CN113440074B - Cleaning method, cleaning device, cleaning equipment and storage medium - Google Patents
Cleaning method, cleaning device, cleaning equipment and storage medium Download PDFInfo
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- CN113440074B CN113440074B CN202110762294.1A CN202110762294A CN113440074B CN 113440074 B CN113440074 B CN 113440074B CN 202110762294 A CN202110762294 A CN 202110762294A CN 113440074 B CN113440074 B CN 113440074B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Electric Vacuum Cleaner (AREA)
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Abstract
The invention discloses a cleaning method, a cleaning device, cleaning equipment and a storage medium, wherein the cleaning method comprises the following steps: determining that the electronic equipment enters a temporary obstacle area in an area to be cleaned, and performing obstacle detection on the temporary obstacle area; and controlling the electronic equipment to execute a target operation mode, wherein the target operation mode is determined according to the obstacle detection result. According to the technical scheme, when the temporary obstacle area where the electronic equipment enters the area to be cleaned is determined, the temporary obstacle area can be subjected to obstacle detection, the target operation mode of the electronic equipment is determined according to the obstacle detection result, the electronic equipment is controlled to execute the target operation mode, the target operation mode is determined according to the obstacle detection result, the electronic equipment is controlled to execute the target operation mode, and the electronic equipment can efficiently and flexibly operate in the environment with or without the obstacle, so that the automation capability of the electronic equipment is improved, and the user experience is optimized.
Description
Technical Field
The embodiment of the invention relates to the technical field of electronic equipment, in particular to a cleaning method, a cleaning device, cleaning equipment and a storage medium.
Background
With the improvement of living standard, service robots represented by cleaning robots are gradually popularized and enter the lives of people. The cleaning robot needs to take different cleaning strategies for different types of floors.
In the prior art, the cleaning strategy for floors can be determined based on vision, but the cleaning strategy for floors is less efficient and less accurate based on vision.
Accordingly, an objective of the embodiments of the present invention is to provide a cleaning method, apparatus, device and storage medium, which improve cleaning efficiency.
Disclosure of Invention
The invention provides a cleaning method, a cleaning device and a cleaning storage medium, which can detect the temporary obstacle area, determine the target operation mode of the electronic equipment according to the obstacle detection result, and control the electronic equipment to execute the target operation mode, so that the target operation mode is determined according to the obstacle detection result, the electronic equipment is controlled to execute the target operation mode, and the execution efficiency of the electronic equipment to the target operation mode is improved.
In a first aspect, an embodiment of the present invention provides a cleaning method, including: determining that the electronic equipment enters a temporary obstacle area in an area to be cleaned, and performing obstacle detection on the temporary obstacle area; and controlling the electronic equipment to execute a target operation mode, wherein the target operation mode is determined according to the obstacle detection result.
Further, the obstacle detection result includes determining that the temporary obstacle region is an obstacle region, and the target operation mode includes an obstacle cleaning mode or a driving-away mode, and accordingly, controlling the electronic device to execute the target operation mode includes: controlling the electronic device to perform an obstacle cleaning mode if the target operation mode includes the obstacle cleaning mode, and cleaning the temporary obstacle area determined as the obstacle area; and if the target operation mode comprises a driving-off mode, controlling the electronic equipment to execute the driving-off mode, and driving off the temporary obstacle area which is determined to be the obstacle area.
In this embodiment, the obstacle detection result includes determining that the temporary obstacle region is an obstacle region, and the target operation mode includes an obstacle cleaning mode or a driving-away mode, so that the electronic device performs operation of the target execution mode according to the obstacle detection result.
Further, the obstacle detection result includes determining that the temporary obstacle region is an obstacle region, and the target operation mode includes an obstacle cleaning mode and a drive-off mode, and accordingly, controlling the electronic device to execute the target operation mode includes: determining whether the electronic apparatus performs the obstacle cleaning mode or the drive-off mode in the temporary obstacle region determined as an obstacle region; controlling the electronic apparatus to clean the temporary obstacle region determined as the obstacle region if an obstacle cleaning mode is performed; and if a driving-off mode is executed, controlling the electronic device to drive off the temporary obstacle area determined as the obstacle area.
