Cleaning strategy determination method and apparatus for cleaning device

Abstract

The present disclosure relates to the technical field of cleaning devices. Provided are a cleaning strategy determination method and apparatus for a cleaning device. The cleaning device comprises: a device body, a first ranging sensor provided on the device body, and a liftable second ranging sensor provided on the device body. The method comprises: acquiring the operating state of a first ranging sensor; in response to the first ranging sensor being in a normal operating state, determining a cleaning strategy for a cleaning device on the basis of a height measurement result of the first ranging sensor; and in response to the first ranging sensor being in a failure operating state, determining the cleaning strategy for the cleaning device on the basis of a map, wherein the cleaning strategy comprises a lifting lowering strategy for the second ranging sensor.

Description

Methods and apparatus for determining cleaning strategies for cleaning equipment Cross-reference to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202510128535.5, filed on January 27, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of cleaning equipment technology, and specifically to a method and apparatus for determining cleaning strategies for cleaning equipment. Background Technology

[0003] Cleaning equipment equipped with a liftable LDS (Laser Distance Sensor) can achieve positioning and obstacle avoidance when the LDS sensor is raised, and can enter low-ceilinged spaces for cleaning when the LDS sensor is lowered.

[0004] Cleaning equipment equipped with a DToF (Direct Time of Flight) sensor can measure the height of the space to determine whether the LDS sensor needs to be lowered. Summary of the Invention

[0005] This disclosure provides a method, apparatus, electronic device, storage medium, computer program, and computer program product for determining cleaning strategies for cleaning equipment.

[0006] The following technical solution is adopted in this disclosure:

[0007] In a first aspect, this disclosure provides a method for determining a cleaning strategy for a cleaning device, the cleaning device comprising: a device body, a first ranging sensor disposed on the device body, and a second ranging sensor that can be raised and lowered disposed on the device body;

[0008] The methods include:

[0009] Obtain the operating status of the first ranging sensor;

[0010] In response to the first ranging sensor being in normal working condition, the cleaning strategy of the cleaning equipment is determined based on the height measurement result of the first ranging sensor;

[0011] In response to the first ranging sensor being in a malfunctioning state, a cleaning strategy for the cleaning equipment is determined based on the map.

[0012] The cleaning strategy includes the lifting strategy of the second ranging sensor.

[0013] Secondly, this disclosure provides a cleaning strategy determination device for a cleaning device, the cleaning device including: a device body, a first ranging sensor disposed on the device body, and a liftable second ranging sensor disposed on the device body;

[0014] The device includes:

[0015] The acquisition unit is used to acquire the working status of the first ranging sensor.

[0016] The first strategy unit is used to determine the cleaning strategy of the cleaning equipment based on the height measurement result of the first ranging sensor in response to the first ranging sensor being in normal working state.

[0017] The second strategy unit is used to determine the cleaning strategy of the cleaning equipment based on the map in response to the first ranging sensor being in a malfunctioning state.

[0018] The cleaning strategy includes the lifting strategy of the second ranging sensor.

[0019] Thirdly, this disclosure provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the cleaning strategy determination method for the cleaning device described above.

[0020] Fourthly, this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the cleaning strategy determination method for the cleaning equipment described above.

[0021] Fifthly, this disclosure provides a computer program including computer-readable code that, when run in a computer device, implements some or all of the steps in the above-described method.

[0022] In a sixth aspect, this disclosure provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement some or all of the steps in the above-described method. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings:

[0024] Figure 1 shows a schematic diagram of the appearance of a cleaning device according to an embodiment of the present disclosure;

[0025] Figure 2 shows a flowchart illustrating a method for determining a cleaning strategy using a cleaning device according to an embodiment of the present disclosure;

[0026] Figure 3 shows a flowchart illustrating a method for determining a cleaning strategy using a cleaning device according to another embodiment of the present disclosure;

[0027] Figure 4 shows a schematic diagram of the structure of a cleaning strategy determination device for a cleaning apparatus according to an embodiment of the present disclosure;

[0028] Figure 5 shows a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this disclosure clearer, the technical solutions of this disclosure will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0030] In practice, cleaning equipment with a liftable LDS sensor and a DToF sensor may encounter a situation where the DToF sensor fails during the cleaning process.

[0031] How to accurately determine whether an LDS sensor needs to be lowered in the event of a DToF sensor failure has become an urgent technical problem to be solved.

