle, polygon, etc., obtained through graphic selection. See Figure 3 for details. Figure 3 shows a schematic diagram of determining at least one labeled spatial region in the area to be cleaned by using a rectangle. Here, the area to be cleaned consists of multiple cleaning areas, and at least one labeled spatial region can be determined in each cleaning area by using a rectangle (dashed line in the figure).

[0132] Furthermore, considering that the marked space area with cleaning height requirements is usually the area covered by the cleaning object, in the above embodiment, before step 202, the above method includes the following steps:

[0133] Add a label option to the area to be cleaned to associate it with a target cleaning object that has a cleaning height requirement.

[0134] Accordingly, step 202 specifically includes the following steps:

[0135] In response to the operation command of the annotation option, the attribute information of the target cleaning object associated with the annotation option is set to a type with cleaning height requirements;

[0136] The location information of the target cleaning object is determined based on the map information;

[0137] Based on the location information of the target cleaning object, mark the spatial areas with cleaning height requirements in the area to be cleaned, and obtain at least one marked spatial area.

[0138] In this embodiment, the cleaning object can be furniture, toys, appliances, etc. deployed in the area to be cleaned. Typically, the space covered by the target cleaning object has a cleaning height requirement, such as a table or bed. To facilitate operation on the marked space area, the target cleaning object with the cleaning height requirement can be combined with the marked space area. A labeling option for associating the target cleaning object can be added to the area to be cleaned. This labeling option is equivalent to a shortcut operation option added to the editing page. Through the labeling option of the target cleaning object, the space area covered by the corresponding target cleaning object can be quickly set as the marked space area.

[0139] For example, add a label option to the area to be cleaned to associate it with a bed, and add a label option to the area to be cleaned to associate it with a sofa. Accordingly, by triggering the label option for the bed, the space area covered by the bed can be set as the label space area, and by triggering the label option for the sofa, the space area covered by the sofa can be set as the label space area.

[0140] It is understandable that the marked space area is a space area with cleaning height requirements that has already been marked. At this time, there is no need to detect the height of the marked space area. By marking the space area, the cleaning equipment can avoid identifying complex behavior paths, thus improving the cleaning efficiency of the cleaning equipment.

[0141] To facilitate the acquisition of the labeled spatial region, further in the above embodiment, as shown in Figure 4, after step 101, the method further includes the following steps:

[0142] 301. Obtain historical cleaning information from cleaning equipment.

[0143] 302. Record the position of the preset functional component that was triggered to rise or fall during the historical cleaning process based on the lifting information.

[0144] 303. If the number of times the cleaning equipment triggers the lifting and lowering of the preset functional component at the same position reaches a set number, then at least one marked spatial area with cleaning height is determined in the historical cleaning map information based on the positions where the preset functional component is repeatedly triggered to lift and lower.

[0145] The historical cleaning information includes map information of historical cleaning and lifting information of preset functional components of the cleaning equipment during historical cleaning. The preset functional components are components on the cleaning equipment with lifting functions, such as lidar components, walking wheel steering gear lifting components, etc.

[0146] By raising and lowering preset functional components, the cleaning equipment can be controlled to enter or leave the marked space area during the historical cleaning process. Specifically, when the cleaning equipment moves to the edge of the marked space area, it can enter the marked space area by lowering the preset functional components, and correspondingly, it can raise the preset functional components after leaving the marked space area.

[0147] In this embodiment, the positions where the preset functional components are triggered during historical events can be obtained through the lifting and lowering information of the preset functional components. If the preset functional components are triggered multiple times at the same position, it indicates that the spatial area corresponding to that position has a cleaning height requirement. Based on the positions where the preset functional components are triggered multiple times, at least one marked spatial area with a cleaning height is determined in the historical cleaning map information. Specifically, multiple different positions can be obtained after multiple triggering of the preset functional components. The spatial areas corresponding to these multiple different positions can be recommended as potential marked spatial areas. Alternatively, multiple different positions can be formed into a boundary line, and a spatial area can be selected as a potential marked spatial area based on the boundary line. Here, the spatial area formed by each position can be the bounding rectangle of that position, a circle with that position as the center, or a square. It can be understood that the potential marked spatial area is equivalent to the edge area of ​​the marked spatial area. Based on multiple edge areas, at least one marked spatial area with a cleaning height requirement is calculated from the map information.