In this embodiment, the obstacle detection result includes determining that the temporary obstacle region is an obstacle region, and the target operation mode includes an obstacle cleaning mode and a drive-off mode, so that the electronic device operates the target execution mode according to the obstacle detection result.
Further, before determining that the electronic device enters the temporary obstacle region in the to-be-cleaned region, the method further comprises: determining the temporary obstacle region based on an environment map; and/or, the obstacle detection result includes determining that the temporary obstacle area is an unobstructed area, the target operation mode includes a normal cleaning mode, and correspondingly, controlling the electronic device to execute the target operation mode includes: controlling the electronic equipment to execute a common cleaning mode to clean the temporary obstacle area which is determined to be the unobstructed area; and/or the electronic equipment comprises a cleaning module, and correspondingly, when the electronic equipment is determined to drive into the temporary obstacle area in the area to be cleaned, the electronic equipment further comprises: lifting the cleaning module is controlled by taking the ground as a reference.
In this embodiment, the temporary obstacle area may be determined before the electronic device enters the temporary obstacle area, so as to facilitate path planning, obstacle detection, and cleaning for the electronic device entering the temporary obstacle area; when the obstacle detection result includes that the temporary obstacle area is determined to be an unobstructed area and the target operation mode includes a common cleaning mode, the electronic equipment is controlled to execute the common cleaning mode, so that the temporary obstacle area determined to be the unobstructed area is cleaned, and the temporary obstacle area is cleaned; and when the electronic equipment is determined to drive into the temporary obstacle area in the area to be cleaned, lifting the cleaning module by taking the ground as a reference, so that the temporary obstacle area is prevented from being determined as the obstacle area, in other words, the damage to the obstacle in the temporary obstacle area and the cleaning module in the cleaning equipment is prevented when the obstacle exists in the temporary obstacle area.
Further, performing obstacle detection on the temporary obstacle region includes: constructing a detection path according to the entering position of the electronic equipment entering the temporary obstacle area and the preset position of the temporary obstacle area; sequentially acquiring detection data based on the detection paths, wherein the detection data is used for determining whether the current position of the electronic equipment contains an obstacle or not; and accumulating the detection data based on the time information and/or the distance information, and determining the obstacle detection result based on the accumulation result.
In this embodiment, the detection data is accumulated based on the time information and/or the distance information, so that the condition of the detection data within a period of time and/or a distance can be determined, and the accuracy of the obstacle detection result is improved.
Further, the obstacle detection result includes determining that the temporary obstacle area is an unobstructed area or determining that the temporary obstacle area is an obstacle area, and correspondingly, after performing obstacle detection on the temporary obstacle area, further includes: if the obstacle detection result is that the temporary obstacle area is determined to be the obstacle area, updating the current temporary obstacle area in the environment map to be the obstacle area; and if the obstacle detection result is that the temporary obstacle area is determined to be an unobstructed area, updating the current temporary obstacle area in the environment map to be the unobstructed area.
In this embodiment, after determining that the temporary obstacle area is an obstacle area or no obstacle area, the attribute of the temporary obstacle in the environment map may be updated, so that the temporary obstacle area determined as the obstacle area may be encountered again in the cleaning task at this time, and the corresponding target operation mode may be directly executed without performing obstacle detection on the temporary obstacle area again, so as to improve the execution efficiency of the cleaning task of the electronic device.
Further, the method further comprises the following steps: and after the cleaning of the to-be-cleaned area is determined to be completed, resetting the temporary obstacle area updated as the obstacle area and the temporary obstacle area updated as the unobstructed area as the temporary obstacle area.
In this embodiment, the obstacle area or the unobstructed area updated from the temporary obstacle area in the environment map may be reset to be the temporary obstacle area, so that the reset temporary obstacle area is an unknown state of the obstacle area or the unobstructed area, so that when the to-be-cleaned area including the temporary obstacle area is cleaned in the next cleaning task, whether the temporary obstacle area includes an obstacle needs to be determined again, and further, the temporary obstacle area is determined to be the unobstructed area or the obstructed area again, so as to improve the safety of the electronic device in executing the cleaning task.