[0032] The present invention addresses the issue that a cleaning device with a liftable second ranging sensor and a first ranging sensor may encounter a situation where the first ranging sensor fails during the cleaning process. By using a map that marks low-lying areas based on historical elevation measurements from the first ranging sensor and marks descent areas based on the descent of the second ranging sensor, the problem of accurately lowering the second ranging sensor to clean low-lying spaces is solved when the first ranging sensor fails.

[0033] In this disclosure, the cleaning equipment is equipped with intelligent modules commonly found in existing cleaning equipment (including cleaning robots), such as cameras, gyroscopes, and actuators, thereby enabling functions commonly found in existing cleaning equipment, such as sensing the surrounding environment, driving the cleaning equipment's movement, and interacting with maps. These will not be described in detail in the embodiments of this disclosure.

[0034] The present disclosure will now be described in detail through specific embodiments.

[0035] Figure 1 shows a schematic diagram of the appearance of a cleaning device according to an embodiment of the present disclosure. As shown in Figure 1, the cleaning device includes: a device body 1, a first ranging sensor 2 disposed on the device body 1, and a second ranging sensor 3 that is retractable and disposed on the device body 1.

[0036] Referring to Figure 1, which shows a top view of the cleaning equipment, Figure 1 uses a circular equipment body 1 as an illustration, but this disclosure does not limit the appearance shape of the equipment body 1. In addition to a circle, rectangular or other irregular shapes may also be included.

[0037] The first ranging sensor 2 is located on the upper surface of the device body 1. The first ranging sensor can be a DToF sensor. Figure 1 shows a rectangular first ranging sensor 2 as an illustration, but this disclosure does not limit the appearance shape of the first ranging sensor 2. In addition to rectangles, circular or other irregular shapes may also be included. This disclosure does not limit the arrangement of the first ranging sensor 2, as long as the first ranging sensor 2 can achieve the function of accurately measuring the height upward from the upper surface of the device body 1.

[0038] The second ranging sensor 3 can be raised and lowered on the upper surface of the device body 1. The second ranging sensor can be an LDS sensor. Figure 1 shows a circular second ranging sensor 3 as an illustration, but this disclosure does not limit the appearance shape of the second ranging sensor 3. In addition to a circle, rectangular or other irregular shapes may also be included. When the second ranging sensor 3 is in the raised state, the upper surface of the second ranging sensor 3 is higher than the upper surface of the device body 1; when the second ranging sensor 3 is in the lowered state, the upper surface of the second ranging sensor 3 is not higher than the upper surface of the device body 1 (i.e., level with or slightly lower than the upper surface of the device body 1). By default, the second ranging sensor 3 is raised on the upper surface of the device body 1. That is, unless otherwise specified in this disclosure, the second ranging sensor 3 is in the raised state.

[0039] Figure 2 shows a flowchart illustrating a cleaning strategy determination method for a cleaning device according to an embodiment of this disclosure. Referring to the appearance of the cleaning device shown in Figure 1, the cleaning strategy determination method for the cleaning device includes steps S210 to S230.

[0040] Step S210: Obtain the working status of the first ranging sensor.

[0041] First, obtain the working status of the first ranging sensor, that is, whether the first ranging sensor can accurately measure the height from the upper surface of the device body upwards.

[0042] The operating state of the first ranging sensor can be divided into a faulty operating state and a normal operating state. The normal operating state indicates that the first ranging sensor can accurately measure the height upwards from the top surface of the device body. The faulty operating state indicates that the first ranging sensor cannot accurately measure the height upwards from the top surface of the device body.

[0043] Failure states may include, but are not limited to, the following: the first ranging sensor is dirty, the first ranging sensor is misaligned, or the first ranging sensor is offline. When the first ranging sensor is dirty or misaligned, it can measure the height from the top surface of the device body upwards, but the result is inaccurate, thus constituting a failure state. When the first ranging sensor is offline, it cannot measure or transmit the height measurement result from the top surface of the device body upwards, thus constituting a failure state. In other words, whenever an accurate height measurement result from the top surface of the device body cannot be obtained, the first ranging sensor is considered to be in a failure state.

[0044] The method for obtaining the operating status of the first ranging sensor may include, but is not limited to, determining the status based on circuit conditions or jointly determining the status based on information collected by other intelligent modules. This disclosure does not impose any limitations.

[0045] The timing for acquiring the operating status of the first ranging sensor may include, but is not limited to, acquiring it before the cleaning equipment begins cleaning, or acquiring it during the cleaning process. This disclosure does not impose any limitations.