[0148] For example, during multiple cleaning processes, the cleaning device moves to position A and lowers the preset functional component to clean. At this time, it is indicated that position A may be the edge point of a potential annotation space area. The space area corresponding to position A can be recommended to the user as a potential annotation space area for the user to select.

[0149] Specifically, in the above embodiment, as shown in FIG5, step 102 includes the following steps:

[0150] 401. Based on the task requirements of the marked space area in different cleaning scenarios, generate cleaning logic for the cleaning equipment to perform on the marked space area in different cleaning scenarios.

[0151] 402. Create a cleaning task based on the cleaning logic executed by the cleaning equipment on the marked space area in the different cleaning scenarios.

[0152] In this embodiment, the cleaning logic executed by the cleaning device on the marked space area differs in different cleaning scenarios. This cleaning logic includes at least the cleaning mode, number of cleaning cycles, and cleaning duration. Under the control of the corresponding cleaning logic, the cleaning device can trigger different cleaning strategies when it moves to the edge of the marked space area. For example, in the edge-cleaning mode, moving to the edge of the marked space area triggers a cleaning strategy to enter or leave the marked space area. In the zigzag cleaning mode, moving to the edge of the marked space area triggers a cleaning strategy to avoid the marked space area. A cleaning task is then created based on the cleaning strategy triggered when the cleaning device moves to the edge of the marked space area.

[0153] Understandably, cleaning tasks allow cleaning equipment to trigger different cleaning strategies when moving to the edge of the marked space area. Since the marked space area has height requirements, the overall height of the cleaning equipment needs to be adjusted when entering or leaving it. In this embodiment, the overall height of the cleaning equipment can be adjusted by raising and lowering preset functional components. When entering the marked space area, the overall height of the cleaning equipment is lowered by lowering the preset functional components; conversely, when leaving the marked space area, the overall height of the cleaning equipment is increased by raising the preset functional components.

[0154] Accordingly, in the above embodiments, as shown in FIG6, step 103 includes the following steps:

[0155] 501. In response to the execution instruction of the cleaning task in the preset cleaning scenario, determine the first cleaning instruction and / or the second cleaning instruction of the cleaning device for the marked space area according to the cleaning task.

[0156] 502. When the cleaning equipment moves toward any marked space area, the cleaning equipment is controlled to avoid or enter the marked space area according to the first cleaning instruction and / or the second cleaning instruction.

[0157] In this embodiment, the cleaning order of the cleaning device on the marked space area is determined by the cleaning logic of the cleaning task. This cleaning order can control the cleaning device to use different cleaning instructions when it moves to the edge of the marked space area during the cleaning process. For example, if the cleaning order is to clean the marked space area last, and the cleaning device has not completed cleaning other space areas except the marked space area, the cleaning device will trigger a cleaning instruction to avoid the marked space area when it moves to the marked space area. Conversely, if the cleaning device has completed cleaning other space areas except the marked space area, the cleaning device will trigger a cleaning instruction to enter the marked space area when it moves to the marked space area.

[0158] Considering that the cleaning instructions of the cleaning equipment for the marked space area may be affected by the cleaning mode, the cleaning strategies triggered when the cleaning equipment moves to the edge of the marked space area are different in different cleaning modes. For example, in the first cleaning mode, the cleaning equipment does not clean the marked space area, and when the cleaning equipment moves to the edge of the marked space area, an avoidance cleaning strategy is triggered. In the second cleaning mode, the cleaning equipment cleans the marked space area, and when the cleaning equipment moves to the edge of the marked space area, an entry cleaning strategy is triggered.