In a second aspect, embodiments of the present invention also provide a cleaning device, including: the obstacle detection module is used for determining that the electronic equipment enters a temporary obstacle area in the area to be cleaned and detecting the obstacle of the temporary obstacle area; and the execution module is used for controlling the electronic equipment to execute a target operation mode, and the target operation mode is determined according to the obstacle detection result.
In a third aspect, embodiments of the present invention also provide a cleaning apparatus, the cleaning apparatus comprising: one or more processors; storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the cleaning method as described in any of the first aspects.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions for performing the cleaning method of any one of the first aspects when executed by a computer processor.
The embodiment of the invention provides a cleaning method, a cleaning device, cleaning equipment and a storage medium, wherein the cleaning method comprises the following steps: determining that the electronic equipment enters a temporary obstacle area in an area to be cleaned, and performing obstacle detection on the temporary obstacle area; and controlling the electronic equipment to execute a target operation mode, wherein the target operation mode is determined according to the obstacle detection result. According to the technical scheme, when the temporary obstacle area where the electronic equipment enters the area to be cleaned is determined, the temporary obstacle area can be subjected to obstacle detection, the target operation mode of the electronic equipment is determined according to the obstacle detection result, the electronic equipment is controlled to execute the target operation mode, the target operation mode is determined according to the obstacle detection result, the electronic equipment is controlled to execute the target operation mode, and the electronic equipment can efficiently and flexibly operate in the environment with or without the obstacle, so that the automation capability of the electronic equipment is improved, and the user experience is optimized.
Drawings
FIG. 1 is a flow chart of a cleaning method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another cleaning method according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a cleaning method according to an embodiment of the present invention, step 220;
fig. 4a is a flowchart of a cleaning implementation in which a special cleaning mode includes only an obstacle cleaning mode in a cleaning method according to an embodiment of the present invention, fig. 4b is a flowchart of a cleaning implementation in which a special cleaning mode includes only a driving-away mode in a cleaning method according to an embodiment of the present invention, and fig. 4c is a flowchart of a cleaning implementation in which a special cleaning mode includes an obstacle cleaning mode and a driving-away mode in a cleaning method according to an embodiment of the present invention;
FIG. 5 is a schematic block diagram of a cleaning apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic block diagram of a cleaning apparatus according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating interaction between a computer readable storage medium and a processor according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like. Furthermore, embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Fig. 1 is a flowchart of a cleaning method according to an embodiment of the present invention, where the method may be performed by an electronic device and specifically includes the following steps:
step 110, determining that the electronic equipment enters a temporary obstacle area in the area to be cleaned, and performing obstacle detection on the temporary obstacle area.
The electronic device may include a cleaning device for performing a cleaning task, among other things. The area to be cleaned is an area required to be cleaned by the cleaning device to perform a cleaning task, and may include a temporary obstacle area in which an obstacle may exist or an obstacle area may not exist, for example, the temporary obstacle area may be a temporary carpet area, such as a market doorway, which is laid in a rainy day to prevent skidding, and is removed in a sunny day; for another example, the venue may lay carpeting during the exhibition and be removed at the end of the exhibition. The shape of the temporary barrier region may be circular or polygonal, etc., and is not particularly limited herein, and may be determined according to the shape of the actual barrier region.
Specifically, the cleaning apparatus may include at least one set of ultrasonic sensors, each set of ultrasonic sensors may be provided at a bottom of the cleaning apparatus, and when it is determined that the cleaning apparatus is driven into the temporary obstacle region, the ultrasonic sensors may be controlled to be turned on to turn on obstacle detection of the temporary obstacle region.
