CN112394728B

CN112394728B - Detection method for working floor of cleaning equipment and cleaning equipment

Info

Publication number: CN112394728B
Application number: CN202011139526.XA
Authority: CN
Inventors: 肖力子; 王可可
Original assignee: Shenzhen Topband Co Ltd
Current assignee: Shenzhen Topband Co Ltd
Priority date: 2020-10-22
Filing date: 2020-10-22
Publication date: 2024-03-29
Anticipated expiration: 2040-10-22
Also published as: CN112394728A

Abstract

The invention provides a detection method for the working floor of cleaning equipment, which comprises the following steps: transmitting millimeter waves to the working ground; receiving millimeter wave echoes reflected from the working ground and obtaining echo information; judging the ground type of the working ground according to the echo information; and controlling the cleaning equipment to operate in a preset mode according to the floor type. The invention also provides cleaning equipment. According to the invention, the millimeter waves are emitted to the working ground to determine the ground type, and then the cleaning equipment is controlled to operate in a corresponding preset mode according to the ground type, compared with the traditional ultrasonic wave and laser detection, the millimeter waves have stronger penetrating power to dust, rain fog and the like, and are not interfered by light, so that the detection process is more stable, the cleaning equipment can adapt to outdoor severe environments, the ground environment can be accurately forecast in outdoor automatic cleaning operation, and the cleaning equipment can be pertinently cleaned in the preset mode, so that the safe operation of the cleaning equipment and the effective cleaning process are ensured.

Description

Detection method for working floor of cleaning equipment and cleaning equipment

Technical Field

The invention belongs to the technical field of cleaning equipment, and particularly relates to a detection method for the working floor of the cleaning equipment and the cleaning equipment.

Background

With the continuous development of society, the degree of mechanization is higher and higher, and the idea of cleaning by replacing manpower with machinery is deep. Under the concept, a sweeping robot capable of automatically completing sweeping work by means of certain artificial intelligence has been developed.

The sweeping robot is generally applied to the indoor, along with the continuous development of the field of the sweeping robot, the sweeping robot is more and more intelligent, has more and more functions, can adapt to more and more complex working environments, is not limited to indoor use, is gradually applied to the outdoor environments with more complex and changeable environments and more manpower and material resources, and is generally called as an outdoor sweeping robot.

When the outdoor sweeping robot performs automatic sweeping operation outdoors, different environmental conditions in the travelling process need to be detected and identified in advance so as to adopt different sweeping strategies and path planning. In general, an outdoor sweeping robot detects an outdoor environment through a conventional sensor (e.g., an ultrasonic sensor, a laser sensor, etc.). The traditional sensor cannot adapt to detection in severe environments such as high dust, rain and fog weather, strong light irradiation reflection and the like in an outdoor environment due to technical limitation, so that the detection process is unstable, the detection result is inaccurate, the false alarm is frequently generated, the cleaning process of the outdoor sweeping robot is affected, and even the serious condition causes damage of the outdoor sweeping robot.

Disclosure of Invention

The embodiment of the invention provides a detection method for a working floor of cleaning equipment, which aims to solve the problems that the detection process is unstable and the detection result is inaccurate because the traditional sensor cannot adapt to detection in some severe environments in the process of outdoor automatic cleaning operation of the existing cleaning equipment.

The embodiment of the invention is realized in such a way that a detection method for the working floor of cleaning equipment comprises the following steps:

transmitting millimeter waves to the working ground;

receiving millimeter wave echoes reflected from the working ground and obtaining echo information;

judging the ground type of the working ground according to the echo information;

and controlling the cleaning equipment to operate in a preset mode according to the floor type.

The embodiment of the invention also provides cleaning equipment, which comprises:

the first transmitting module is used for transmitting millimeter waves to the working ground;

the first receiving module is used for receiving the millimeter wave echo reflected from the working ground and obtaining echo information;

the first judging module is used for judging the ground type of the working ground according to the echo information;

and the first control module is used for controlling the cleaning equipment to operate in a preset mode according to the floor type.

The method has the advantages that the type of the ground is determined by emitting millimeter waves to the ground on which the cleaning device works, and then the cleaning device is controlled to operate in a corresponding preset mode according to the type of the ground.

Drawings

FIGS. 1 and 2 are schematic views of a cleaning apparatus according to an embodiment of the present invention;

fig. 3 to 9 are flowcharts illustrating a method for detecting a work surface of a cleaning apparatus according to an embodiment of the present invention;

fig. 10 to 16 are schematic structural views of a cleaning apparatus according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

Example 1

Referring to fig. 1 to 3, a method for detecting a working surface of a cleaning apparatus according to an embodiment of the present invention includes the steps of:

s1: transmitting millimeter waves to the working ground;

s2: receiving millimeter wave echoes reflected from the working ground and obtaining echo information;

s3: judging the ground type of the working ground according to the echo information;

s4: the cleaning device is controlled to operate in a preset manner according to the floor type.

In the embodiment of the invention, the millimeter waves are emitted to the ground where the cleaning equipment works to determine the ground type, and then the cleaning equipment is controlled to operate in a corresponding preset mode according to the ground type, compared with the traditional detection modes such as ultrasonic detection and laser detection, the millimeter waves have stronger penetrating power to dust, rain and fog and the like, and are not interfered by light, the detection process is more stable, so that the cleaning equipment can adapt to outdoor severe environments, the ground environment can be accurately forecasted in outdoor automatic cleaning operation, and the cleaning process can be effectively carried out in the preset mode, the cleaning process can be effectively carried out, and the millimeter waves can be emitted by millimeter wave radars, so that the cost is lower compared with the traditional sensors such as ultrasonic sensors and laser sensors.

The cleaning device may be a device with a certain intelligent and autonomous cleaning capability, such as a sweeping robot, a sweeping machine, a floor washing machine, etc., and in the embodiment of the present invention, an outdoor sweeping robot is taken as an example of the cleaning device, that is, the cleaning device in the embodiment of the present invention is mainly used for performing outdoor cleaning tasks. Of course, the cleaning device can also be applied to indoor cleaning, and the cleaning device can be applied according to actual requirements. In other embodiments, the cleaning apparatus may be other, and is not particularly limited herein.