[0046] Step S220: In response to the first ranging sensor being in normal working condition, a cleaning strategy for the cleaning equipment is determined based on the height measurement result of the first ranging sensor.

[0047] The cleaning strategy may include a lifting strategy for the second ranging sensor. Based on this lifting strategy, the lifting of the second ranging sensor can be controlled.

[0048] If the operating status of the first ranging sensor indicates that it is functioning normally, then the cleaning strategy of the cleaning equipment is determined based on the height measurement result of the first ranging sensor. When the first ranging sensor is functioning normally, the cleaning strategy of the cleaning equipment primarily involves the lifting and lowering of the second ranging sensor.

[0049] When the first ranging sensor is in normal working condition, it can accurately obtain the height measurement result from the top surface of the device body upwards. Based on the height measurement result, it can determine the low-lying area and control the raising and lowering of the second ranging sensor when the device body moves into the low-lying area. By lowering the second ranging sensor in the parts where collisions may occur, the wear and tear on the anti-collision components of the second ranging sensor's side cover can be reduced; by raising the second ranging sensor in the parts where collisions will not occur, the accuracy of the second ranging sensor's positioning and obstacle avoidance can be improved.

[0050] In some embodiments, step S220, in response to the first ranging sensor being in normal working condition, determines the cleaning strategy of the cleaning equipment based on the height measurement result of the first ranging sensor, including: determining low-lying areas based on the height measurement result of the first ranging sensor, marking the low-lying areas, and updating the map.

[0051] If the height measurement results of the first ranging sensor determine that a certain area has a low spatial height from the top surface of the device body upwards, then the area is identified as a low-lying area and marked on the map.

[0052] The height of the space can be determined based on the actual situation. Low areas generally include, but are not limited to, areas under coffee tables and sofas. Therefore, low areas can be areas with a height of less than, for example, 15cm. To ensure that cleaning equipment can access low areas, the height of the low areas can be at least greater than 5cm, preferably greater than 8cm, more preferably greater than 10cm, and most preferably greater than 13cm.

[0053] In some embodiments, step S220, in response to the first ranging sensor being in normal working condition, determines a cleaning strategy for the cleaning equipment based on the height measurement result of the first ranging sensor, and further includes: determining that when the cleaning equipment is traveling in a low-lying area, the second ranging sensor descends in a descent area where the descent condition for triggering the second ranging sensor is met, and the second ranging sensor remains in a raised state in a low-lying area where the descent condition for triggering the second ranging sensor is not met, and marking the descent area a second time and updating the map. Here, the descent condition is the condition required to trigger the descent of the second ranging sensor.

[0054] When the cleaning equipment moves through the low-lying area, if the cleaning equipment reaches an area that meets the descent condition of the second ranging sensor, the second ranging sensor will be lowered, and the area will be marked on the map.

[0055] The spatial height of low-lying areas may not be constant. Some parts of low-lying areas may have relatively high spatial heights, allowing the cleaning equipment to pass through without lowering the second ranging sensor; other parts may have relatively low spatial heights, below the limit of the second ranging sensor's passage, requiring the second ranging sensor to be lowered for the cleaning equipment to pass. Therefore, if the equipment body triggers the descent condition of the second ranging sensor while moving through a low-lying area, the second ranging sensor will be lowered to pass through the area with the even lower spatial height. The sections of low-lying areas requiring the second ranging sensor to be lowered are marked on the map as descent areas.

[0056] This disclosure does not limit the triggering conditions for the descent of the second ranging sensor, as long as it can be determined which parts of the low-lying area require the second ranging sensor to descend and which parts do not.

[0057] For example, the descent condition for the second ranging sensor can be: the height difference between the device and the surrounding space is less than 3cm. In this case, as the device moves through the low-lying area, the first ranging sensor continuously collects height measurements, coloring the areas with height differences below 3cm on a map. Connected colored areas are marked as descent zones. When the cleaning device reaches a point where the height difference between the device and the surrounding space is less than 3cm, the second ranging sensor descends; when the cleaning device reaches a point where the height difference between the device and the surrounding space is not less than 3cm, the second ranging sensor rises.

[0058] In some embodiments, determining a low-lying area based on the height measurement results of a first ranging sensor includes: acquiring multiple height measurements based on the first ranging sensor, and determining the low-lying area by comparing the height measurements with a standard height.

[0059] When the first ranging sensor is working normally, it continuously measures the height from the top surface of the device upwards as the device moves, thus obtaining multiple height measurements. These height measurements can be compared with a standard height, and the low-lying areas can be identified based on the comparison results.