It should be noted that, in the cleaning process of the area to be cleaned, in order to avoid the possible obstacle in the temporary obstacle area and the damage of the possible obstacle to the cleaning module in the cleaning device caused by the normal cleaning mode, when the cleaning device drives into the temporary obstacle area, the cleaning module contained in the cleaning device can be controlled to be lifted to perform the obstacle detection on the temporary obstacle area. Further, performing obstacle detection on the temporary obstacle area to determine whether an obstacle exists in the temporary obstacle area, and if the obstacle exists in the temporary obstacle area, determining the temporary obstacle area as an obstacle area; and if no obstacle exists in the temporary obstacle area, determining the temporary obstacle area as an unobstructed area.
And 120, controlling the electronic equipment to execute a target operation mode, wherein the target operation mode is determined according to the obstacle detection result.
The obstacle detection result may include determining the temporary obstacle area as an unobstructed area or determining the temporary obstacle area as an obstacle area, the target operation mode includes a normal cleaning mode corresponding to the unobstructed area, and a special cleaning mode corresponding to the obstacle area, and the special cleaning mode includes at least one of an obstacle cleaning mode and a drive-off mode.
If the obstacle detection result is to determine that the temporary obstacle region is an obstacle region, it may be determined whether the target running mode is an obstacle cleaning mode or a drive-off mode in the special cleaning mode according to specific settings. In addition, if the obstacle detection result is that the temporary obstacle area is determined to be an unobstructed area, the target execution mode is determined to be a normal cleaning mode.
The cleaning device may include a storage module in which a specific special cleaning mode is stored, for example, the storage module may store only an obstacle cleaning mode, may store only a drive-off mode, and may store both the obstacle cleaning mode and the drive-off mode, and further may determine whether the cleaning device supports only the obstacle cleaning mode, only the drive-off mode, or both the obstacle cleaning mode and the drive-off mode.
In one embodiment, the cleaning apparatus supports only the obstacle cleaning mode, and the obstacle detection result further includes an obstacle type existing in the obstacle region, specifically, if the obstacle detection result is that the temporary obstacle region is determined to be the first obstacle region, the target running mode is determined to be the first obstacle cleaning mode, and if the obstacle detection result is that the temporary obstacle region is determined to be the second obstacle region, the target running mode is determined to be the second obstacle cleaning mode. The control cleaning device determines a corresponding obstacle cleaning mode according to the types of the obstacles in the obstacle region, and further can be controlled to clean the first obstacle region based on the first obstacle cleaning mode, or the control cleaning device is controlled to clean the second obstacle region based on the second obstacle cleaning mode, and the cleaning device can switch the obstacle cleaning mode according to the types of the obstacles in the obstacle region to clean the obstacle region with multiple obstacle types.
In the embodiment of the invention, the obstacle existing in the first obstacle area may be a short-hair carpet, the obstacle existing in the second obstacle area may be a long-hair carpet, and correspondingly, the first obstacle cleaning mode may be used for cleaning the short-hair carpet, and the second obstacle cleaning mode may be used for cleaning the long-hair carpet.
In one embodiment, the cleaning device only supports a driving-off mode, specifically, if the temporary obstacle area is determined to be the obstacle area, the cleaning device is controlled to execute the driving-off mode without determining the type of the obstacle existing in the obstacle area, so that the temporary obstacle area determined to be the obstacle area is driven off, the obstacle area is bypassed, and the cleaning efficiency of other areas to be cleaned is improved.
In one embodiment, the cleaning apparatus may support both an obstacle cleaning mode and a drive-off mode, and the obstacle detection result further includes an obstacle type existing in the obstacle region, specifically, if the obstacle detection result is that it is determined that the temporary obstacle region is the first obstacle region, it is determined that the target operation mode is the first obstacle cleaning mode; if the obstacle detection result is that the temporary obstacle area is determined to be a second obstacle area, determining that the target running mode is a second obstacle cleaning mode; and if the obstacle detection result is that the temporary obstacle area is determined to be a third obstacle area, determining that the target running mode is a driving-away mode.
In the embodiment of the invention, the obstacles in the first obstacle area can be short-hair carpets, the obstacles in the second obstacle area can be long-hair carpets, the obstacles in the third obstacle area can be obstacles incapable of being cleaned, such as buffer belts, and the like, and correspondingly, the first obstacle cleaning mode can be used for cleaning the short-hair carpets, the second obstacle cleaning mode can be used for cleaning the long-hair carpets, and the driving-away mode can be used for driving away from the obstacle areas incapable of being cleaned, such as buffer belts, and the like.