In particular, please further refer to fig. 1 and 2, the work floor may be understood as a floor located in the advancing direction of the cleaning apparatus, where the cleaning apparatus is required to perform a cleaning task, and the cleaning apparatus may continuously or intermittently emit millimeter waves to the work floor to detect various conditions of the work floor during the advancing process. In the embodiment of the present invention, the millimeter wave may be emitted by the millimeter wave sensor mounted on the cleaning device, and the echo reflected after the millimeter wave contacts with the obstacle may also be received by the millimeter wave sensor, i.e., the millimeter wave sensor may include a transmitting end for emitting the millimeter wave and a receiving end for receiving the echo of the millimeter wave. In this embodiment, the millimeter wave sensor may be provided specifically at the head portion of the cleaning device so as to detect the work floor in the advancing direction of the cleaning apparatus. In other embodiments, the millimeter wave sensor may be located elsewhere in the cleaning device, as desired.

In practical application, one or more millimeter wave sensors can be mounted on the cleaning equipment, the specific mounting quantity can be determined according to the size of the cleaning equipment and the requirement on detection precision, for example, when the size of the cleaning equipment is smaller or the requirement on measurement precision is lower, only one to two millimeter wave sensors can be mounted, so that the structural complexity and the equipment cost of the cleaning equipment are reduced; when the volume of the cleaning equipment is large enough or the requirement on detection precision is high, the cleaning equipment can be provided with three or more millimeter wave sensors so as to ensure accurate detection on the working floor and meet the actual detection requirement.

In this embodiment, when the cleaning device transmits millimeter waves to the working floor and receives the millimeter wave echoes reflected from the working floor, different floor types such as different ground types (rough or smooth), flat ground or ground fluctuation with pits, cleanable sundry ground and cleanable sundry ground, even cliffs, etc., will reflect different millimeter wave echoes reflected from different floor types, and will carry different echo information. The cleaning device firstly analyzes and filters all received millimeter wave echoes to eliminate noise in the millimeter wave echoes, ensures the relative accuracy of the detection process, and then further analyzes the available millimeter wave echoes to obtain effective echo information, thereby reducing the invalid calculation process.

Echo information is the characteristics of the echo, including but not limited to the physical characteristics of echo intensity, peak position, number of echoes, echo phase, etc. When the cleaning equipment receives the millimeter wave echo, the millimeter wave echo can be drawn into a specific wave pattern diagram, the change of each characteristic of the millimeter wave echo can be clearly and clearly known, and the height change, the depth change and the like of the working ground can be obtained through analysis according to the echo information. Therefore, the type of different working floors can be determined according to different echo information, and then different operation modes are specifically selected according to different floor types. It should be noted that, the values of roughness, depth change, height change, etc. of the working floor obtained by analysis according to the echo information of the millimeter wave echo are relatively mature in the related art, and will not be described in detail in the present specification.

Illustratively, the predetermined means may be such as the cleaning device increasing the cleaning force when a rough surface is encountered, decreasing the cleaning force when a smooth surface is encountered, the leveling of the surface may be accelerated through, the surface may be fluctuated with holes, the slowing down through or the bypassing, etc. The foregoing description of the preset mode is only exemplary and should not be construed as limiting the invention, and the specific form of the preset mode may be set forth in the specific embodiments.

Further, in the present embodiment, the cleaning apparatus intermittently emits millimeter waves to detect the work floor in the advancing direction, and while ensuring effective detection of the work floor, the acquisition and processing processes of data can be reduced, reducing the consumption of the cleaning apparatus; in one embodiment, the cleaning device may also emit millimeter waves in real time to detect the work floor in the forward direction, which may ensure real-time detection of the work floor, further ensuring cleaning of the work floor and proper operation of the cleaning device.

Example two

Still further, referring to fig. 2 and 3, the cleaning apparatus is provided with a millimeter wave device for emitting millimeter waves, the millimeter wave device emits millimeter waves within an emission range, and a target detection area exists between the emission range and the working floor, referring to fig. 4, step S1 includes the steps of:

s11: transmitting millimeter waves into a target detection area;

the step S2 includes the steps of:

s21: and receiving millimeter wave echoes reflected from all target points in the target detection area and obtaining echo information.

It will be appreciated that in the millimeter wave device, i.e. the millimeter wave sensor mentioned in the first embodiment, in the embodiment of the present invention, in the above-mentioned transmission range, the millimeter wave transmitted by the millimeter wave device and the receivable millimeter wave echo are more effective and better in quality, and a set target detection area exists between the transmission range and the working floor, where the target detection area refers to a predefined detection area, and according to different requirements, the range of the target detection area can be specifically set by setting parameters such as the position, the orientation, the height, the angle, and the like of the millimeter wave device.

In the target detection area, the reflection of millimeter wave echo can be quicker and quicker, the millimeter wave device can receive echo reflection more accurately, and the like, so that a more effective and more accurate detection area can be formed between the emission range of the millimeter wave device and the working ground. In addition, each target point also exists in the target detection area, and the target points can be distributed in the whole target detection area or in a specific area, such as an area opposite to the millimeter wave device, and better detection feedback can be obtained.

In this embodiment, by transmitting millimeter waves into the target detection area and receiving millimeter wave echoes reflected from all target points in the target detection area, echo information of the target detection area is obtained in a targeted manner, so that additional data processing and additional time consumption caused by acquiring echo information of other areas with poor effects can be reduced, and additional consumption of cleaning equipment can be reduced.

Example III

Still further, referring to fig. 5, the ground type includes a relatively smooth ground and a relatively rough ground, the echo information includes an echo intensity, and step S03 includes the steps of:

s31: judging the intensity of the echo and the magnitude of a preset intensity threshold;

S32: when the echo intensity is smaller than a preset intensity threshold value, judging the ground type to be a relatively smooth ground;

s33: and when the echo intensity is larger than a preset intensity threshold value, judging the ground type to be a relatively rough ground.

In this embodiment, the division between the relatively smooth ground and the relatively rough ground is determined by the roughness of the current working ground, the relatively rough ground when the roughness of the working ground is greater than a certain value, the relatively smooth ground when the roughness of the working ground is less than a certain value, and the roughness of the working ground can be obtained through analysis and processing of some characteristics in the echo information, including but not limited to the echo intensity of the millimeter wave echo.