[0159] Specifically, the cleaning instructions for the marked space area by the cleaning equipment are influenced by the cleaning sequence. Based on the set cleaning sequence, as an feasible approach, changes in the cleaning mode of the cleaning equipment under the control of the first cleaning instruction do not affect the cleaning of the marked space area. The cleaning equipment is controlled to avoid or enter the marked space area according to the first cleaning instruction. This includes: when the cleaning equipment moves towards any marked space area, obtaining the cleaning progress already completed by the cleaning equipment according to the first cleaning instruction; and controlling the cleaning equipment to avoid or enter the marked space area based on the completed cleaning progress. Specifically, if the cleaning equipment has not completed cleaning all areas within the area to be cleaned except for the marked space area, the cleaning equipment is controlled to avoid the marked space area; if the cleaning equipment has completed cleaning all areas within the area to be cleaned except for the marked space area, the cleaning equipment is controlled to enter the marked space area for cleaning by lowering a preset functional component. As another feasible approach, the cleaning device's cleaning mode, controlled by a second cleaning command, affects the cleaning of the marked area. The cleaning device is controlled to avoid or enter the marked area according to the second cleaning command. Specifically, when the cleaning device moves towards any marked area, the cleaning mode of the cleaning device is obtained according to the second cleaning command; based on the cleaning mode, the cleaning device is controlled to avoid or enter the marked area. Specifically, if the cleaning mode is a zigzag cleaning mode, the cleaning device is controlled to avoid the marked area; if the cleaning mode is an edge-cleaning mode, the cleaning device is controlled to enter the marked area by lowering a preset functional component and to leave the marked area by raising a preset functional component, until the cleaning device has completed cleaning all areas within the area to be cleaned except for the marked area, at which point the cleaning device is controlled to enter the marked area for cleaning.

[0160] In the first cleaning scenario, for the first cleaning instruction generated based on the cleaning sequence of cleaning the marked space area last, the change of cleaning mode does not affect the cleaning device's cleaning of the marked space area. When the cleaning device moves to the edge of the marked space area while cleaning along the edge, it is controlled to avoid the marked space area along the edge according to the first cleaning instruction. When the cleaning device moves to the edge of the marked space area while cleaning in a zigzag pattern, it is also controlled to avoid the marked space area according to the first cleaning instruction. This continues until all space areas except the marked space area have been cleaned. When the cleaning device moves to the edge of the marked space area, it is controlled to enter the marked space area for cleaning by lowering the preset functional component according to the first cleaning instruction.

[0161] In the second cleaning scenario, for the second cleaning instruction generated based on the cleaning sequence of cleaning the marked space area last, the change in cleaning mode affects the cleaning device's cleaning of the marked space area. When the cleaning device moves to the edge of the marked space area while cleaning along the edge, it is controlled by the second cleaning instruction to enter the marked space area by lowering the preset functional component to perform edge cleaning according to the second cleaning instruction. When the cleaning device moves to the edge of the marked space area while cleaning along the edge, it is controlled by the second cleaning instruction to raise the preset functional component after leaving the marked space area. When the cleaning device moves to the edge of the marked space area while cleaning in a zigzag pattern, it is controlled by the second cleaning instruction to avoid the marked space area until all space areas except the marked space area have been cleaned. When the cleaning device moves to the edge of the marked space area, it is controlled by the second cleaning instruction to enter the marked space area by lowering the preset functional component to perform cleaning according to the second cleaning instruction.

[0162] In the third cleaning scenario, for the first cleaning instruction generated on the basis of no restriction on the cleaning sequence, the change of cleaning mode does not affect the cleaning device's cleaning of the marked space area. Regardless of the cleaning mode, if the cleaning device moves to the edge of the marked space area outside the marked space area, the cleaning device is controlled by the first cleaning instruction to enter the marked space area by lowering the preset functional component to clean it. If the cleaning device moves to the edge of the marked space area within the marked space area, the cleaning device is controlled by the second cleaning instruction to raise the preset functional component after leaving the marked space area.

[0163] Furthermore, in the above embodiment, as shown in FIG7, before step 103, the method further includes the following steps:

[0164] 601. During the movement of the cleaning equipment, perform spatial detection on the current cleaning area.

[0165] 602. If it is detected that the current cleaning area has a cleaning height requirement and overlaps with the marked space area, then the cleaning equipment is controlled to trigger the preset function component to descend according to the order in which the cleaning equipment enters the current cleaning area or the marked space area, and the cleaning equipment is controlled to trigger the preset function component to rise when it leaves the current cleaning area and the marked space area.

[0166] It is understandable that the marked space area is the area to be cleaned that has been determined to have a cleaning height requirement. However, considering the complexity of the cleaning environment in actual application scenarios, there may still be areas that are missed in the marked space area. In this case, spatial detection can be performed on the current cleaning area during the movement of the cleaning equipment, so as to combine the results obtained from real-time spatial detection with the marked space area to control the movement strategy of the cleaning equipment.

