CN117017117A - Control method of cleaning device, cleaning device and storage medium - Google Patents

Abstract

The embodiment of the application provides a control method of cleaning equipment, the cleaning equipment and a storage medium, wherein the method comprises the following steps: acquiring barrier information in a region to be cleaned; determining a target obstacle to be pre-edged cleaned according to the obstacle information when the cleaning device cleans the area to be cleaned; when the cleaning device moves along the current path, the minimum distance from the edge of the target obstacle to the edge of the cleaning device is greater than or equal to 0 and less than or equal to a first preset threshold; the cleaning device is controlled to perform pre-edge cleaning on the target obstacle. Identifying a target obstacle which can be preliminarily edged cleaned according to the obstacle information of the obstacle on the area to be cleaned, so as to preliminarily carry out the preliminary edged cleaning on the target obstacle; therefore, when the target obstacle blocks the cleaning device in the subsequent cleaning process, the target obstacle does not need to be bypassed again, and the cleaning device is prevented from being blocked by the obstacle frequently and needs to bypass, so that the cleaning efficiency is improved.

Description

Control method of cleaning device, cleaning device and storage medium

Technical Field

The present application relates to the field of cleaning devices, and in particular, to a control method of a cleaning device, and a storage medium.

Background

The cleaning device may clean along a pre-planned path, and the related art generally bypasses or cleans around an obstacle only when the cleaning device encounters the obstacle directly in front of the obstacle, and may then continue to clean along the pre-planned path. However, in a scene where obstacles are dense, such as an area where a desk and a chair are placed, the cleaning device is frequently blocked by the obstacles and needs to bypass, or the situation that cleaning is performed repeatedly around the same obstacle is easy to occur, so that the cleaning efficiency is low.

Disclosure of Invention

The application provides a control method of cleaning equipment, the cleaning equipment and a storage medium, and aims to solve the technical problems that the cleaning equipment is easy to frequently block by obstacles and needs to bypass in the related art.

In a first aspect, an embodiment of the present application provides a control method of a cleaning apparatus, including:

acquiring barrier information in a region to be cleaned;

determining a target obstacle to be pre-edged cleaned according to the obstacle information when the cleaning device cleans the area to be cleaned; when the cleaning device moves along the current path, the minimum distance from the edge of the target obstacle to the edge of the cleaning device is greater than or equal to 0 and less than or equal to a first preset threshold;

and controlling the cleaning equipment to perform pre-edge cleaning on the target obstacle.

In a second aspect, embodiments of the present application provide a cleaning apparatus comprising a processor and a memory for storing a computer program; the processor is adapted to execute the computer program and to carry out the steps of the aforementioned control method of the cleaning device when the computer program is executed.

In a third aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the steps of the method described above.

The embodiment of the application provides a control method of cleaning equipment, the cleaning equipment and a storage medium, wherein the method comprises the following steps: acquiring barrier information in a region to be cleaned; determining a target obstacle to be pre-edged cleaned according to the obstacle information when the cleaning device cleans the area to be cleaned; when the cleaning device moves along the current path, the minimum distance from the edge of the target obstacle to the edge of the cleaning device is greater than or equal to 0 and less than or equal to a first preset threshold; and controlling the cleaning equipment to perform pre-edge cleaning on the target obstacle. Identifying a target obstacle which can be preliminarily edged cleaned according to the obstacle information of the obstacle on the area to be cleaned, so as to preliminarily carry out the preliminary edged cleaning on the target obstacle; therefore, when the target obstacle blocks the cleaning device in the subsequent cleaning process, the target obstacle does not need to be bypassed again, and the cleaning device is prevented from being blocked by the obstacle frequently and needs to bypass, so that the cleaning efficiency is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of embodiments of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a control method of a cleaning device according to an embodiment of the present application;

FIG. 2 is a schematic block diagram of a cleaning apparatus in some implementations of an embodiment of the application;

figures 3 a-3 b are schematic views of a cleaning apparatus in some embodiments;

FIG. 4 is a schematic diagram of a related art edge cleaning of an obstacle;