In the reflection law of millimeter waves, the number of peaks and the concentration of the echoes of millimeter waves are related to the roughness of the ground, and the stability of the echoes is also different, specifically: because the millimeter wave emission angle and the ground have a certain inclination angle, and the smooth ground is smoother, the reflected millimeter waves are more concentrated, the millimeter wave is reflected more, the millimeter wave echo is less, and the echo intensity is weaker; and because the rough ground is rough, the reflection surface capable of reflecting millimeter waves is more, so that the reflected millimeter waves are scattered, and because of the diffuse reflection, the received millimeter wave echoes are more, so that the echo intensity is enhanced. I.e. the surface roughness is positively correlated with the echo intensity. Of course, the echo information used to determine the roughness of the work surface is not limited to the echo intensity, and in other embodiments, may include more other echo information, without specific limitation.

Therefore, in this embodiment, the echo intensity in the received echo information of the millimeter wave echo is used as a judging index, specifically, an echo intensity chart and the like can be drawn and obtained for analysis and calculation, and the preset intensity threshold is obtained based on the related experiment and the historical operation data of the cleaning device, wherein the preset intensity threshold is a relatively accurate value for judging the roughness of the working surface, the roughness is relatively higher outside the preset intensity threshold, i.e. smoother, and the roughness is relatively lower inside the preset intensity threshold, i.e. rougher.

In the operation process of the cleaning equipment, the magnitude relation between the echo intensity and the preset intensity threshold value is compared in real time: when the echo intensity is smaller than a preset intensity threshold value, the working ground is considered to be smoother and smoother, the roughness degree is lower, the ground type is judged to be the relatively smooth ground, if the echo intensity is smaller, the working ground is smoother and smoother, and the cleaning of the working ground is relatively simpler; when the echo intensity is larger than the preset intensity threshold value, the reflection surface of the working ground is more, namely the working ground is rough, the roughness is higher, the ground type is judged to be the relatively rough ground, if the echo intensity is larger, the working ground is rough, and cleaning of the working ground is more difficult.

Referring to fig. 5, step S4 includes the steps of:

s41: when the floor type is a relatively smooth floor, controlling the cleaning device to clean the working floor with a first cleaning force;

s42: when the floor type is a relatively rough floor, the cleaning device is controlled to clean the work floor with a second cleaning force.

Specifically, after determining a specific floor type, the cleaning device cleans the working floor in a preset manner corresponding to the floor type. In this embodiment, the cleaning force varies for different types of floor surface with different roughness:

when the cleaning equipment judges that the ground type of the working ground is a relatively smooth ground, namely the current working ground is relatively flat and smooth, the cleaning is relatively easy, at the moment, the cleaning equipment cleans the relatively smooth ground with a first cleaning force, the first cleaning force can be understood to be a cleaning with a relatively low degree, such as a cleaning equipment with a lower ground brush pressing degree, a smaller pressure and a smaller contact area with the relatively smooth ground, or a cleaning equipment with a smaller water yield for cleaning, or a cleaning equipment with a shorter cleaning time, and the like, so that the cleaning consumption of the cleaning equipment is reduced while the cleaning effect is ensured;

when the cleaning equipment judges that the ground type of the working ground is relatively rough, namely the current working ground is relatively rough, the cleaning difficulty is relatively high, at the moment, the cleaning equipment cleans the relatively rough ground with second cleaning force, the second cleaning force can be understood to be relatively high in degree, such as the cleaning equipment is relatively high in ground brush pressing degree, the pressure with the relatively rough ground is relatively high, the contact area is relatively large, or the water yield of the cleaning equipment for cleaning is relatively high, or the cleaning time of the cleaning equipment is relatively long, and the cleaning effect of the cleaning equipment is improved.

The above description of the first cleaning force and the second cleaning force is merely exemplary, and should not be construed as limiting the present invention, and the forms of different cleaning forces may be specifically set in practical embodiments.

Example IV

Still further, the ground type further includes a spanable pit and a non-spanable pit, the echo information includes an echo phase, referring to fig. 6, and step S03 further includes the steps of:

s34: determining a depth change value of the working surface according to the echo phase;

s35: judging the size of the depth change value and the depth change threshold value;

s36: when the depth change value is smaller than the depth change threshold value, judging the ground type as a spanable pit;

s37: when the depth change value is larger than the depth change threshold value, judging that the ground type is non-crossing pit;

in this embodiment, the ground type is determined by the depth of the current working ground by the crossing of the pit and the non-crossing of the pit, and if the pit exists on the current working ground, a piece of obvious information representing the depth change appears in the echo information of the millimeter wave echo. The depth of the working surface is not spanable when the depth of the working surface is greater than a certain value, and is spanable when the depth of the working surface is less than a certain value, and the depth of the working surface can be obtained through analysis and processing of certain characteristics in echo information, wherein the certain characteristics include but are not limited to echo phases of millimeter wave echoes.

In the reflection law of millimeter wave echo, the echo phase of millimeter wave echo is directly related to the depth change of the ground, and the principle is that the echo phase changes with the change of distance in terms of waveform by measuring the arrival time (arrival time-transmission time) of the echo, that is, the waveform moves left and right. The millimeter wave radar on the cleaning apparatus of this embodiment is installed obliquely to the work floor, the phase of the return wave of the normal flat floor is substantially near a fixed value (small range fluctuation), if there is a protruding obstacle (distance becomes closer), there is a waveform shift left, otherwise there is a pit (distance becomes farther), there is a waveform shift right. Thus, the depth change of the work floor (also used to determine the height change) can be determined from the echo phase of the millimeter wave echo.

Specifically, if the phase difference value of the millimeter wave echoes is large when the phase difference is far from the flat ground, pits can be considered to exist; if the phase difference value when the phase difference occurs from the flat ground in the millimeter wave echo is small, it can be considered that an obstacle exists. And then the pit depth value is obtained according to the echo phase calculation. Of course, the echo information used to calculate the depth change of the work surface is not limited to the echo phase, and in other embodiments, may include more other echo information, without limitation.

In this embodiment, the echo phase in the received echo information of the millimeter wave echo is used as a judging index, specifically, an echo phase change chart and the like can be drawn and obtained for analysis and calculation, and a depth change threshold value is obtained based on related experiments and historical operation data of the cleaning equipment, wherein the depth change threshold value is a relatively accurate numerical value for judging the depth change of the working floor. If the depth change is smaller in the depth change threshold, and is larger in the depth change threshold, the larger the depth change is, the larger the spanning difficulty of the cleaning equipment is, and the smaller the depth change is, the smaller the spanning difficulty of the cleaning equipment is. Further, in one embodiment, the depth change threshold may be set based on a tire diameter of the cleaning device or based on a floor height of the cleaning device as a determination of whether the cleaning device is spanned.