[0060] In some embodiments, determining a low-lying area by comparing a height measurement value with a standard height includes: determining the area corresponding to a height measurement value lower than the standard height as a low-lying sub-region; and connecting the low-lying sub-regions to determine the low-lying area.

[0061] If a height measurement is lower than the standard height, the area corresponding to that measurement is designated as a low-lying area. As the device moves, the first ranging sensor continuously measures, thus identifying multiple low-lying areas. Connecting these low-lying areas yields a low-lying region, which is then marked on a map.

[0062] For example, the standard height can be 15cm. When the first ranging sensor measures a height less than 15cm from the top surface of the device, it colors the corresponding low-lying area on the map. As the device moves, the first ranging sensor continues to measure, identifying multiple low-lying areas and coloring them on the map. Finally, connected colored areas are marked as low-lying areas on the map.

[0063] In step S230, in response to the first ranging sensor being in a malfunctioning state, a cleaning strategy for the cleaning equipment is determined based on the map.

[0064] The cleaning strategy may include a lifting strategy for the second ranging sensor. Based on this lifting strategy, the lifting of the second ranging sensor can be controlled.

[0065] If the first ranging sensor is determined to be faulty based on its operating status, a cleaning strategy for the cleaning equipment is determined based on the map of the cleaning equipment.

[0066] When the first ranging sensor is in a malfunctioning state, even if the first ranging sensor has a result of measuring the height from the top surface of the device body upwards, the result will be masked, and only the map of the cleaning equipment will be used as the basis for determining the cleaning strategy of the cleaning equipment.

[0067] A map of the cleaning equipment, used to indicate the latest updated map information for the cleaning equipment. The latest updated map information may include markers for low-lying areas and descending areas.

[0068] In some embodiments, step S230, in response to the first ranging sensor being in a malfunctioning state, determines a cleaning strategy for the cleaning equipment based on a map, including: determining that the second ranging sensor is in a raised state and determining that the cleaning equipment will bypass low-lying areas marked on the map.

[0069] In this situation, the low-lying areas and descending areas marked in the latest updated map are the last markings on the map before the first ranging sensor failed. Due to the failure of the first ranging sensor, the condition of the low-lying areas cannot be accurately determined. Therefore, the cleaning equipment only cleans the areas on the map that are not marked as low-lying areas, assuming the second ranging sensor is in the raised position.

[0070] While the above method ensures the positioning and obstacle avoidance accuracy of the second ranging sensor, it may result in missed cleaning in low-lying areas. Therefore, this disclosure provides another method for determining the cleaning strategy of the cleaning equipment based on a map.

[0071] In some embodiments, step S230, in response to the first ranging sensor being in a malfunctioning state, determines a cleaning strategy for the cleaning equipment based on a map, including: determining whether there is a descending area in the low-lying area according to the map; if there is a descending area in the low-lying area, determining that the second ranging sensor is in a descending state in the low-lying area or the descending area; if there is no descending area in the low-lying area, determining that the second ranging sensor is in a raised state in the low-lying area.

[0072] Since a low-ceilinged area is defined as a space with a height below the standard height, and a descending area is defined as a space with a height below the limit height, in practice, a low-ceilinged area may or may not include a descending area.

[0073] For example, the standard height can be 15cm, and the maximum height can be 3cm. For a low-ceilinged area where all spatial heights are between 3cm and 15cm, it will be marked as a low-ceilinged area on the map, but without a second label indicating a descending area. Conversely, for a low-ceilinged area where some spatial heights are below 3cm and others are between 3cm and 15cm, it will be marked as a low-ceilinged area on the map, and the portion below 3cm will also be marked as a descending area.

[0074] Therefore, if the map indicates that there is a descending area within the low-lying region, then due to the failure of the first ranging sensor, in order to ensure the smooth movement of the cleaning equipment, the cleaning equipment can clean within the low-lying region with the second ranging sensor in a descending state until the equipment body leaves the low-lying region; or the cleaning equipment can clean within the descending region with the second ranging sensor in a descending state until the equipment body leaves the descending region, and then clean within the other areas of the low-lying region except for the descending region with the second ranging sensor in an raised state.

[0075] If the map indicates that there is no descending area within the low-lying region, then due to the failure of the first ranging sensor, in order to ensure the accuracy of the second ranging sensor's positioning and obstacle avoidance, the cleaning equipment will clean the low-lying region with the second ranging sensor in the raised state.