Specifically, if it is determined that an obstacle existing in the obstacle region is a short-hair carpet, it is determined that the target running mode is a first obstacle cleaning mode to achieve cleaning of the short-hair carpet; if the obstacle existing in the obstacle area is determined to be a long-hair carpet, determining that the target running mode is a second obstacle cleaning mode so as to clean the long-hair carpet; if it is determined that an obstacle incapable of being cleaned, such as a buffer belt, exists in the obstacle region, the target running mode is determined to be a drive-off mode, so that the obstacle region in which the obstacle incapable of being cleaned, such as the buffer belt, exists is bypassed.
The embodiment of the invention provides a cleaning method, which comprises the following steps: determining that the electronic equipment enters a temporary obstacle area in an area to be cleaned, and performing obstacle detection on the temporary obstacle area; and controlling the electronic equipment to execute a target operation mode, wherein the target operation mode is determined according to the obstacle detection result. According to the technical scheme, when the temporary obstacle area where the electronic equipment enters the area to be cleaned is determined, the temporary obstacle area can be subjected to obstacle detection, the target operation mode of the electronic equipment is determined according to the obstacle detection result, the electronic equipment is controlled to execute the target operation mode, the target operation mode is determined according to the obstacle detection result, the electronic equipment is controlled to execute the target operation mode, and the electronic equipment can efficiently and flexibly operate in the environment with or without the obstacle, so that the automation capability of the electronic equipment is improved, and the user experience is optimized.
Fig. 2 is a flowchart of another cleaning method according to an embodiment of the present invention, which is embodied based on the above embodiment. In this embodiment, the method may further include:
Wherein the cleaning device may store therein positional information of an area where the obstacle is historically disposed, the positional information of the area where the obstacle is historically disposed may be noted as an obstacle history position, indicating that the area has been an obstacle in the past, and that the obstacle may be present in the future.
Specifically, the temporary obstacle region may be determined based on the environment map and the obstacle history position.
In the embodiment of the invention, at least one obstacle history position in the environment map can form a temporary obstacle area.
And 220, determining that the electronic equipment enters a temporary obstacle area in the area to be cleaned, lifting the cleaning module by taking the ground as a reference, and detecting the obstacle in the temporary obstacle area.
Wherein the cleaning device comprises a cleaning module.
In particular, since the temporary obstacle region may be an obstacle region or an unobstructed region, if the temporary obstacle region is an obstacle region, in order to reduce damage to obstacles in the obstacle region and damage to the cleaning module by obstacles in the obstacle region, it is preferable that the cleaning device lift the cleaning module on a floor basis before driving into the temporary obstacle region.
Fig. 3 is a schematic flow chart of step 220 in another cleaning method according to an embodiment of the present invention, and in one implementation manner, the detecting the temporary obstacle area includes:
The preset position may be set in a user-defined manner according to an actual application, for example, may be a center position of the temporary obstacle area.
Specifically, the cleaning apparatus may construct the detection path based on the entry position and the center position of the temporary obstacle area when entering the temporary obstacle area, that is, reaching the boundary of the temporary obstacle area.
It is to be noted that, after the temporary obstacle region is determined based on the environment map and the obstacle history position, the center position of the temporary obstacle region may be further determined based on the shape of the temporary obstacle region.
Wherein the detection data may be ultrasonic data, and an ultrasonic sensor provided at the bottom of the cleaning apparatus may be used to acquire the ultrasonic data. The ultrasonic data are used for determining whether the current position has an obstacle, and if the current position has the obstacle, the corresponding ultrasonic data can be of a low level and are represented by a number 0; if no obstacle exists at the current position, the corresponding ultrasonic data may be high level, indicated by the numeral 1.
Specifically, after the detection path is constructed, the cleaning apparatus may control to turn on the ultrasonic sensor while traveling along the detection path to determine whether the current position contains an obstacle.