[0167] In one feasible scenario, if the space corresponding to the current cleaning area is detected to have a cleaning height requirement and coincides with the marked space area, it indicates that the marked space area is relatively accurate. In this case, the combination of the current cleaning area and the marked space area can be taken as the updated marked space area. Based on the updated standard space area, the cleaning equipment is controlled to trigger the lifting and lowering of preset functional components to enter or leave the updated marked space area.

[0168] Specifically, the updated annotation space area is equivalent to the combined space area of ​​the current cleaning area and the annotation space area. At this point, the cleaning equipment is controlled to trigger a preset functional component to descend based on the order in which it enters the current cleaning area or the annotation space area, and to ascend based on the order in which it leaves the current cleaning area and the annotation space area. For example, if the cleaning equipment enters the current cleaning area before entering the updated annotation space area, and then leaves the annotation space area after leaving the updated annotation space area, the preset functional component will be triggered to descend before entering the current cleaning area and to ascend after leaving the annotation space area.

[0169] Furthermore, in the above embodiments, before step 103, the method further includes the following steps:

[0170] In response to a movement command of the cleaning equipment in a non-clean environment, the cleaning equipment is controlled to avoid the marked space area.

[0171] If the cleaning equipment cannot avoid the marked space area during movement, the cleaning equipment is controlled to lower the preset functional component to enter the marked space area and raise the preset functional component after leaving the marked space area.

[0172] Non-cleaning scenarios refer to situations where cleaning equipment is not required to perform cleaning tasks, including but not limited to recharging, cruising, mapping, and heading to a target location. Considering that the marked space area has cleaning height requirements, if the cleaning equipment passes through the marked space area, component lifting adjustments are necessary. In this case, the cleaning equipment is controlled to avoid the marked space area to prevent the use of component lifting functions. If the cleaning equipment cannot avoid the marked space area during movement in a non-cleaning scenario, the cleaning equipment is controlled to use the component lifting function to enter and leave the marked space area. For example, if the cleaning equipment's path to the target location must pass through the marked space area, the cleaning equipment is controlled to enter and leave the marked space area using the component lifting function.

[0173] It should be noted that for non-cleaning scenarios in mapping, the cleaning equipment does not need to pass through the annotation space area. In this case, the cleaning equipment is controlled to avoid the annotation drop area and to carry out mapping along the annotation space area, so as to avoid the cleaning equipment frequently using the component lifting function during the mapping process and save component life.

[0174] Furthermore, considering that the current height of the cleaning equipment will affect whether the cleaning equipment can successfully enter the marked space area, specifically before controlling the cleaning equipment to perform cleaning logic on the corresponding marked space area according to the cleaning task, if the cleaning equipment triggers the rise of other preset components during the movement of the cleaning equipment, the cleaning equipment will be controlled to avoid the marked space area.

[0175] In this embodiment, when the height of the cleaning device increases due to other preset functional components, the cleaning height requirement of the cleaning device for the marked space area will also change accordingly. That is, the cleaning height requirement will become greater, making it difficult to enter the marked space area by lowering the preset functional components. At this time, if the preset components are not lowered, the cleaning components are controlled to avoid the marked space area.

[0176] In practical applications, cleaning equipment is usually equipped with a large number of component functions, and there may be more than one preset functional component with lifting function. Before the cleaning equipment is controlled to perform cleaning logic on the corresponding marked space area according to the cleaning task, if the cleaning equipment has already used other preset functional components to increase the height of the cleaning equipment, and the cleaning equipment cannot reach the cleaning height requirement corresponding to the marked space area on the basis of the already raised position, then the cleaning equipment should be controlled to avoid the marked space area.

[0177] Furthermore, as a specific implementation of the method in Figures 1-7, this application embodiment provides a control device for a cleaning equipment, as shown in Figure 8. The device includes: a first acquisition unit 71, a creation unit 72, and a first control unit 73.