FIG. 5 is a schematic view of a target obstacle in some implementations of an embodiment of the application;

FIG. 6 is a schematic illustration of pre-edge cleaning in some embodiments of the application;

FIG. 7 is a schematic view of an obstacle in some embodiments;

fig. 8 is a schematic block diagram of a cleaning apparatus provided by an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a flow chart of a control method of a cleaning apparatus according to an embodiment of the application. The control method of the cleaning apparatus may be applied to a cleaning apparatus such as a sweeping robot, or the like. The control method of the embodiment of the application is used for controlling the cleaning equipment so as to enable the cleaning equipment to execute cleaning tasks and clean the area to be cleaned. The cleaning device 100 may be used for automatically cleaning the floor, for example, and the application scenario of the cleaning device 100 may be household indoor cleaning, large-scale place cleaning, and the like.

As shown in fig. 2, an embodiment of the present application provides a cleaning apparatus 100. Specifically, the cleaning apparatus 100 includes a traveling unit 110, a cleaning member 120, and a control device 300; the walking unit 110 is used for driving the cleaning device 100 to move, and the cleaning member 120 is used for cleaning the floor; the control device 300 is used for implementing the steps of the control method of the cleaning apparatus according to the embodiment of the present application.

The cleaning member 120 includes, but is not limited to, at least one of: a mopping piece and a brushing piece. For example, the cleaning member 120 includes a mopping member for mopping the floor after wetting; the cleaning member 120 may further include a brushing member for brushing the floor surface.

The mopping pieces are used for mopping the ground, and the number of the mopping pieces can be one or more. The mop element comprises, for example, at least one of the following: the rotary mop, flat mop, roller mop, crawler mop, etc., are of course not limited thereto. The mop is illustratively disposed at the bottom of the robot body, which may be specifically a location rearward of the bottom of the robot body. The inside driving motor that is equipped with of robot main part stretches out two pivots at the bottom of robot main part, drags and wipes the piece and cup joints in the pivot. The driving motor can drive the rotating shaft to rotate, so that the rotating shaft drives the mopping piece to rotate.

The brushing elements comprise side brushing elements and/or middle brushing elements. For example, when the cleaning device uses the brushing member to sweep the floor, the side brushing member sweeps dirt such as dust to the middle area on the outer side, and the middle brushing member continues to sweep the dirt in the middle area to the dust collection device.

Alternatively, the cleaning apparatus 100 is a cleaning apparatus with a sweeping and mopping unit, and the sweeping unit and the mopping unit may work together, for example, the sweeping unit and the mopping unit work simultaneously, and the sweeping unit and the mopping unit work continuously and alternately; of course, the brushing member and the wiping member may be operated separately, i.e., the brushing member alone performs the cleaning operation, or the wiping member alone performs the wiping operation.

The cleaning apparatus 100 may also be used in conjunction with a base station that may be used to at least perform maintenance on the cleaning members 120 of the cleaning apparatus 100, such as cleaning or replacement of the cleaning members 120 of the cleaning apparatus 100. For example, the base station may also charge the cleaning device 100, and/or the base station may also provide a docking location or the like to the cleaning device 100, and/or the base station may also have a dust bag for sucking dust and debris in a dust box within the cleaning device 100, although not limited thereto.

It should be understood that the cleaning apparatus 100 described in the embodiments of the present application is only a specific example, and is not limited to the cleaning apparatus 100 in the embodiments of the present application, and the cleaning apparatus 100 in the embodiments of the present application may be implemented in other specific manners. For example, in other implementations, the cleaning device may have more or fewer components.