In the running process of the cleaning equipment, comparing the depth change value with the depth change threshold value in real time, when the depth change value is larger than the depth change threshold value, considering that the depth change of the working ground is larger, such as deeper pits, cliffs and the like exist, considering that the crossing difficulty of the cleaning equipment on the current working ground is larger or the current working ground cannot be crossed, and judging that the ground type is the non-crossing pit; when the depth change value is smaller than the depth change threshold value, the depth change of the working floor can be considered smaller, such as only shallower pits, cliffs and the like, at which time the cleaning device can be considered to span the current working floor, and the floor type can be determined to be spanable.

Referring to fig. 6, step S4 further includes the steps of:

s43: when the floor type is a spanable pit, controlling the cleaning device to span the spanable pit;

s44: when the floor type is non-traversable, the cleaning device is controlled to bypass the non-traversable.

After determining the specific floor type, the cleaning device processes the working floor in a preset manner corresponding to the floor type. In this embodiment, the treatment is different for the types of straddlable and non-straddlable floors:

when the cleaning equipment judges that the ground type of the working ground is a spanable pit, namely the current working ground is small in depth and relatively easy to pass, at the moment, the cleaning equipment is controlled to span the spanable pit, so that the energy consumption of extra detours of the cleaning equipment is reduced; when the cleaning equipment judges that the ground type of the working ground is a non-crossing pit, namely the current working ground is large in depth and is relatively difficult to pass, at the moment, the cleaning equipment is controlled to bypass the non-crossing pit, so that the safe operation of the cleaning equipment is ensured.

The above description of crossing over a spanable hole and bypassing a non-spanable hole is merely exemplary and should not be construed as limiting the invention to the embodiments specifically set forth different forms of processing.

Example five

Still further, the ground type further includes a surmountable obstacle and a non-surmountable obstacle, the echo information includes an echo phase, referring to fig. 7, the step S3 further includes the steps of:

s38: determining a height change value of the working ground according to the echo phase;

s39: judging the height change value and the height change threshold value;

s3a: when the height change value is larger than the height change threshold value, judging that the ground type is an obstacle which can not be crossed;

s3b: when the height change value is smaller than the height change value, judging that the ground type is a strideable obstacle;

in this embodiment, the ground type is determined by the height of the current working ground for the spanable obstacle and the non-spanable obstacle, and if an obstacle exists on the current working ground, a piece of obvious information representing the height change appears in the echo information of the millimeter wave echo. When the height of the working ground is larger than a certain value, the obstacle can not be crossed, and when the height of the working ground is smaller than a certain value, the obstacle can be crossed, and the height of the working ground can be obtained through analysis and processing of certain characteristics in echo information, wherein the certain characteristics include but are not limited to echo phases of millimeter wave echoes.

In the reflection law of millimeter wave echo, the echo phase of millimeter wave echo is directly related to the height change of the ground, and the principle is that the echo phase changes with the change of distance in terms of waveform by measuring the arrival time (arrival time-transmission time) of the echo, namely, the waveform moves left and right. The millimeter wave radar on the cleaning apparatus of this embodiment is installed obliquely to the work floor, the phase of the return wave of the normal flat floor is substantially near a fixed value (small range fluctuation), if there is a protruding obstacle (distance becomes closer), there is a waveform shift left, otherwise there is a pit (distance becomes farther), there is a waveform shift right. Therefore, the height change of the work floor (also used for judging the depth change) can be judged by the echo phase of the millimeter wave echo.

Specifically, if the phase difference value of the millimeter wave echoes is large when the phase difference is far from the flat ground, pits can be considered to exist; if the phase difference value when the phase difference occurs from the flat ground in the millimeter wave echo is small, it can be considered that an obstacle exists. And then calculating according to the echo phase to obtain the height value of the obstacle. Of course, the echo information used to calculate the height change of the work floor is not limited to the echo phase, and in other embodiments, may include more other echo information, without limitation.

Therefore, in this embodiment, the echo phase in the received echo information of the millimeter wave echo is used as a judgment index, specifically, an echo phase change chart and the like can be drawn and obtained for analysis and calculation, and the height change threshold is obtained based on the related experiment and the historical operation data of the cleaning device, wherein the height change threshold is a relatively accurate value for judging the height change of the working floor, if the height change is smaller in the height change threshold, the height is larger in the height change threshold, the larger the height change is, the larger the crossing difficulty of the cleaning device is, and the smaller the crossing difficulty of the cleaning device is. Further, in one embodiment, the height change threshold may be set based on the tire diameter of the cleaning device, or based on the floor height of the cleaning device, as a determination of whether the cleaning device is spanned.

In the running process of the cleaning equipment, comparing the relation between the height change value and the height change threshold value in real time, when the height change value is larger than the height change threshold value, considering that the height change of the working ground is larger, such as bricks, soil blocks, wood and the like with larger height, considering that the crossing difficulty of the cleaning equipment on the current working ground is larger or the current working ground cannot be crossed, and judging that the ground type is an obstacle which cannot be crossed; when the height variation value is smaller than the height variation threshold value, the height variation of the work floor may be considered smaller, such as only short bricks, soil blocks, wood, etc., at which time the cleaning apparatus may be considered to span the current work floor and the floor type may be determined to be a strainable obstacle.

Referring to fig. 7, step S4 further includes the steps of:

s45: when the floor type is a strideable obstacle, controlling the cleaning device to stride across the strideable obstacle;

s46: when the floor type is an obstacle that cannot be spanned, the cleaning device is controlled to bypass the obstacle.

when the cleaning equipment judges that the ground type of the working ground is a strideable obstacle, namely the height of the obstacle on the current working ground is smaller, the obstacle is relatively easy to stride over, at the moment, the cleaning equipment is controlled to stride over the strideable obstacle, and the type and the volume of the obstacle can be further analyzed to judge whether to clean the obstacle or not, so that the energy consumption of extra detours of the cleaning equipment is reduced; when the cleaning equipment judges that the ground type of the working ground is an obstacle which cannot be spanned, namely the height of the obstacle on the current working ground is large, the obstacle is relatively difficult to pass and span, and at the moment, the cleaning equipment is controlled to bypass the obstacle which cannot be spanned, so that the safe operation of the cleaning equipment is ensured.