In the embodiment of the invention, after the ultrasonic data is acquired, the ultrasonic data can be subjected to data processing so as to remove the ultrasonic data with larger error, thereby improving the accuracy of the ultrasonic data and further improving the accuracy of obstacle detection.
If the time information of the low-level data is detected to be greater than or equal to a preset time threshold value and the distance information of the cleaning equipment in running is detected to be greater than or equal to a preset distance threshold value, determining the temporary obstacle area as an obstacle area; otherwise, determining the temporary obstacle area as an unobstructed area.
Specifically, in the process of running along the detection path, the cleaning device can continuously count running time information and distance information, and if the ultrasonic data is low-level data which indicates that an obstacle exists at the current position, and the running time of the cleaning device is greater than or equal to a preset time threshold value, and the running distance is greater than or equal to a preset distance threshold value, the obstacle detection result can be determined to be a temporary obstacle area as an obstacle area; otherwise, it may be determined that the obstacle detection result is that the temporary obstacle region is an unobstructed region.
It should be appreciated that in other embodiments, the detection data may be accumulated based on one of the time information and the distance information, and the obstacle detection result may be determined based on the accumulated result.
Wherein the target operation mode is determined according to the obstacle detection result. If the obstacle detection result is that the temporary obstacle area is determined to be an unobstructed area, the target operation mode can be a common cleaning mode; if the obstacle detection result is that the temporary obstacle region is determined to be an obstacle region, the target operation mode may be a special cleaning mode, which may include at least one of an obstacle cleaning mode and a drive-off mode.
In one embodiment, if the result of the obstacle detection is that the temporary obstacle area is determined to be an unobstructed area, the target operation mode may be a normal cleaning mode, and accordingly, step 230 may specifically include:
and controlling the electronic equipment to execute a common cleaning mode to clean the temporary obstacle area determined as the unobstructed area.
Specifically, the cleaning module may include a general cleaning module that is controlled to put down with reference to the floor while determining that the target operation mode is the general cleaning mode, and to clean the temporary obstacle area determined as the unobstructed area based on the general cleaning module.
In one embodiment, if the result of the obstacle detection is that the temporary obstacle area is determined to be an obstacle area, the target operation mode is a special cleaning mode, and the special cleaning mode includes at least one of an obstacle cleaning mode and a driving-away mode, and accordingly, step 230 may specifically include:
controlling the electronic device to perform the obstacle cleaning mode if the target operation mode includes an obstacle cleaning mode, cleaning the temporary obstacle area determined as the obstacle area, and the cleaning module may further include at least a first obstacle cleaning module and a second obstacle cleaning module; and if the target operation mode comprises a driving-off mode, controlling the electronic equipment to execute the driving-off mode, and driving off the temporary obstacle area which is determined to be the obstacle area.
On the one hand, the special cleaning mode only comprises an obstacle cleaning mode, if the obstacle detection result is that the temporary obstacle area is determined to be the first obstacle area, the first obstacle cleaning module is put down by taking the ground as a reference, and the temporary obstacle area determined to be the first obstacle area is cleaned based on the first obstacle cleaning module; and if the obstacle detection result is that the temporary obstacle area is determined to be the second obstacle area, simultaneously taking the ground as a reference to control and put down a second obstacle cleaning module, and cleaning the temporary obstacle area determined to be the second obstacle area based on the second obstacle cleaning module.
As in the previous embodiments, the obstacles present in the first obstacle zone may be short-hair carpeting, the obstacles present in the second obstacle zone may be long-hair carpeting, and correspondingly, the first obstacle cleaning mode may be used to clean short-hair carpeting and the second obstacle cleaning mode may be used to clean long-hair carpeting.
On the other hand, the special cleaning mode includes only a drive-off mode, and the cleaning apparatus is controlled to execute the drive-off mode, driving off a temporary obstacle area determined as an obstacle area.