The inventor has found through creative work that in the related art, in the process of cleaning along an arcuate path, the cleaning device only detects whether an obstacle on the currently cleaned path hinders the movement of the cleaning device, if so, the obstacle is cleaned around the obstacle, and if not, the cleaning is continued along the arcuate path. As shown in fig. 4, the obstacle a does not obstruct the movement of the cleaning device during the movement of the cleaning device along the long-side path 1, and the cleaning device is turned along the turning path 2 after moving along the long-side path 1 to the tail end of the long-side path 1 to continue cleaning along the other long-side path 3. While the cleaning device continues to clean along the long-side path 3, the obstacle a prevents the cleaning device from continuing to move along the preset path, and the cleaning device now starts to clean the obstacle a along the paths 4 and 5 due to the need for obstacle detouring. However, after the edge cleaning of the obstacle a is finished, the cleaning device is still blocked by the obstacle a when moving from the position to the long-edge path 3 of the uncleaned area, and needs to bypass a long distance to return to the long-edge path 3 of the uncleaned area (for example, move to a candidate point). In the scenario shown in fig. 4, the obstacles are denser, including obstacle a, obstacle B, obstacle C, obstacle D, and the distance between the obstacles is smaller; in a scenario such as a dining table, the support of the table, chair and floor is a plurality of obstacles. The cleaning device may sometimes be blocked by other obstacles, such as obstacle B, during its travel along long-side path 3 of the uncleaned area, so that, illustratively, the cleaning device needs to navigate along path 6 to a candidate point of long-side path 3, which is the next arcuate starting point to continue traveling along the arcuate path. In this way, the distance by which the cleaning device bypasses is further increased. In the manner of performing the edge cleaning only on the obstacle that hinders the movement of the cleaning apparatus shown in fig. 4, the cleaning apparatus is difficult to reach the preset arcuate path after performing the edge cleaning on the obstacle, and needs to bypass a long distance; and when the barrier is denser, cleaning equipment can be close to the barrier repeatedly and keep away from the barrier, and cleaning equipment is getting trapped in the in-process of bypassing a plurality of barriers and carrying out the clean along the limit to a plurality of barriers easily, if can take place the condition of bypassing or repeatedly along the limit clean around same barrier a plurality of times, reduced cleaning equipment's work efficiency. In order to solve the technical problems in the related art, an embodiment of the present application provides a control method of a cleaning apparatus, so as to perform advanced edge cleaning when an obstacle that does not obstruct an arcuate path of the cleaning apparatus is encountered in a cleaning process along the arcuate path, thereby performing edge cleaning on the obstacle as early as possible, and thus realizing repeated cleaning as less as possible along the obstacle in a complex area, and reducing unnecessary repeated obstacle avoidance behaviors.

The following describes in detail a control method of the cleaning apparatus provided by the embodiment of the present application.

As shown in fig. 1, the control method of the cleaning apparatus according to an embodiment of the present application includes steps S110 to S130.

S110, acquiring obstacle information in the area to be cleaned.

The area to be cleaned is an area to be cleaned by the cleaning apparatus, and alternatively, the range of the area to be cleaned, such as one or more rooms, or a partial area in one room, may be preset.

Some obstacles such as cabinets, beds, sofas, tables, chairs and the like exist in some areas to be cleaned; these obstacles can block the cleaning device from moving, but the periphery of the obstacle is also a relatively easily soiled area; through carrying out the edge to the barrier and clean, can guarantee that cleaning equipment carries out more comprehensive cleanness to the clean area, the cleaning effect is better.

In some embodiments, the acquiring obstacle information in the area to be cleaned includes: acquiring an obstacle map corresponding to the area to be cleaned; determining obstacle information in the obstacle map, the obstacle information including at least one of: obstacle position, obstacle size.

For example, as shown in fig. 3a and 3b, the obstacle map includes a plurality of unit areas and numerical values corresponding to the respective unit areas. In the obstacle map shown in fig. 3a, a value of 0 corresponding to a unit area indicates that the unit area has an obstacle, and a value of 1 corresponding to a unit area indicates that the unit area has no obstacle; the distance between each unit area and the obstacle can be determined according to the number of unit areas between each unit area and the unit area having a value of 0. In the obstacle map shown in fig. 3b, the numerical value corresponding to the unit area indicates the distance relationship between the unit area and the nearest obstacle; for example, a value of 1 for a unit area indicates that the nearest distance from the unit area to the obstacle is 1 unit area. The nearest distance between each unit area and the obstacle can be determined from the obstacle map shown in fig. 3a or 3b, and thus the obstacle map shown in fig. 3a or 3b may also be referred to as an obstacle distance map.