[0076] In some embodiments, if there is a descending area within the low-profile area, the method further includes: raising the second ranging sensor when it is determined that the cleaning device leaves the low-profile area; or, raising the second ranging sensor when it is determined that the cleaning device leaves the descending area.

[0077] When the cleaning equipment finishes cleaning in a low-lying or descending area with the second ranging sensor in a descending state, and the cleaning equipment or equipment body moves away from the low-lying or descending area, the second ranging sensor rises up, thereby ensuring the accuracy of the second ranging sensor's positioning and obstacle avoidance.

[0078] In some embodiments, if there is no descending region in the low-lying area, the method further includes: if the second ranging sensor triggers a collision, determining that the second ranging sensor has descended; marking the low-lying area as a descending region and updating the map.

[0079] When the cleaning equipment is traveling through a low-lying area with the second ranging sensor raised, changes in the state of the low-lying area may cause the height of certain parts of the low-lying area to decrease, making it impossible for the second ranging sensor to pass. If the second ranging sensor triggers a collision, it will descend.

[0080] After the second ranging sensor descends, due to the failure of the first ranging sensor, the cleaning equipment cannot determine when the second ranging sensor can rise in the low-lying area. Therefore, the cleaning equipment maintains the second ranging sensor in the descending state while cleaning in the low-lying area. When the cleaning equipment or the equipment body moves out of the low-lying area, the second ranging sensor rises.

[0081] Once the second ranging sensor triggers a collision, the low-lying area is marked as a descent area, and the map is updated. When the cleaning equipment cleans again, if the first ranging sensor is still in an inoperable state, the low-lying area will be cleaned in that area as if the second ranging sensor were in a descent state, since it was updated to be marked as a descent area during this cleaning.

[0082] In this scenario, the low-lying areas marked in the latest updated map can be the last low-lying areas marked before the first ranging sensor failed. Even if the cleaning equipment performs other cleaning operations after the first ranging sensor fails, no other low-lying areas will be marked. The descending areas marked in the latest updated map can be the most recently descending areas marked by the cleaning equipment after cleaning, regardless of whether the first ranging sensor failed.

[0083] For example: If the first ranging sensor is functioning correctly during the first cleaning cycle, then after the first cleaning cycle, the map can be marked with low-lying area 1 and descending area 2. If the first ranging sensor fails during the second cleaning cycle, then after the second cleaning cycle, the map can be marked with low-lying area 1 and descending area 3. Therefore, during the third cleaning cycle, the map will be marked with low-lying area 1 and descending area 3.

[0084] In summary, this disclosure provides a method for determining the cleaning strategy of a cleaning device. The cleaning device includes: a device body, a first ranging sensor mounted on the device body, and a second ranging sensor mounted on the device body that can be raised and lowered. The method includes: acquiring the working state of the first ranging sensor; determining the cleaning strategy of the cleaning device based on the height measurement result of the first ranging sensor in response to the first ranging sensor being in a normal working state; and determining the cleaning strategy of the cleaning device based on a map in response to the first ranging sensor being in a malfunctioning working state. The cleaning strategy may include a raising and lowering strategy for the second ranging sensor. The method provided by this disclosure, when the first ranging sensor fails, uses a map to assist in determining whether the second ranging sensor needs to be lowered, thereby reducing positioning anomalies caused by erroneous lowering of the second ranging sensor and achieving accurate control over the raising and lowering of the second ranging sensor.

[0085] Figure 3 shows a flowchart illustrating a cleaning strategy determination method for a cleaning device according to another embodiment of this disclosure. Referring to the appearance of the cleaning device shown in Figure 1, the cleaning strategy determination method for the cleaning device includes steps S301 to S310.

[0086] Step S301: Determine the operating status of the first ranging sensor. If it is in normal working condition, proceed to step S302; if it is in a faulty working condition, proceed to step S306 or step S307.

[0087] Step S302: The first ranging sensor collects multiple height measurements, identifies areas corresponding to height measurements below the standard height as low-lying areas, connects these low-lying areas to define a new low-lying region, marks the low-lying region, and updates the map. Proceed to step S303.

[0088] Step S303: When traveling in a low-lying area, determine whether the descent condition for triggering the second ranging sensor has been met. If triggered, proceed to step S304; if not triggered, proceed to step S305.

[0089] Step S304: The second ranging sensor descends in the descent area, the descent area is marked a second time, and the map is updated.

[0090] In step S305, the second ranging sensor is in the raised state in the low-profile area.

[0091] Step S306: The second ranging sensor rises and circles the low-lying area marked on the map.