[0178] The first acquisition unit 71 is used to acquire at least one labeled space area with a cleanliness height requirement;

[0179] The creation unit 72 is used to create cleaning tasks based on the task requirements of the marked spatial area in different cleaning scenarios;

[0180] The first control unit 73 is used to respond to the execution command of the cleaning task in the preset cleaning scenario and control the cleaning device to perform cleaning logic on the corresponding marked space area according to the cleaning task.

[0181] The control device for cleaning equipment provided in this embodiment of the invention, compared with the existing method of controlling the cleaning equipment by raising and lowering components, avoids the need to identify complex behavioral paths in specific spaces in the cleaning scenario by creating cleaning tasks based on the task requirements of the marked space area in different cleaning scenarios, thus improving cleaning efficiency. The marked space area allows the cleaning equipment to automatically raise and lower preset functional components when it moves to the edge of the area, so that the cleaning equipment can achieve cleaning of specific spaces without frequently raising and lowering preset functional components during the control process, thus saving the life of cleaning components.

[0182] In specific application scenarios, the first acquisition unit includes:

[0183] The acquisition module is used to obtain map information of the area to be cleaned;

[0184] The annotation module is used to respond to the annotation operation of the area to be cleaned, and to mark the spatial areas with cleaning height requirements in the area to be cleaned according to the map information, so as to obtain at least one annotated spatial area.

[0185] In specific application scenarios, the first acquisition unit further includes:

[0186] An addition module is used to add a labeling option to the area to be cleaned, which has a cleaning height requirement, before marking the spatial area with cleaning height requirement in the area to be cleaned according to the map information to obtain at least one labeled spatial area.

[0187] Accordingly, the annotation module is specifically used for:

[0188] In response to the operation command of the annotation option, the attribute information of the target cleaning object associated with the annotation option is set to a type with cleaning height requirements;

[0189] The location information of the target cleaning object is determined based on the map information;

[0190] Based on the location information of the target cleaning object, mark the spatial areas with cleaning height requirements in the area to be cleaned, and obtain at least one marked spatial area.

[0191] In specific application scenarios, the device further includes:

[0192] The second acquisition unit is used to acquire historical cleaning information of the cleaning equipment before acquiring at least one marked spatial area with cleaning height requirements. The historical cleaning information includes map information of historical cleaning and lifting information of preset functional components of the cleaning equipment during historical cleaning.

[0193] The recording unit is used to record the position of the cleaning equipment triggering the lifting of preset functional components during historical cleaning processes, based on the lifting information.

[0194] The determining unit is used to determine at least one marked spatial area with cleaning height in the map information of the historical cleaning based on the position of the multiple triggering of the preset functional component lifting and lowering at the same position if the number of times the cleaning equipment triggers the lifting and lowering of the preset functional component reaches a set number.

[0195] In specific application scenarios, the creation unit is specifically used for:

[0196] Based on the task requirements of the marked space area in different cleaning scenarios, the cleaning logic executed by the cleaning equipment on the marked space area in different cleaning scenarios is generated.

[0197] A cleaning task is created based on the cleaning logic executed by the cleaning equipment on the marked space area in the different cleaning scenarios.

[0198] In a specific application scenario, the first control unit includes:

[0199] The determination module is used to respond to the execution instructions of the cleaning task in the preset cleaning scenario, and determine the first cleaning instruction and / or the second cleaning instruction of the cleaning equipment for the marked space area based on the cleaning task and the set cleaning sequence.

[0200] The control module is used to control the cleaning equipment to avoid or enter the marked space area according to the first cleaning command and / or the second cleaning command when the cleaning equipment moves toward any marked space area.

[0201] In specific application scenarios, the change in cleaning mode of the cleaning equipment under the control of the first cleaning command does not affect the cleaning of the marked area. The control module is specifically used for:

[0202] When the cleaning equipment moves to any marked space area, the cleaning progress completed by the cleaning equipment is obtained according to the first cleaning instruction;

[0203] Based on the cleaning progress already completed by the cleaning equipment, control the cleaning equipment to avoid or enter the marked space area;

[0204] The control module is further used for:

[0205] If the cleaning equipment fails to clean all areas within the area to be cleaned except for the marked space area, the cleaning equipment is controlled to avoid the marked space area.

[0206] If the cleaning device has completed cleaning all areas within the area to be cleaned except for the marked space area, then the cleaning device is controlled to enter the marked space area for cleaning by lowering the preset functional components.