Optionally, the method further comprises: acquiring obstacle information through a sensing device on the cleaning equipment when the cleaning equipment cleans the area to be cleaned; and adding the obstacle information to the obstacle map to update the obstacle map.

For example, the sensing device includes, but is not limited to, at least one of: vision sensor, laser sensor, radar, line structured light sensor. The cleaning equipment can detect surrounding obstacles in real time through the sensing device in the cleaning process to obtain obstacle information. According to the obstacle information obtained in real time through the sensing device, the obstacle map is updated, and the more accurate obstacle map can be obtained, so that the follow-up cleaning strategy is more intelligent and the instantaneity is higher.

S120, when the cleaning equipment cleans the area to be cleaned, determining a target obstacle which needs to be cleaned along the edge according to the obstacle information; when the cleaning device moves along the current path, the minimum distance from the edge of the target obstacle to the edge of the cleaning device is greater than or equal to 0 and less than or equal to a first preset threshold.

S130, controlling the cleaning equipment to clean the target obstacle along the edges.

When the cleaning device cleans the area to be cleaned, the outline of the obstacle and the distance between the obstacle and the cleaning device can be determined according to the obstacle information corresponding to the pre-stored obstacle map or according to the obstacle information detected in real time by the sensing device.

In some embodiments, as shown in fig. 5, the cleaning device moves along the current path, and the distance between the obstacle and the cleaning device can be determined according to the obstacle information during the movement; for example, the distance between the current and the nearest obstacle of the cleaning device may be detected in real time, or the distance change between the obstacle and the cleaning device during the movement of the cleaning device may be predetermined according to the current path and the width of the cleaning device, and the obstacle information.

Referring to fig. 5, when it is determined that the minimum distance L1 from the edge of the obstacle to the edge of the cleaning device is greater than or equal to 0 and less than or equal to a first preset threshold, the obstacle may be determined as a target obstacle that needs to be pre-edged cleaned.

In some embodiments, as shown in fig. 5, the first preset threshold may be determined from one half of the width of the cleaning device, for example, may be equal to one half of the width of the cleaning device. The current path is a moving path of the center of the cleaning device, and as shown in fig. 5, when the cleaning device moves to the left side of the target obstacle a along the current path, a distance L1 from the edge of the left side of the target obstacle a to the edge of the right side of the cleaning device is greater than 0 and less than one half of the width of the cleaning device. In the embodiment of the application, in the process of the cleaning device travelling along the current path, the minimum distance from the edge of the obstacle to the edge of the cleaning device is greater than or equal to 0, and the obstacle which is less than or equal to one half of the width of the cleaning device is determined as the target obstacle, and in the process of the cleaning device travelling along the current path, only the target obstacle is preplanned, namely, the obstacle adjacent to the current path is preplanned. The cleaning device can be prevented from being far away from the current path when the target obstacle is cleaned in the pre-edge mode, and the situation that cleaning is missed due to the fact that no area is cleaned between the current path and the target obstacle is avoided. And the problem of low cleaning efficiency caused by the fact that the cleaning equipment edges an obstacle far away from the current path in advance can be avoided.

Optionally, the target obstacle is cleaned along a current path when the cleaning device moves to a minimum distance from the target obstacle, i.e. cleaned around the target obstacle. Referring to fig. 6, the cleaning apparatus moves along the current path 1 and performs pre-edge cleaning on the target obstacle a when moving to the left side of the target obstacle a, such as the path 2 and the path 3 in the clockwise direction.

Optionally, the target obstacle is pre-edged cleaned before the cleaning device moves along the current path to a minimum distance from the target obstacle. For example, the target obstacle a may be pre-edged before moving to the left side of the target obstacle a, such as by starting the pre-edged cleaning of the target obstacle a in the counterclockwise direction from the lower side of the target obstacle a.