In still another aspect, the special cleaning mode may include both an obstacle cleaning mode and a drive-off mode, and if the obstacle detection result is that the temporary obstacle area is determined to be the first obstacle area, the first obstacle cleaning module is simultaneously controlled to be put down with reference to the ground, and the temporary obstacle area determined to be the first obstacle area is cleaned based on the first obstacle cleaning module; if the obstacle detection result is that the temporary obstacle area is determined to be a second obstacle area, simultaneously taking the ground as a reference to control and put down a second obstacle cleaning module, and cleaning the temporary obstacle area determined to be the second obstacle area based on the second obstacle cleaning module; and if the obstacle detection result is that the temporary obstacle area is determined to be the third obstacle area, controlling the cleaning device to execute a driving-off mode, and driving off the temporary obstacle area determined to be the third obstacle area.
As described in the foregoing embodiments, the obstacle present in the first obstacle region may be a short-hair carpet, the obstacle present in the second obstacle region may be a long-hair carpet, the obstacle present in the third obstacle region may be an obstacle incapable of cleaning such as a buffer belt, and correspondingly, the first obstacle cleaning mode may be used to clean the short-hair carpet, the second obstacle cleaning mode may be used to clean the long-hair carpet, and the drive-off mode may be used to drive off the obstacle region where the obstacle incapable of cleaning such as the buffer belt is present.
Specifically, if it is determined that the temporary obstacle region is an obstacle region, the current temporary obstacle region in the environment map may be updated to be an obstacle region; if the temporary obstacle area is determined to be an unobstructed area, the current temporary obstacle area in the environment map can be updated to be the unobstructed area.
And 250, resetting the temporary obstacle area updated as the obstacle area and the temporary obstacle area updated as the unobstructed area as the temporary obstacle area after the cleaning of the area to be cleaned is determined to be completed.
After the cleaning task of the area to be cleaned is finished, the temporary obstacle area updated to the obstacle area in the environment map and the temporary obstacle area updated to the non-obstacle area can be reset to the temporary obstacle area, so that the reset temporary obstacle area is in an unknown state or the non-obstacle area, and therefore whether the temporary obstacle area contains an obstacle or not needs to be determined again when the area to be cleaned containing the temporary obstacle area is cleaned in the next cleaning task, and the temporary obstacle area is determined to be the non-obstacle area or the obstacle area again, so that the safety of the electronic equipment in executing the cleaning task is improved.
The embodiment of the invention provides a cleaning method, which comprises the following steps: determining that the electronic equipment enters a temporary obstacle area in an area to be cleaned, and performing obstacle detection on the temporary obstacle area; and controlling the electronic equipment to execute a target operation mode, wherein the target operation mode is determined according to the obstacle detection result. According to the technical scheme, when the temporary obstacle area where the electronic equipment enters the area to be cleaned is determined, the temporary obstacle area can be subjected to obstacle detection, the target operation mode of the electronic equipment is determined according to the obstacle detection result, the electronic equipment is controlled to execute the target operation mode, the target operation mode is determined according to the obstacle detection result, the electronic equipment is controlled to execute the target operation mode, and the electronic equipment can efficiently and flexibly operate in the environment with or without the obstacle, so that the automation capability of the electronic equipment is improved, and the user experience is optimized.
In addition, the laser sensor of the cleaning equipment can be controlled to acquire the environmental information of the current area, and an environmental map is constructed based on the acquired environmental information, so that the cleaning equipment can conveniently execute a target operation mode in a region to be cleaned corresponding to the environmental map; and when the temporary obstacle area is determined to be an obstacle area or a non-obstacle area, the information of the area in the environment map can be correspondingly updated to be the obstacle area or the non-obstacle area, so that the automation capability of the electronic equipment is further improved.
And secondly, after the cleaning of the to-be-cleaned area is determined to be completed, the temporary obstacle area updated as the obstacle area and the temporary obstacle area updated as the unobstructed area can be reset as the temporary obstacle area. When the cleaning task cleans the to-be-cleaned area containing the temporary obstacle area next time, whether the temporary obstacle area contains an obstacle or not is determined again, the temporary obstacle area is determined again to be an unobstructed area or an obstacle area, and safety and automation capacity in the process of executing the cleaning task of the electronic equipment are further improved.