[0207] In specific application scenarios, the cleaning device, under the control of the second cleaning command, changes in the cleaning mode affect the cleaning of the marked area. The control module is specifically used for:

[0208] When the cleaning equipment moves toward any marked space area, the cleaning mode of the cleaning equipment is obtained according to the second cleaning instruction;

[0209] According to the cleaning mode of the cleaning equipment, the cleaning equipment is controlled to avoid or enter the marked space area;

[0210] The control module is further used for:

[0211] If the cleaning mode of the cleaning equipment is zigzag cleaning mode, then the cleaning equipment is controlled to avoid the marked space area;

[0212] If the cleaning mode of the cleaning device is edge cleaning mode, then the cleaning device is controlled to enter the marked space area by lowering the preset functional component and to rise the preset functional component after leaving the marked space area, until the cleaning device has completed cleaning all areas in the area to be cleaned except for the marked space area, and then the cleaning device is controlled to enter the marked space area for cleaning.

[0213] In specific application scenarios, the device further includes:

[0214] The detection unit is used to perform spatial detection on the current cleaning area during the movement of the cleaning equipment before the cleaning equipment is controlled to perform cleaning logic on the corresponding marked space area according to the cleaning task.

[0215] The first control unit is further configured to, if it is detected that the current cleaning area has a cleaning height requirement and coincides with the marked space area, control the cleaning equipment to trigger a preset functional component to descend according to the order in which the cleaning equipment enters the current cleaning area or the marked space area, and control the cleaning equipment to trigger a preset functional component to rise when the cleaning equipment leaves the current cleaning area and the marked space area.

[0216] In specific application scenarios, the device further includes:

[0217] The second control unit is configured to, after obtaining at least one marked space area with cleaning height requirements, control the cleaning equipment to avoid the marked space area in response to a movement command of the cleaning equipment in a non-cleaning scenario.

[0218] The third control unit is used to control the cleaning equipment to enter the marked space area by lowering a preset functional component and to raise a preset functional component after leaving the marked space area if the cleaning equipment cannot avoid the marked space area during movement.

[0219] In specific application scenarios, the device further includes:

[0220] The fourth control unit is configured to, before controlling the cleaning device to perform cleaning logic on the corresponding marked space area according to the cleaning task, if the cleaning device triggers the rise of other preset components during the movement of the cleaning device, then control the cleaning device to avoid the marked space area.

[0221] It should be noted that other corresponding descriptions of the functional units involved in the control device of the cleaning equipment provided in this embodiment can be found in the corresponding descriptions in Figures 1-7, and will not be repeated here.

[0222] Based on the methods shown in Figures 1-7, this application also provides a storage medium storing a computer program that, when executed by a processor, implements the control method for the cleaning equipment shown in Figures 1-7.

[0223] Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This software product can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, or portable hard drive), and includes several instructions to cause a computer device (such as a personal computer, server, or network device) to execute the methods described in the various implementation scenarios of this application.

[0224] Based on the methods shown in Figures 1-7 and the virtual device embodiment shown in Figure 8, in order to achieve the above objectives, this application embodiment also provides a physical device for controlling a cleaning device, which may be a computer, smartphone, tablet computer, smartwatch, server, or network device, etc. The physical device includes a storage medium and a processor; the storage medium is used to store computer programs; the processor is used to execute the computer programs to implement the control method of the cleaning device shown in Figures 1-7.

[0225] Optionally, the physical device may also include a user interface, a network interface, a camera, radio frequency (RF) circuitry, sensors, audio circuitry, a Wi-Fi module, etc. The user interface may include a display screen, input units such as a keyboard, etc., and optional user interfaces may also include USB interfaces, card reader interfaces, etc. The network interface may optionally include standard wired interfaces, wireless interfaces (such as Wi-Fi interfaces), etc.

[0226] In an exemplary embodiment, referring to FIG9, the aforementioned physical device includes a communication bus, a processor, a memory, and a communication interface. It may also include an input / output interface and a display device. The various functional units can communicate with each other via the bus. The memory stores a computer program, and the processor executes the program stored in the memory to perform the painting mounting method in the above embodiment.

[0227] Those skilled in the art will understand that the physical device structure for controlling a cleaning device provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or combine certain components, or have different component arrangements.