Referring to fig. 5, when the cleaning device moves along the current path, the target obstacle does not overlap with the coverage area of the cleaning device, i.e., the target obstacle does not block the movement of the cleaning device along the current path. It should be noted that, the related art does not avoid or clean such obstacles at this time; according to the method and the device for cleaning the obstacle, the obstacle is determined to be the target obstacle which needs to be subjected to pre-edge cleaning, and the edge cleaning is performed on the target obstacle in advance, so that subsequent cleaning path planning can be facilitated, frequent detouring of cleaning equipment when the obstacles near the target obstacle are denser is prevented, and therefore cleaning efficiency can be improved.

Referring to fig. 6, after the cleaning apparatus performs pre-edge cleaning on the target obstacle a along the current path 1 along the paths 2 and 3, the cleaning apparatus returns to the left side of the target obstacle a again, and can quickly move onto the path 4 of the uncleaned area (for example, move to the candidate point of the path 4), where the path 4 and the path 1 are on the same long side path of the arcuate path, so as to continue cleaning the area to be cleaned along the arcuate path. It is possible to prevent the cleaning apparatus from being frequently blocked by an obstacle to be required to bypass, so as to improve cleaning efficiency.

In some embodiments, step S120, when the cleaning device cleans the area to be cleaned, determines a target obstacle that needs to be pre-bordered by cleaning according to the obstacle information, including: and when the cleaning equipment cleans the area to be cleaned, determining whether the target obstacle exists on the preset side of the current path according to the obstacle information, wherein the preset side is the side where the unclean area is located.

Illustratively, the predetermined side is a right side, for example, the cleaning apparatus cleans the left side of the area to be cleaned first, and then cleans the right side of the area to be cleaned. That is, the cleaning apparatus cleans sequentially from left to right while cleaning the area to be cleaned. Thus, for the cleaning device, the right side is the preset side. As shown in fig. 5 and 6, when the cleaning apparatus cleans the area to be cleaned, it is determined whether an obstacle on the right side of the current path is a target obstacle. Optionally, the controlling the cleaning device to perform pre-edge cleaning on the target obstacle includes: controlling the cleaning device to perform pre-edge cleaning of the target obstacle, for example, controlling the cleaning device to perform pre-edge cleaning of the target obstacle in a clockwise direction, when the cleaning device moves to the left of the target obstacle along the current path; as shown in fig. 6, the cleaning apparatus performs the preliminary edge cleaning of the target obstacle a on the paths 2 and 3 in the clockwise direction after moving to the left side of the target obstacle a; after the target obstacle A is cleaned and pre-edged, the cleaning device returns to the left side of the target obstacle A again, so that the cleaning device can quickly move to a path of an unclean area, and the cleaning efficiency is improved.

Illustratively, the predetermined side is a left side, for example, the cleaning apparatus cleans the right side of the area to be cleaned first, and then cleans the left side of the area to be cleaned. That is, the cleaning apparatus cleans sequentially from right to left while cleaning the area to be cleaned. Thus, for the cleaning device, the left side is a preset side. Optionally, the controlling the cleaning device to perform pre-edge cleaning on the target obstacle includes: controlling the cleaning device to perform pre-edge cleaning on the target obstacle when the cleaning device moves to the right side of the target obstacle along the current path; for example, controlling the cleaning device to perform pre-edge cleaning of the target obstacle in a counter-clockwise direction.

In some embodiments, the method further comprises: when the cleaning equipment performs pre-edge cleaning on the target obstacle, acquiring obstacle information through a sensing device on the cleaning equipment; and adding the acquired obstacle information corresponding to the target obstacle to the obstacle map to update the obstacle map. When the cleaning equipment carries out edge-following on the target obstacle, the sensing device on the cleaning equipment can be used for obtaining the obstacle outline and the position information of the target obstacle more accurately, so that in the situation, the obstacle information of the target obstacle acquired in real time is added into the obstacle map to update the obstacle map, and the more accurate obstacle map which is closer to an actual scene can be obtained. Therefore, the follow-up cleaning strategy is more intelligent and has higher instantaneity.