The above description of crossing a surmountable obstacle and bypassing a non-surmountable obstacle is merely exemplary and should not be construed as limiting the invention, as in practical embodiments different forms of treatment may be provided specifically.

Example six

Further, the echo information further includes an echo phase, the ground type further includes a light and thin object covering ground and a light and thin object covering pit, referring to fig. 8, step S3 further includes the steps of:

s3c: when two groups of millimeter wave echoes are received and the phase differences of the echo phases of the two groups of millimeter wave echoes are different, determining the depth change value of the working ground according to the echo phases of the two groups of millimeter wave echoes;

s3d: judging the size of the depth change value and the depth change threshold value;

s3e: when the depth change value is smaller than the depth change threshold value, judging that the ground type is light and thin and objects cover the ground;

s3f: when the depth change value is larger than the depth change threshold value, the ground type is determined to be light and thin and objects to cover pits.

In this embodiment, the division of the light and thin object covered ground and the pit covered by the light and thin object is determined by the depth change of the current working ground, if the working ground has the light and thin object (such as paper, plastic film, leaf, etc.) and the millimeter wave can partially penetrate the light and thin object, the penetration echo detection is involved here, when the working ground is covered by the light and thin object, the light and thin object can reflect the millimeter wave, and after the millimeter wave penetrates the light and thin object, the millimeter wave can still be reflected by the ground or the pit below the light and thin object, and the echo intensities of the two sets of millimeter wave echoes can be weakened, at this time, the cleaning device can receive the two sets of millimeter wave echoes, and the echo information reflected by the ground has no depth change or relatively stable performance, and the echo information reflected by the pit has obvious depth change compared with the echo information reflected by the ground.

Therefore, when two sets of millimeter wave echoes are received, and the phase differences of the echo phases of the two sets of millimeter wave echoes are different, it can be determined that a light and thin object exists, a depth change value is obtained through calculation of the echo phases, when the depth change is greater than a certain value, the light and thin object covers a pit, when the depth change is less than a certain value, the light and thin object covers the ground, whether the working ground is covered by the light and thin object or not, and the depth change under the light and thin object cover can be obtained through analysis and processing of certain characteristics in echo information, wherein the certain characteristics include but are not limited to the echo phases of the millimeter wave echoes.

In the reflection law of millimeter wave echo, the echo phase of millimeter wave echo is directly related to the depth change of the ground, and the principle is that the echo phase changes with the change of distance in terms of waveform by measuring the arrival time (arrival time-transmission time) of the echo, that is, the waveform moves left and right. The millimeter wave radar on the cleaning apparatus of this embodiment is installed obliquely to the work floor, the phase of the return wave of the normal flat floor is substantially near a fixed value (small range fluctuation), if there is a protruding obstacle (distance becomes closer), there is a waveform shift left, otherwise there is a pit (distance becomes farther), there is a waveform shift right. Thus, the depth change of the work surface (which can also be used to determine the depth change) can be determined from the echo phase of the millimeter wave echo.

Specifically, if the phase difference value of the millimeter wave echoes is large when the phase difference is far from the flat ground, pits can be considered to exist; if the phase difference value when the phase difference occurs from the flat ground in the millimeter wave echo is small, it can be considered that an obstacle exists. And then calculating according to the echo phase to obtain the depth value of the pit. Of course, the echo information used to calculate the depth change of the work surface is not limited to the echo phase, and in other embodiments, may include more other echo information, without limitation.

In this embodiment, the echo phase in the received millimeter wave echo information is used as a judging index, specifically, an echo phase change chart and the like can be drawn for analysis and calculation, and a depth change threshold value is obtained based on related experiments and historical operation data of the cleaning equipment, wherein the depth change threshold value is a relatively accurate numerical value for judging the depth change of the working floor. If only one group of millimeter wave echoes are received, the current ground is uncovered or thicker or hard (such as soil, stone, wood and the like) in a covering manner, and if two groups of millimeter wave echoes are received, the current ground is covered by a light and thin object; if the depth change is smaller in the depth change threshold, and is larger in the depth change threshold, the larger the depth change is, the larger the spanning difficulty of the cleaning equipment is, and the smaller the depth change is, the smaller the spanning difficulty of the cleaning equipment is. Further, in one embodiment, the depth change threshold may be set based on a tire diameter of the cleaning device or based on a floor height of the cleaning device as a determination of whether the cleaning device is spanned.

The depth change value is compared to a depth change threshold value in real time during operation of the cleaning device. When the depth change value is larger than the depth change threshold value, the depth change of the working ground is considered larger, such as deeper pits, cliffs and the like under the coverage of the light and thin objects, at the moment, the spanning difficulty of the cleaning equipment on the current working ground is considered larger, or the cleaning equipment cannot span the current working ground, and the ground type is determined to be the light and thin objects to cover the pits; if the depth change value is smaller than the depth change threshold, the depth change of the working floor can be considered smaller, such as a flat floor, or only a shallower pit, cliff, etc., at this time, the cleaning device can be considered to span the current working floor, and the floor type can be determined to be a light and thin object covering the floor.

More, in one embodiment, since the situation that the ground or the pit is covered by the hard cover (obstacle) such as a cardboard, a wood board and the like exists, the millimeter wave cannot penetrate the hard cover, so that only echo information reflected by the hard cover can be detected, and the size of the hard cover can be judged according to the echo information, so that the cleaning equipment can judge the passing feasibility, and whether the hard cover can be cleaned or needs to bypass the obstacle avoidance is judged.

Referring to fig. 8, step S4 further includes the steps of:

s47: when the ground type is that the light and thin objects cover the ground, the cleaning equipment is controlled to clean the light and thin objects cover the ground;

s48: when the floor type is light and thin, the cleaning device is controlled to bypass the light and thin object to cover the pit.

After determining the specific floor type, the cleaning device processes the working floor in a preset manner corresponding to the floor type. In this embodiment, the treatment modes for the light and thin object covering ground and the ground type of the light and thin object covering pit are different:

when the cleaning equipment judges that the ground type of the working ground is the light and thin object covered ground, namely the current working ground is small in depth and relatively easy to pass, at the moment, the cleaning equipment is controlled to span the light and thin object covered ground and clean the light and thin object, so that garbage can be effectively cleaned, and the energy consumption of extra detours of the cleaning equipment can be reduced; when the cleaning equipment judges that the ground type of the working ground is light and thin, namely the depth of the current working ground is large, the current working ground is relatively difficult to pass, and at the moment, the cleaning equipment is controlled to bypass the light and thin object to cover the pit, so that the safe operation of the cleaning equipment is ensured.