[0092] Step S307: Determine whether there is a descending area within the low-lying region based on the map. If there is a descending area within the low-lying region, proceed to step S308; if there is no descending area within the low-lying region, proceed to step S309.

[0093] In step S308, the second ranging sensor is in a descending state in the low-lying area.

[0094] In step S309, the second ranging sensor is in the raised state in the low-lying area, and it is determined whether the second ranging sensor triggers a collision. If it does, proceed to step S310; if it does not, proceed to step S305.

[0095] Step S310: The second ranging sensor descends in the low-lying area, marking the low-lying area as the descending area, and updating the map.

[0096] Figure 4 shows a schematic diagram of the structure of a cleaning strategy determination device for a cleaning apparatus according to an embodiment of the present disclosure. Referring to the appearance of the cleaning apparatus shown in Figure 1, the cleaning apparatus includes: an apparatus body, a first ranging sensor disposed on the apparatus body, and a retractable second ranging sensor disposed on the apparatus body; the device 400 includes:

[0097] Acquisition unit 410 is used to acquire the working status of the first ranging sensor;

[0098] The first strategy unit 420 is used to determine the cleaning strategy of the cleaning equipment based on the height measurement result of the first ranging sensor in response to the first ranging sensor being in normal working state.

[0099] The second strategy unit 430 is used to determine the cleaning strategy of the cleaning equipment based on the map in response to the first ranging sensor being in a malfunctioning state.

[0100] The cleaning strategy may include a lifting strategy for the second ranging sensor. Based on this lifting strategy, the lifting of the second ranging sensor can be controlled.

[0101] In some embodiments, in the above-described apparatus 400, the first strategy unit 420 further includes: a low-lying area determination module, configured to: determine a low-lying area based on the height measurement result of the first ranging sensor, mark the low-lying area, and update the map.

[0102] In some embodiments, in the above-described device 400, the first strategy unit 420 further includes a first lifting judgment module, configured to: determine that when the cleaning equipment is traveling in a low-lying area, the second ranging sensor lowers in a low-lying area where the lowering condition for triggering the second ranging sensor to descend is met, and the second ranging sensor remains in a raised state in a low-lying area where the lowering condition for triggering the second ranging sensor to descend is not met, and mark the lowering area as a second mark and update the map.

[0103] In some embodiments, in the above-described apparatus 400, the low-lying area determination module is further specifically used to: acquire multiple height measurement values ​​based on the first ranging sensor, and determine the low-lying area by comparing the height measurement values ​​with a standard height.

[0104] In some embodiments, in the above-described apparatus 400, the low-profile area determination module is further specifically used to: determine the area corresponding to the height measurement value below the standard height as a low-profile sub-region; connect the low-profile areas to determine the low-profile area.

[0105] In some embodiments, in the above-described apparatus 400, the second strategy unit 430 further includes: a detour module for determining that the second ranging sensor is in a raised state and determining low-lying areas marked in the cleaning equipment detour map.

[0106] In some embodiments, in the above-described apparatus 400, the second strategy unit 430 further includes: a second elevation judgment module, configured to: determine whether there is a descending area in the low-lying area according to the map; if there is a descending area in the low-lying area, determine to control the second ranging sensor to be in a descending state in the low-lying area or the descending area; if there is no descending area in the low-lying area, determine to control the second ranging sensor to be in a rising state in the low-lying area.

[0107] In some embodiments, in the above-described apparatus 400, the second strategy unit 430 further includes: a recovery module, configured to: raise the second ranging sensor when it is determined that the cleaning equipment leaves the low-lying area; or, raise the second ranging sensor when it is determined that the cleaning equipment leaves the descending area.

[0108] In some embodiments, in the above-described apparatus 400, the second strategy unit 430 further includes a marking module for: determining that the second ranging sensor has descended when the second ranging sensor triggers a collision; marking the low-lying area as the descending area; and updating the map.

[0109] It should be noted that the cleaning strategy determination device 400 of the above-mentioned cleaning equipment can implement the aforementioned cleaning strategy determination method of the cleaning equipment, which will not be described in detail here.

[0110] Figure 5 shows a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Referring to Figure 5, the internal structure of the electronic device may include a processor, memory, network interface, display screen (not shown in Figure 5), and input device (not shown in Figure 5) connected via a system bus. The processor of the electronic device provides computing and control capabilities. The memory of the electronic device includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the electronic device is used to communicate with external clients via a network connection. When the computer program is executed by the processor, it implements the functions or steps of the cleaning strategy determination method for the cleaning equipment.