In some embodiments, the current path is a preset path, and after the controlling the cleaning device to perform the pre-edge cleaning on the target obstacle, the method further includes: determining a target position corresponding to an unclean area of the to-be-cleaned area on the preset path, and controlling the cleaning equipment to move from a position for ending the pre-edge cleaning of the target obstacle to the target position; and controlling the cleaning equipment to continuously move along the preset path from the target position so as to clean the residual uncleaned area of the area to be cleaned. It should be noted that, in the embodiment of the present application, the to-be-cleaned area is all the areas in the cleaning task, and the unclean area of the to-be-cleaned area is an area belonging to the to-be-cleaned area but not yet cleaned in the cleaning task.

For example, referring to fig. 6, after the cleaning apparatus performs pre-edge cleaning on the target obstacle a along the current path 1, the path 2, and the path 3, the illustrated candidate point is determined as the target position on the path 4 of the unclean area corresponding to the arcuate path; the cleaning apparatus moves to the target position after performing the preliminary edge cleaning of the target obstacle a, and continues to clean the remaining uncleaned area of the area to be cleaned along the arcuate path to complete the cleaning of the area to be cleaned.

For example, the cleaning device may record the cleaned area in the map during the pre-edge cleaning around the target obstacle, and may continue to perform a normal arcuate cleaning of the uncleaned area after the pre-edge cleaning of the target obstacle is completed.

In some embodiments, the current path is an arcuate path, and after the controlling the cleaning device to pre-edge clean the target obstacle, the method further comprises: controlling the cleaning apparatus to continue cleaning the uncleaned area of the area to be cleaned along the arcuate path; and when the cleaning device continues to clean along the arched path, controlling the cleaning device to turn and cleaning an unclean area of the area to be cleaned after turning when the distance between the cleaning device and the target obstacle subjected to the pre-edge cleaning is smaller than or equal to a preset turning distance.

As shown in fig. 6, the cleaning apparatus moves along an arcuate path to the trailing end of path 4 and then turns along turning path 5 to continue cleaning along the adjacent other long side path; since the minimum distance of the target obstacle a to the edge of the cleaning device is less than one half of the width of the cleaning device as the cleaning device moves along path 1 to the edge of the target obstacle a, the target obstacle a may block the cleaning device as the cleaning device is diverted to move on an adjacent long-side path. Since the target obstacle a has been pre-edged cleaned while on the long-side paths corresponding to the path 1 and the path 4, the target obstacle a may not be edged cleaned even though the target obstacle a may block the cleaning device on the adjacent long-side path. In the case where the distance from the cleaning apparatus to the target obstacle a is less than or equal to the turning distance (which may be referred to as obstacle avoidance distance) during cleaning of the uncleaned area along the adjacent long-side path, the cleaning apparatus may turn along the path 6 shown in fig. 6 to be away from the target obstacle a, and may disengage from the obstacle-dense area as soon as possible, as compared to bypassing the target obstacle a (e.g., moving from the upper side of the target obstacle a to the lower side of the target obstacle a via the right side), so that unnecessary obstacle avoidance detouring is reduced to improve cleaning efficiency.

It will be appreciated that in some embodiments, the target obstacle is an obstacle that has not been edgewise cleaned while cleaning the area to be cleaned.

Illustratively, prior to controlling the cleaning apparatus to perform the pre-edge cleaning of the target obstacle, the method may further include: determining whether the target obstacle has been edge cleaned; and if the target obstacle is determined not to be subjected to edge cleaning, controlling the cleaning equipment to perform pre-edge cleaning on the target obstacle.

The obstacle subjected to the edge cleaning (including the preliminary edge cleaning) may not be subjected to the preliminary edge cleaning again, and by reducing the repeated edge cleaning of the obstacle, the cleaning efficiency may be improved, and the cleaning apparatus may be prevented from being caught in the obstacle-dense area.

In some embodiments, the minimum distance between the edge of the target obstacle away from the side of the cleaning device and the edge of the cleaning device is less than or equal to a second preset threshold as the cleaning device moves along the current path. Specifically, when the cleaning device moves along the current path, the minimum distance from the edge of the target obstacle to the edge of the cleaning device is greater than or equal to 0 and less than or equal to a first preset threshold, and the minimum distance from the edge of the target obstacle away from one side of the cleaning device to the edge of the cleaning device is less than or equal to a second preset threshold.