The above description of crossing the lightweight object covering the ground and bypassing the lightweight object covering the pits is only exemplary, and should not be construed as limiting the invention, and different processing forms may be specifically provided in practical embodiments.

Example seven

Still further, referring to fig. 9, step S4 includes the following steps:

s5: the cleaning device is controlled to emit a cue signal indicative of the type of floor surface.

Specifically, the cleaning device can be provided with a prompter, the cleaning device can control the prompter to send out a prompt signal representing the ground type, the prompter can be specifically an audible and visual alarm (a loudspeaker, an indicator light and the like), a display screen and other components with a prompt function, and the prompt signal can be an audible and visual signal, a signal with a prompt function for displaying a text picture and the like. After receiving the prompt signal, an operator of the cleaning equipment can intuitively and clearly know the ground type of the working ground, and at the moment, a user can remotely control the cleaning equipment through a terminal and the like, for example, the manual control of the cleaning equipment is improved by controlling the cleaning equipment, and the cleaning equipment is convenient and quick.

For example, if the prompter is a speaker, the prompting signal is an acoustic signal, and after the ground type of the working ground is determined, the speaker can make sounds such as "the relatively rough ground is present", "the present ground cannot be spanned", and the like; if the prompter is an indicator light, the prompting signal is an optical signal, and after the ground type of the working ground is determined, the indicator light can emit light, such as red, green, yellow and the like, to indicate that the working ground is a relatively rough ground, a relatively smooth ground, the current ground can be spanned and the like; if the prompter is a display screen, the prompting signal is an image signal, and after the ground type of the working ground is determined, the display screen can display images of 'the current ground is a relatively rough ground', 'the current ground cannot span', and the like.

The above description is merely exemplary, and should not be construed as limiting the present invention, and in other embodiments, the types of the prompter and the prompting signal may be other, which is not specifically limited herein.

Example eight

Referring to fig. 10, a cleaning apparatus 100 according to an embodiment of the present invention includes:

a first transmitting module 101 for transmitting millimeter waves to the work ground;

the first receiving module 102 is configured to receive the millimeter wave echo reflected from the working surface and obtain echo information;

a first determining module 103, configured to determine a ground type of the working ground according to the echo information;

a first control module 104 for controlling the cleaning apparatus to operate in a preset manner according to the floor type.

Specifically, referring to fig. 1 and 2 in further detail, the work floor may be understood as a floor located in the advancing direction of the cleaning apparatus, where the cleaning apparatus is required to perform a cleaning task, and the cleaning apparatus may continuously or intermittently transmit millimeter waves to the work floor through the first transmitting module 101 to detect various work floor conditions during the advancing process. In the embodiment of the present invention, the millimeter wave may be emitted by the millimeter wave sensor mounted on the cleaning device, and the echo reflected after the millimeter wave contacts with the obstacle may also be received by the millimeter wave sensor, i.e., the millimeter wave sensor may include a transmitting end for emitting the millimeter wave and a receiving end for receiving the echo of the millimeter wave. In this embodiment, the millimeter wave sensor may be provided specifically at the head portion of the cleaning device so as to detect the work floor in the advancing direction of the cleaning apparatus. In other embodiments, the millimeter wave sensor may be located elsewhere in the cleaning device, as desired.

In this embodiment, when the cleaning device transmits millimeter waves to the working floor and receives the millimeter wave echoes reflected from the working floor through the first receiving module 102, different floor types such as different-quality floors (rough or smooth), flat floors or floor relief with pits, cleanable sundry floors, cliffs or the like will carry different echo information because different floor types reflect different millimeter wave echoes reflected from different types of floors. The cleaning device firstly analyzes and filters all received millimeter wave echoes to eliminate noise in the millimeter wave echoes, ensures the relative accuracy of the detection process, and then further analyzes the available millimeter wave echoes to obtain effective echo information, thereby reducing the invalid calculation process.

Echo information is the characteristics of the echo, including but not limited to the physical characteristics of echo intensity, peak position, number of echoes, echo phase, etc. When the cleaning equipment receives the millimeter wave echo, the millimeter wave echo can be drawn into a specific wave pattern diagram, the change of each characteristic of the millimeter wave echo can be clearly and clearly known, and the height change, the depth change and the like of the working ground can be obtained through analysis according to the echo information. Therefore, the first determining module 103 may determine the types of different working floors according to different echo information, and then the first control module 104 may specifically select different operation modes according to different floor types. It should be noted that, the values of roughness, depth change, height change, etc. of the working floor obtained by analysis according to the echo information of the millimeter wave echo are relatively mature in the related art, and will not be described in detail in the present specification.

Example nine

Still further, referring to fig. 11, the cleaning apparatus 100 is provided with millimeter wave means for emitting millimeter waves, the millimeter wave means emitting millimeter waves in an emission range, a target detection area exists between the emission range and the work floor, and the cleaning apparatus 100 further includes:

a second transmitting module 105 for transmitting millimeter waves into the target detection area;

and the second receiving module 106 is configured to receive the millimeter wave echoes reflected from all the target points in the target detection area and obtain echo information.

The millimeter wave device may be understood as a millimeter wave sensor, and the first transmitting module 101 and the second transmitting module 105 may be the same element, in the embodiment of the present invention, in the above-mentioned transmitting range, the millimeter wave transmitted by the millimeter wave device and the receivable millimeter wave echo are more effective and better in quality, and a set target detection area exists between the transmitting range and the working floor, where the target detection area refers to a predefined detection area, and according to different requirements, the range of the target detection area may be specifically set by setting parameters such as the position, the orientation, the height, the angle, and the like of the millimeter wave device.

Examples ten

Still further, the floor type includes a relatively smooth floor and a relatively rough floor, the echo information includes an echo intensity, and referring to fig. 12, the cleaning apparatus 100 further includes:

a first judging module 107, configured to judge the magnitude of the echo intensity and a preset intensity threshold;

A second determining module 108, configured to determine that the ground type is a relatively smooth ground when the echo intensity is less than a preset intensity threshold;

a third determining module 109, configured to determine that the ground type is a relatively rough ground when the echo intensity is greater than a preset intensity threshold;

a second control module 110 for controlling the cleaning apparatus to clean the work floor with a first cleaning force when the floor type is a relatively smooth floor;

and a third control module 111 for controlling the cleaning apparatus to clean the work floor with the second cleaning force when the floor type is a relatively rough floor.