[0111] In one embodiment, the electronic device provided in this disclosure includes a memory and a processor. The memory stores a database and a computer program that can run on the processor. When the processor executes the computer program, it performs the following steps:

[0112] Obtain the operating status of the first ranging sensor;

[0113] In response to the first ranging sensor being in normal working condition, the cleaning strategy of the cleaning equipment is determined based on the height measurement result of the first ranging sensor;

[0114] In response to the first ranging sensor being in a malfunctioning state, a cleaning strategy for the cleaning equipment is determined based on the map.

[0115] The cleaning strategy includes a lifting strategy for the second ranging sensor. Based on this lifting strategy, the lifting of the second ranging sensor can be controlled.

[0116] In one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, the computer program performing the following steps when executed by a processor:

[0117] Obtain the operating status of the first ranging sensor;

[0118] In response to the first ranging sensor being in normal working condition, the cleaning strategy of the cleaning equipment is determined based on the height measurement result of the first ranging sensor;

[0119] In response to the first ranging sensor being in a malfunctioning state, a cleaning strategy for the cleaning equipment is determined based on the map.

[0120] The cleaning strategy includes a lifting strategy for the second ranging sensor. Based on this lifting strategy, the lifting of the second ranging sensor can be controlled.

[0121] This disclosure also provides a computer program, including computer-readable code, which, when run in a computer device, implements some or all of the steps in the above-described method.

[0122] This disclosure also provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement some or all of the steps in the above-described method.

[0123] It should be noted that the functions or steps that the electronic device, computer-readable storage medium, computer program, or computer program product can achieve are described in the relevant descriptions in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0124] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this disclosure can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0125] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0126] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

[0127] All embodiments disclosed herein can be executed individually or in combination with other embodiments, and are all considered to be within the scope of protection claimed by this disclosure.

Claims

1. A method for determining a cleaning strategy for a cleaning device, the cleaning device comprising: The device body, a first ranging sensor mounted on the device body, and a second ranging sensor that can be raised and lowered mounted on the device body; The method includes: Obtain the operating status of the first ranging sensor; In response to the first ranging sensor being in normal working condition, the cleaning strategy of the cleaning equipment is determined based on the height measurement result of the first ranging sensor; In response to the first ranging sensor being in a malfunctioning state, a cleaning strategy for the cleaning equipment is determined based on the map; The cleaning strategy includes the lifting strategy of the second ranging sensor.

2. The method for determining the cleaning strategy of the cleaning equipment according to claim 1, wherein, The step of determining the cleaning strategy of the cleaning equipment based on the height measurement result of the first ranging sensor in response to the first ranging sensor being in normal working condition includes: Based on the height measurement results of the first ranging sensor, low-lying areas are identified, these low-lying areas are marked, and the map is updated.

3. The method for determining the cleaning strategy of the cleaning equipment according to claim 2, wherein, The step of determining the cleaning strategy of the cleaning equipment based on the height measurement result of the first ranging sensor in response to the first ranging sensor being in normal working condition further includes: When the cleaning equipment is traveling in the low-lying area, the second ranging sensor descends in the descent area where the descent condition for triggering the second ranging sensor is met, and the second ranging sensor remains in the rising state in the low-lying area where the descent condition for triggering the second ranging sensor is not met. The descent area is then marked a second time, and the map is updated.

4. The method for determining the cleaning strategy of the cleaning equipment according to claim 2 or 3, wherein, The determination of low-lying areas based on the height measurement results of the first ranging sensor includes: Multiple height measurements are collected based on the first ranging sensor; The low-lying area is determined by comparing the measured height with a standard height.

5. The method for determining the cleaning strategy of the cleaning equipment according to claim 4, wherein, The step of determining the low-lying area by comparing the height measurement value with a standard height includes: The area corresponding to the height measurement value that is lower than the standard height is defined as the low-rise area; Connect the low-lying sub-regions to determine the low-lying region.

6. The method for determining the cleaning strategy of the cleaning equipment according to any one of claims 1-5, wherein, The step of determining a cleaning strategy for the cleaning equipment based on a map in response to the first ranging sensor being in a malfunctioning state includes: It is determined that the second ranging sensor is in the raised state and that the cleaning equipment detours around the low-lying areas marked in the map.