Illustratively, the distance of the distal end of the determined target obstacle from the cleaning device is small as the cleaning device moves along the current path; as shown in fig. 7, the length of the obstacle is longer, and when the minimum distance L2 between the edge of the obstacle far away from one side of the cleaning device and the edge of the cleaning device is greater than a second preset threshold value when the cleaning device moves along the current path, the obstacle is not required to be cleaned along the edge; therefore, the cleaning device can be prevented from leaving the current path too far when the cleaning device performs the pre-edge cleaning on the type of obstacle, and needs to turn around to return to the next motion starting point of the current path, so that the whole process is longer, and the path planning during the subsequent cleaning is not facilitated.

Illustratively, the current path is an arcuate path, the method further comprising: and when the cleaning equipment moves along the long-side path in the arched path, and the minimum distance from the edge with the obstacle to the edge of the cleaning equipment is larger than or equal to 0 according to the obstacle information, and the minimum distance between the edge of the side, away from the cleaning equipment, of the obstacle and the cleaning equipment is larger than the second preset threshold value, the cleaning equipment is controlled to continuously clean the area to be cleaned along the arched path.

As shown in fig. 7, the minimum distance L2 between the edge of the obstacle away from the side of the cleaning device and the edge of the cleaning device is greater than a second preset threshold value, and the obstacle may not need to be cleaned along the edge; for example, the cleaning may be performed on one side of the obstacle in an arcuate path (e.g., the cleaning may be performed on the upper side of the obstacle in an arcuate path in fig. 7), and then the cleaning may be performed on the other side of the obstacle (e.g., the cleaning may be performed on the lower side of the obstacle in an arcuate path in fig. 7), thereby achieving a zone cleaning to improve the cleaning efficiency.

The control method of the cleaning equipment provided by the embodiment of the application comprises the following steps: acquiring barrier information in a region to be cleaned; determining a target obstacle to be pre-edged cleaned according to the obstacle information when the cleaning device cleans the area to be cleaned; when the cleaning device moves along the current path, the minimum distance from the edge of the target obstacle to the edge of the cleaning device is greater than or equal to 0 and less than or equal to a first preset threshold; and controlling the cleaning equipment to perform pre-edge cleaning on the target obstacle. Identifying a target obstacle which can be preliminarily edged cleaned according to the obstacle information of the obstacle on the area to be cleaned, so as to preliminarily carry out the preliminary edged cleaning on the target obstacle; therefore, when the target obstacle blocks the cleaning device in the subsequent cleaning process, the target obstacle does not need to be bypassed again, and the cleaning device is prevented from being blocked by the obstacle frequently and needs to bypass, so that the cleaning efficiency is improved. And the efficiency of subsequent path planning can be improved, and the problem of subsequent repeated or incomplete coverage of obstacles is reduced.

Referring to fig. 8 in combination with the above embodiments, fig. 8 is a schematic block diagram of a cleaning apparatus 100 according to an embodiment of the present application.

As shown in fig. 8, the cleaning apparatus 100 further includes: a processor 301 and a memory 302, the memory 302 being for storing a computer program.

The processor 101 and memory 102 are illustratively coupled by a bus 103, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 101 may be a Micro-controller Unit (MCU), a central processing Unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the Memory 102 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.

Wherein the processor 101 is adapted to execute a computer program stored in the memory 102 and to implement the steps of the method of any of the previous embodiments when said computer program is executed.

Referring to fig. 2 in conjunction with fig. 8, the cleaning apparatus 100 includes a traveling unit 110, a cleaning member 120, and a control device 300; the walking unit 110 is used for driving the cleaning device 100 to move, and the cleaning member 120 is used for cleaning the floor; the control device 300 is used for implementing the steps of the control method of the cleaning apparatus according to the embodiment of the present application. For example, the control device 300 includes the aforementioned processor 101 and memory 102.

The specific principle and implementation manner of the cleaning device provided in the embodiment of the present application are similar to those of the foregoing embodiment, and are not repeated here.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the steps of the method of any of the embodiments described above.