[0228] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device for processing store search information, supporting the operation of the information processing program and other software and / or programs. The network communication module is used to enable communication between the various components within the storage medium, as well as communication with other hardware and software within the information processing physical device.

[0229] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms, or it can be implemented by hardware. By applying the technical solution of this application, compared with the existing methods, the cleaning tasks created by marking spatial areas in different cleaning scenarios can avoid identifying complex behavioral paths in specific spaces in the cleaning scenario, thereby improving cleaning efficiency. The marked spatial area allows the cleaning equipment to automatically raise and lower preset functional components when moving to the edge of the area, so that the cleaning equipment does not need to frequently raise and lower preset functional components during the control process to achieve cleaning of specific spaces, thus saving the life of cleaning components.

[0230] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application. Those skilled in the art will understand that the modules in the apparatus of the embodiment can be distributed within the apparatus of the embodiment as described, or can be modified to be located in one or more apparatuses different from this embodiment. The modules of the above-described embodiment can be combined into one module, or further divided into multiple sub-modules.

[0231] The serial numbers in this application are for descriptive purposes only and do not represent the superiority or inferiority of any particular implementation scenario. The above disclosures are merely a few specific implementation scenarios of this application; however, this application is not limited thereto, and any variations conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. A control method of a cleaning apparatus, wherein, include: Obtain at least one labeled space area with a clean height requirement; Based on the task requirements of the marked spatial area in different cleaning scenarios, create cleaning tasks; In response to the execution command of the cleaning task in the preset cleaning scenario, the cleaning device is controlled to perform cleaning logic on the corresponding marked space area according to the cleaning task.

2. The method of claim 1, wherein, The acquisition of at least one labeled spatial region with a cleanliness requirement specifically includes: Obtain map information of the area to be cleaned; In response to the marking operation of the area to be cleaned, the spatial area with cleaning height requirements is marked in the area to be cleaned according to the map information, so as to obtain at least one marked spatial area.

3. The method of claim 2, wherein, Before marking the spatial areas with cleaning height requirements in the area to be cleaned based on the map information to obtain at least one marked spatial area, the method further includes: Add a labeling option to the area to be cleaned to associate it with a target cleaning object that has a cleaning height requirement; Accordingly, marking the spatial areas with cleaning height requirements in the area to be cleaned based on the map information, thereby obtaining at least one marked spatial area, specifically includes: In response to the operation command of the annotation option, the attribute information of the target cleaning object associated with the annotation option is set to the type with cleaning height requirements; The area location information of the target cleaning object is determined based on the map information; Based on the location information of the target cleaning object, mark the spatial areas with cleaning height requirements in the area to be cleaned, and obtain at least one marked spatial area.

4. The method of claim 1, wherein, Prior to obtaining at least one labeled space area with a cleanliness height requirement, the method further includes: Obtain historical cleaning information of the cleaning equipment, including historical cleaning map information and lifting information of preset functional components of the cleaning equipment during historical cleaning; The lifting information is used to record the position of the preset functional components that were triggered to lift or lower during the historical cleaning process of the cleaning equipment. If the number of times the cleaning equipment triggers the lifting and lowering of the preset functional component in the same position reaches a set number, then at least one marked spatial area with cleaning height is determined in the historical cleaning map information based on the positions where the preset functional component is repeatedly triggered to lift and lower.

5. The method of claim 1, wherein, The step of creating cleaning tasks based on the task requirements of the marked spatial area in different cleaning scenarios specifically includes: Based on the task requirements of the marked space area in different cleaning scenarios, the cleaning logic executed by the cleaning equipment on the marked space area in different cleaning scenarios is generated. A cleaning task is created based on the cleaning logic executed by the cleaning equipment on the marked space area in the different cleaning scenarios.

6. The method of claim 1, wherein, The method of responding to the execution command of the cleaning task in the preset cleaning scenario and controlling the cleaning equipment to perform cleaning logic on the corresponding marked space area according to the cleaning task specifically includes: In response to the execution command of the cleaning task in the preset cleaning scenario, the first cleaning command and / or the second cleaning command of the cleaning device for the marked space area are determined according to the cleaning task based on the set cleaning sequence. When the cleaning equipment moves toward any marked space area, the cleaning equipment is controlled to avoid or enter the marked space area according to the first cleaning command and / or the second cleaning command.