7. The method for determining the cleaning strategy of the cleaning equipment according to any one of claims 1-5, wherein, The step of determining a cleaning strategy for the cleaning equipment based on a map in response to the first ranging sensor being in a malfunctioning state includes: Determine whether there is a descending area within the low-lying region based on the map; If the low-lying area contains the descending area, then it is determined that the second ranging sensor is in a descending state in the low-lying area or the descending area; If the lowered area is not present in the lowered area, then the second ranging sensor is determined to be in the raised state in the lowered area.

8. The method for determining the cleaning strategy of the cleaning equipment according to claim 7, wherein, If the low-lying area contains the descending region, the method further includes: When the cleaning equipment is determined to have left the low-lying area, the second ranging sensor rises; or, When the cleaning equipment is determined to have left the descent area, the second ranging sensor rises.

9. The method for determining the cleaning strategy of the cleaning equipment according to claim 7, wherein, If the low-lying area does not have the descending region, the method further includes: If the second ranging sensor triggers a collision, it is determined that the second ranging sensor has descended; The low-lying areas are marked as descending areas, and the map is updated.

10. A cleaning strategy determination apparatus for a cleaning device, the cleaning device comprising: The device body, a first ranging sensor mounted on the device body, and a second ranging sensor that can be raised and lowered mounted on the device body; The device includes: The acquisition unit is used to acquire the working status of the first ranging sensor; The first strategy unit is used to determine the cleaning strategy of the cleaning equipment based on the height measurement result of the first ranging sensor in response to the first ranging sensor being in normal working state. The second strategy unit is used to determine the cleaning strategy of the cleaning equipment based on the map in response to the first ranging sensor being in a malfunctioning state. The cleaning strategy includes the lifting strategy of the second ranging sensor.

11. The cleaning strategy determination apparatus for cleaning equipment according to claim 10, wherein, The first strategy unit further includes a low-lying area determination module, used to: determine low-lying areas based on the height measurement results of the first ranging sensor, mark the low-lying areas, and update the map.

12. The cleaning strategy determination device for cleaning equipment according to claim 11, wherein, The first strategy unit further includes a first lifting judgment module, configured to: determine that when the cleaning equipment is traveling in the low-lying area, the second ranging sensor lowers in the low-lying area where the lowering condition for triggering the second ranging sensor is met, and the second ranging sensor is raised in the low-lying area where the lowering condition for triggering the second ranging sensor is not met, and mark the lowering area as a second mark and update the map.

13. The cleaning strategy determination device for cleaning equipment according to claim 11 or 12, wherein, The low-lying area determination module is used to collect multiple height measurement values ​​based on the first ranging sensor, and determine the low-lying area by comparing the height measurement values ​​with a standard height.

14. The cleaning strategy determination device for cleaning equipment according to claim 13, wherein, The low-rise area determination module is used to: determine the area corresponding to the height measurement value that is lower than the standard height as a low-rise sub-region; connect the low-rise sub-regions to determine the low-rise area.

15. The cleaning strategy determination device for cleaning equipment according to any one of claims 10-14, wherein, The second strategy unit further includes: a detour module, used to determine that the second ranging sensor is in a raised state and to determine that the cleaning equipment detours around the low-lying areas marked in the map.

16. The cleaning strategy determination apparatus for cleaning equipment according to any one of claims 10-14, wherein, The second strategy unit further includes a second elevation / reduction determination module, configured to: determine whether there is a descending area within the low-lying area based on the map; if there is a descending area within the low-lying area, determine that the second ranging sensor is in a descending state within the low-lying area or the descending area; if there is no descending area within the low-lying area, determine that the second ranging sensor is in a raised state within the low-lying area.

17. The cleaning strategy determination apparatus for cleaning equipment according to claim 16, wherein, The second strategy unit further includes a recovery module, configured to: raise the second ranging sensor when it is determined that the cleaning device leaves the low-lying area; or, raise the second ranging sensor when it is determined that the cleaning device leaves the lowering area.

18. The cleaning strategy determination apparatus for cleaning equipment according to claim 16 or 17, wherein, The second strategy unit further includes a marking module, configured to: determine that the second ranging sensor has descended when the second ranging sensor triggers a collision; mark the low-lying area as a descending area; and update the map.

19. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the cleaning strategy determination method for the cleaning equipment as described in any one of claims 1 to 9.

20. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the cleaning strategy determination method for the cleaning equipment as described in any one of claims 1 to 9.

21. A computer program comprising computer-readable code that, when executed in a computer device, implements the method as described in any one of claims 1 to 9.

22. A computer program product comprising a computer program or instructions which, when executed by a processor, implement the method as described in any one of claims 1 to 9.

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