The computer readable storage medium may be an internal storage unit of the cleaning device according to any one of the foregoing embodiments, for example, a hard disk or a memory of the cleaning device. The computer readable storage medium may also be an external storage device of the cleaning device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the cleaning device.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It should also be understood that the term "and/or" as used in the present application and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (12)

1. A control method of a cleaning apparatus, the method comprising:

acquiring barrier information in a region to be cleaned;

determining a target obstacle to be pre-edged cleaned according to the obstacle information when the cleaning device cleans the area to be cleaned; when the cleaning device moves along the current path, the minimum distance from the edge of the target obstacle to the edge of the cleaning device is greater than or equal to 0 and less than or equal to a first preset threshold;

and controlling the cleaning equipment to perform pre-edge cleaning on the target obstacle.

2. The control method according to claim 1, wherein the current path is a moving path of a center of the cleaning apparatus, and the first preset threshold is determined according to one half of a width of the cleaning apparatus.

3. The control method according to claim 1, wherein the determining a target obstacle to be pre-bordered by cleaning based on the obstacle information when the cleaning device cleans the area to be cleaned, includes:

and when the cleaning equipment cleans the area to be cleaned, determining whether the target obstacle exists on the preset side of the current path according to the obstacle information, wherein the preset side is the side where the unclean area is located.

4. A control method according to any one of claims 1 to 3, wherein the target obstacle is an obstacle that has not been edgewise cleaned while cleaning the area to be cleaned.

5. A control method according to any one of claims 1-3, wherein the current path is a preset path, the method further comprising, after the controlling the cleaning device to perform the pre-edge cleaning of the target obstacle:

determining a target position corresponding to an unclean area of the area to be cleaned on the preset path;

controlling the cleaning device to move from a position that ends pre-edged cleaning of the target obstacle to the target position;

and controlling the cleaning equipment to continuously move along the preset path from the target position so as to clean the residual uncleaned area of the area to be cleaned.

6. A control method according to any one of claims 1-3, wherein the current path is an arcuate path, the method further comprising, after said controlling the cleaning device to perform pre-limbed cleaning of the target obstacle:

controlling the cleaning apparatus to continue cleaning the uncleaned area of the area to be cleaned along the arcuate path;

and when the cleaning device continues to clean along the arched path, controlling the cleaning device to turn and cleaning an unclean area of the area to be cleaned after turning when the distance between the cleaning device and the target obstacle subjected to the pre-edge cleaning is smaller than or equal to a preset turning distance.

7. A control method according to any one of claims 1-3, characterized in that the minimum distance between the edge of the target obstacle on the side remote from the cleaning device and the edge of the cleaning device is smaller than or equal to a second preset threshold value when the cleaning device is moved along the current path.

8. The control method of claim 7, wherein the current path is an arcuate path, the method further comprising:

and when the cleaning equipment moves along the long-side path in the arched path, and the minimum distance from the edge with the obstacle to the edge of the cleaning equipment is larger than or equal to 0 according to the obstacle information, and the minimum distance between the edge of the side, away from the cleaning equipment, of the obstacle and the cleaning equipment is larger than the second preset threshold value, the cleaning equipment is controlled to continuously clean the area to be cleaned along the arched path.

9. A control method according to any one of claims 1 to 3, wherein the acquiring obstacle information in the area to be cleaned includes:

acquiring an obstacle map corresponding to the area to be cleaned;

determining obstacle information in the obstacle map, the obstacle information including at least one of: obstacle position, obstacle size.

10. The control method according to claim 9, characterized in that the method further comprises:

when the cleaning equipment performs pre-edge cleaning on the target obstacle, acquiring obstacle information corresponding to the target obstacle through a sensing device on the cleaning equipment;

and adding the acquired obstacle information corresponding to the target obstacle to an obstacle map so as to update the obstacle map.

11. A cleaning device comprising a processor and a memory for storing a computer program; the processor is adapted to execute the computer program and to carry out the steps of the method of controlling a cleaning device according to any one of claims 1-10 when the computer program is executed.

12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to carry out the steps of the method of controlling a cleaning device according to any one of claims 1-10.