In this embodiment, the division between the relatively smooth ground and the relatively rough ground is determined by the roughness of the current working ground, the relatively rough ground is determined when the roughness of the working ground is greater than a certain value, the relatively smooth ground is determined when the roughness of the working ground is less than a certain value, and the roughness of the working ground can be obtained through analysis and processing of certain characteristics in the echo information, including but not limited to the number of wave crests and the echo intensity of the millimeter wave echo.

In the reflection law of millimeter wave echo, the wave crest number and the echo concentration of the millimeter wave echo are related to the ground roughness, and the echo stability is also different, specifically: because the millimeter wave emission angle and the ground have a certain inclination angle, and the smooth ground is smoother, the reflected millimeter waves are more concentrated, the millimeter wave is reflected more, the millimeter wave echo is less, and the echo intensity is weaker; and because the rough ground is rough, the reflection surface capable of reflecting millimeter waves is more, so that the reflected millimeter waves are scattered, and because of the diffuse reflection, the received millimeter wave echoes are more, so that the echo intensity is enhanced. I.e. the surface roughness is positively correlated with the echo intensity. Of course, the echo information used to determine the roughness of the work surface is not limited to the echo intensity, and in other embodiments, may include more other echo information, without specific limitation.

Example eleven

Still further, the floor type further includes a spanable pit and a non-spanable pit, the echo information includes an echo phase, and referring to fig. 13, the cleaning apparatus 100 further includes:

a first determining module 112, configured to determine a depth change value of the working surface according to the echo phase;

a second judging module 113, configured to judge the depth change value and the depth change threshold;

a fourth determination module 114, configured to determine that the ground type is a spanable pit when the depth variation value is less than the depth variation threshold;

a fifth determining module 115, configured to determine that the ground type is non-strainable in the pit when the depth variation value is greater than the depth variation threshold;

a fourth control module 116 for controlling the cleaning device to span the spanable pit when the floor type is spanable pit;

a fifth control module 117 for controlling the cleaning device to bypass the non-traversable pit when the floor type is non-traversable pit.

Example twelve

Still further, the floor type further includes a traversable obstacle and a non-traversable obstacle, the echo information includes an echo phase, and referring to fig. 14, the cleaning apparatus 100 further includes:

A second determining module 118, configured to determine a height variation value of the working surface according to the echo phase;

a third judging module 119, configured to judge the height change value and the height change threshold;

a sixth determining module 120, configured to determine that the ground type is a non-spanable obstacle when the height variation value is greater than the height variation threshold;

a seventh determination module 121, configured to determine that the ground type is a spanable obstacle when the height variation value is smaller than the height variation value;

a sixth control module 122 for controlling the cleaning apparatus to ride over the surmountable obstacle when the floor type is a surmountable obstacle;

a seventh control module 123 for controlling the cleaning apparatus to bypass the non-surmountable obstacle when the floor type is the non-surmountable obstacle.

Example thirteen

Still further, the echo information further includes an echo phase, the floor type further includes a lightweight and thin object covering floor and a lightweight and thin object covering pit, referring to fig. 15, the cleaning apparatus 100 further includes:

A third determining module 124, configured to determine a depth change value of the working surface according to the echo phases of the two sets of millimeter wave echoes when the two sets of millimeter wave echoes are received and the echo phases of the two sets of millimeter wave echoes have different phase differences;

a fourth judging module 125, configured to judge the depth change value and the depth change threshold;

an eighth determining module 126, configured to determine that the ground type is light and thin and the ground is covered by the object when the depth change value is smaller than the depth change threshold;

a ninth determining module 127, configured to determine that the ground type is light and thin and the object covers the pit when the depth change value is greater than the depth change threshold;

an eighth control module 128, configured to control the cleaning device to clean the light and thin object covered ground when the ground type is light and thin object covered ground;

and a ninth control module 129 for controlling the cleaning apparatus to bypass the light and thin object covering potholes when the floor type is the light and thin object covering potholes.

Examples fourteen

Still further, referring to fig. 16, the cleaning apparatus 100 further includes:

The prompting module 130 is used for controlling the cleaning device to send out a prompting signal representing the floor type.

In the description of the present specification, the descriptions of the terms "embodiment one", "embodiment two", and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims

1. A method of detecting a cleaning appliance workfloor, the method comprising:

transmitting millimeter waves to the working ground;

controlling the cleaning equipment to operate in a preset mode according to the floor type;

the cleaning equipment is equipped with the millimeter wave device that is used for launching millimeter wave, millimeter wave device launches millimeter wave in the transmission scope, there is the target detection region between transmission scope and the work ground, the target detection region is the predefined detection region, according to millimeter wave device's position, orientation, height, angle come specific setting, to work ground transmission millimeter wave includes:

transmitting millimeter waves into the target detection area;

the receiving the millimeter wave echo reflected from the working ground and obtaining echo information comprises the following steps:

and receiving millimeter wave echoes reflected by all target points in the target detection area and obtaining echo information, wherein the target points are distributed in the whole target detection area or distributed in a specific area in the target detection area, and the specific area comprises an area opposite to the millimeter wave device.

2. The method of detecting as claimed in claim 1, wherein the ground type includes a relatively smooth ground and a relatively rough ground, the echo information includes an echo intensity, and the determining the ground type of the work ground based on the echo information includes:

Judging the intensity of the echo and the magnitude of a preset intensity threshold;

when the echo intensity is smaller than the preset intensity threshold value, judging the ground type as the relatively smooth ground;

when the echo intensity is greater than the preset intensity threshold value, judging the ground type as the relatively rough ground;

the controlling the cleaning device to operate in a preset manner according to the floor type comprises:

when the floor type is the relatively smooth floor, controlling the cleaning device to clean the working floor with a first cleaning force;

and when the floor type is the relatively rough floor, controlling the cleaning equipment to clean the working floor with a second cleaning force.

3. The method of detecting as claimed in claim 1, wherein the ground type further includes a spanable pit and a non-spanable pit, the echo information includes an echo phase, and the determining the ground type of the work ground based on the echo information includes:

determining a depth change value of the working ground according to the echo phase;

judging the sizes of the depth change value and the depth change threshold value;

when the depth change value is smaller than a depth change threshold value, judging the ground type as the spanable pit;

When the depth change value is larger than a depth change threshold value, judging the ground type as the non-spanable pit;

controlling the cleaning apparatus to span the spanable hole when the floor type is the spanable hole;

when the floor type is the non-traversable pit, the cleaning device is controlled to bypass the non-traversable pit.