7. The method of claim 6, wherein, The cleaning device's change in cleaning mode under the control of the first cleaning command does not affect the cleaning of the marked area. The cleaning device is controlled to avoid or enter the marked area according to the first cleaning command, specifically including: When the cleaning equipment moves to any marked space area, the cleaning progress completed by the cleaning equipment is obtained according to the first cleaning instruction; Based on the cleaning progress already completed by the cleaning equipment, control the cleaning equipment to avoid or enter the marked space area; The step of controlling the cleaning equipment to avoid or enter the marked space area based on the cleaning progress already completed by the cleaning equipment specifically includes: If the cleaning equipment fails to clean all areas within the area to be cleaned except for the marked space area, the cleaning equipment is controlled to avoid the marked space area. If the cleaning device has completed cleaning all areas within the area to be cleaned except for the marked space area, then the cleaning device is controlled to enter the marked space area for cleaning by lowering the preset functional components.

8. The method of claim 6, wherein, The cleaning equipment, under the control of the second cleaning command, changes its cleaning mode, affecting the cleaning of the marked area. The second cleaning command controls the cleaning equipment to avoid or enter the marked area, specifically including: When the cleaning equipment moves toward any marked space area, the cleaning mode of the cleaning equipment is obtained according to the second cleaning instruction; According to the cleaning mode of the cleaning equipment, the cleaning equipment is controlled to avoid or enter the marked space area; The step of controlling the cleaning equipment to avoid or enter the marked space area according to the cleaning mode of the cleaning equipment specifically includes: If the cleaning mode of the cleaning equipment is zigzag cleaning mode, then the cleaning equipment is controlled to avoid the marked space area; If the cleaning mode of the cleaning device is edge cleaning mode, then the cleaning device is controlled to enter the marked space area by lowering the preset functional component and to rise the preset functional component after leaving the marked space area, until the cleaning device has completed cleaning all areas in the area to be cleaned except for the marked space area, and then the cleaning device is controlled to enter the marked space area for cleaning.

9. The method of any one of claims 1-8, wherein, Before controlling the cleaning equipment to perform cleaning logic on the corresponding marked space area according to the cleaning task, the method further includes: During the movement of the cleaning equipment, spatial detection is performed on the current cleaning area; If it is detected that the current cleaning area has a cleaning height requirement and overlaps with the marked space area, then the cleaning equipment is controlled to trigger a preset functional component to descend according to the order in which the cleaning equipment enters the current cleaning area or the marked space area, and the cleaning equipment is controlled to trigger a preset functional component to ascend when it leaves the current cleaning area and the marked space area.

10. The method of any one of claims 1-8, wherein, After obtaining at least one labeled space area with a cleanliness height requirement, the method further includes: In response to a movement command for the cleaning equipment in a non-clean environment, the cleaning equipment is controlled to avoid the marked space area; If the cleaning equipment cannot avoid the marked space area during movement, the cleaning equipment is controlled to lower the preset functional component to enter the marked space area and raise the preset functional component after leaving the marked space area.

11. The method of any one of claims 1-8, wherein, Before controlling the cleaning equipment to perform cleaning logic on the corresponding marked space area according to the cleaning task, the method further includes: If the cleaning equipment triggers the rise of other preset components during its movement, the cleaning equipment is controlled to avoid the marked space area.

12. A control device for a cleaning apparatus, wherein, include: The first acquisition unit is used to acquire at least one labeled space region with a cleanliness height requirement; A creation unit is used to create cleaning tasks based on the task requirements of the marked spatial area in different cleaning scenarios; The first control unit is used to respond to the execution command of the cleaning task in the preset cleaning scenario and control the cleaning equipment to perform cleaning logic on the corresponding marked space area according to the cleaning task.

13. A computer device comprising a memory and a processor, the memory storing a computer program, wherein, When the processor executes the computer program, it implements the steps of the control method for the cleaning equipment according to any one of claims 1 to 11.

14. A computer readable storage medium having stored thereon a computer program, wherein, When the computer program is executed by a processor, it implements the steps of the control method for the cleaning equipment according to any one of claims 1 to 11.

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