4. The method of detecting as claimed in claim 1, wherein the ground type further includes a spanable obstacle and a non-spanable obstacle, the echo information includes an echo phase, and the determining the ground type of the work ground based on the echo information includes:

determining a height change value of the working ground according to the echo phase;

judging the magnitude of the height change value and the height change threshold value;

when the height change value is larger than a height change threshold value, judging the ground type as the non-crossing obstacle;

when the height variation value is smaller than the height variation value, judging the ground type as the spanable obstacle;

Controlling the cleaning apparatus to span the surmountable obstacle when the floor type is the surmountable obstacle;

when the floor type is the non-surmountable obstacle, the cleaning apparatus is controlled to bypass the non-surmountable obstacle.

5. The method of claim 1, wherein the echo information includes an echo phase, the ground type further includes a lightweight and lightweight covered ground and a lightweight and lightweight covered pit, and the determining the ground type of the work ground based on the echo information includes:

when two groups of millimeter wave echoes are received and the phase differences of the echo phases of the two groups of millimeter wave echoes are different, determining a depth change value of the working floor according to the echo phases of the two groups of millimeter wave echoes;

when the depth change value is smaller than the depth change threshold value, judging that the ground type is light and thin and the ground is covered by the object;

when the depth change value is larger than the depth change threshold value, judging that the ground type is light and thin and objects cover pits;

When the ground type is that the light and thin object covers the ground, the cleaning equipment is controlled to clean the ground covered by the light and thin object;

when the floor type is that the light and thin object covers the pits, the cleaning equipment is controlled to bypass the light and thin object to cover the pits.

6. The detecting method according to claim 1, wherein after the cleaning apparatus is controlled to operate in a preset manner according to the floor type, comprising:

and controlling the cleaning equipment to send out a prompt signal representing the floor type.

7. A cleaning apparatus, comprising:

the first control module is used for controlling the cleaning equipment to operate in a preset mode according to the floor type;

the cleaning device is provided with a millimeter wave device for emitting millimeter waves, the millimeter wave device emits millimeter waves in an emitting range, a target detection area exists between the emitting range and the working floor, the target detection area is a predefined detection area, and the cleaning device is specifically set according to the position, the orientation, the height and the angle of the millimeter wave device and further comprises:

A second transmitting module for transmitting millimeter waves into the target detection area;

and the second receiving module is used for receiving millimeter wave echoes reflected by all target points in the target detection area and obtaining echo information, the target points are distributed in the whole target detection area or in specific areas in the target detection area, and the specific areas comprise areas opposite to the millimeter wave device.

8. The cleaning apparatus defined in claim 7, wherein the floor type comprises a relatively smooth floor and a relatively rough floor, the echo information comprises echo intensities, the cleaning apparatus further comprising:

the first judging module is used for judging the intensity of the echo and the magnitude of a preset intensity threshold;

the second judging module is used for judging the ground type to be the relatively smooth ground when the echo intensity is smaller than the preset intensity threshold value;

the third judging module is used for judging that the ground type is the relatively rough ground when the echo intensity is larger than the preset intensity threshold value;

a second control module for controlling the cleaning device to clean a work floor with a first cleaning force when the floor type is the relatively smooth floor;

And the third control module is used for controlling the cleaning equipment to clean the working floor with a second cleaning force when the floor type is the relatively rough floor.

9. The cleaning apparatus defined in claim 7, wherein the floor type further comprises spanable and non-spanable pits, the echo information comprising echo phases, the cleaning apparatus further comprising:

the first determining module is used for determining a depth change value of the working ground according to the echo phase;

the second judging module is used for judging the depth change value and the depth change threshold value;

the fourth judging module is used for judging the ground type as the spanable pit when the depth change value is smaller than a depth change threshold value;

a fifth determining module, configured to determine that the ground type is the non-spanable pit when the depth change value is greater than a depth change threshold;

a fourth control module for controlling the cleaning device to span the spanable pit when the floor type is the spanable pit;

and a fifth control module for controlling the cleaning device to bypass the non-traversable pit when the floor type is the non-traversable pit.

10. The cleaning apparatus defined in claim 7, wherein the floor type further comprises a spanable obstacle and a non-spanable obstacle, the echo information comprising an echo phase, the cleaning apparatus further comprising:

the second determining module is used for determining the height change value of the working ground according to the echo phase;

the third judging module is used for judging the height change value and the height change threshold value;

a sixth determining module configured to determine that the ground type is the non-traversable obstacle when the height variation value is greater than a height variation threshold;

a seventh determining module configured to determine that the ground type is the spanable obstacle when the height variation value is smaller than the height variation value;

a sixth control module for controlling the cleaning apparatus to ride over the surmountable obstacle when the floor type is the surmountable obstacle;

a seventh control module for controlling the cleaning apparatus to bypass the non-surmountable obstacle when the floor type is the non-surmountable obstacle.

11. The cleaning apparatus defined in claim 7, wherein the echo information further comprises echo phase, the floor type further comprises lightweight and lightweight covered floor and lightweight covered potholes, the cleaning apparatus further comprising:

The third determining module is used for determining a depth change value of the working ground according to the echo phases of the two groups of millimeter wave echoes when the two groups of millimeter wave echoes are received and the phase differences of the echo phases of the two groups of millimeter wave echoes are different;

the fourth judging module is used for judging the depth change value and the depth change threshold value;

an eighth determination module, configured to determine that the ground type is a light and thin object covering the ground when the depth change value is smaller than the depth change threshold;

a ninth determining module, configured to determine that the ground type is light and thin and the pit is covered by the object when the depth change value is greater than the depth change threshold value;

the eighth control module is used for controlling the cleaning equipment to clean the ground covered by the light and thin object when the ground type is that the light and thin object covers the ground;

and the ninth control module is used for controlling the cleaning equipment to bypass the light and thin object to cover the pit when the floor type is that the light and thin object covers the pit.

12. The cleaning apparatus defined in claim 7, wherein the cleaning apparatus further comprises:

and the prompt module is used for controlling the cleaning equipment to send out a prompt signal representing the floor type.