Fig. 4a is a flowchart of a cleaning implementation in which a special cleaning mode includes only an obstacle cleaning mode in a cleaning method according to an embodiment of the present invention, fig. 4b is a flowchart of a cleaning implementation in which a special cleaning mode includes only a driving-away mode in a cleaning method according to an embodiment of the present invention, and fig. 4c is a flowchart of a cleaning implementation in which a special cleaning mode includes an obstacle cleaning mode and a driving-away mode in a cleaning method according to an embodiment of the present invention.
And 416, if the obstacle detection result is that the temporary obstacle area is determined to be the first obstacle area, simultaneously taking the ground as a reference to control and put down a first obstacle cleaning module, and cleaning the temporary obstacle area determined to be the first obstacle area based on the first obstacle cleaning module.
And step 417, if the obstacle detection result is that the temporary obstacle area is determined to be the second obstacle area, simultaneously taking the ground as a reference to control and put down a second obstacle cleaning module, and cleaning the temporary obstacle area determined to be the second obstacle area based on the second obstacle cleaning module.
And 418, if the obstacle detection result is that the temporary obstacle area is determined to be the third obstacle area, controlling the cleaning device to execute a driving-off mode, and driving off the temporary obstacle area determined to be the third obstacle area.
And 421, if the result of obstacle detection is that the temporary obstacle area is determined to be an unobstructed area, controlling the electronic equipment to execute a common cleaning mode, and cleaning the temporary obstacle area determined to be the unobstructed area.
As shown in fig. 4a to 4c, if the obstacle detection result is that it is determined that the temporary obstacle area is an unobstructed area, the target operation mode is a normal cleaning mode, and steps 421 to 422 are performed. If the obstacle detection result is that the temporary obstacle region is determined to be an obstacle region, the target operation mode is a special cleaning mode including at least one of an obstacle cleaning mode and a drive-off mode, and if the special cleaning mode includes only the obstacle cleaning mode, as shown in fig. 4a, one of steps 416 to 417 and step 420 are performed; if the special cleaning mode includes only a drive-off mode, as shown in FIG. 4b, steps 419-420 are performed; if the special cleaning mode includes both an obstacle cleaning mode and a drive-off mode, as shown in FIG. 4c, one of steps 416-418 and step 420 are performed.
According to the implementation mode of the cleaning method provided by the embodiment of the invention, firstly, an environment map can be constructed, a temporary obstacle area is determined, when the electronic equipment is determined to drive into the temporary obstacle area, the cleaning module is lifted by taking the ground as a reference, and the possible obstacles in the temporary obstacle area and the possible damages of the obstacles to the cleaning module in the cleaning equipment are reduced. Meanwhile, a detection path is constructed according to the entering position of the electronic equipment entering the temporary obstacle area and the preset position in the temporary obstacle area, detection data are sequentially acquired based on the detection path, and accumulation is carried out on the detection data, so that an obstacle detection result is determined. If the obstacle detection result is that the temporary obstacle area is determined to be the first obstacle area, a first obstacle cleaning module is controlled to be put down by taking the ground as a reference, and the temporary obstacle area determined to be the first obstacle area is cleaned based on the first obstacle cleaning module; if the obstacle detection result is that the temporary obstacle area is determined to be a second obstacle area, a second obstacle cleaning module is controlled to be put down by taking the ground as a reference, and the temporary obstacle area determined to be the second obstacle area is cleaned based on the second obstacle cleaning module; if the obstacle detection result is that the temporary obstacle area is determined to be a third obstacle area, controlling the cleaning device to execute a driving-off mode, and driving off the temporary obstacle area determined to be the third obstacle area; and updating the current temporary obstacle area in the environment map into an obstacle area. If the obstacle detection result is that the temporary obstacle area is determined to be the non-obstacle area, the control electronic equipment executes a common cleaning mode, the common cleaning module is controlled to be put down by taking the ground as a reference, the temporary obstacle area determined to be the non-obstacle area is cleaned based on the common cleaning module, and meanwhile the current temporary obstacle area in the environment map is updated to be the non-obstacle area. After the cleaning of the area to be cleaned is determined to be completed, the temporary obstacle area updated as the obstacle area and the temporary obstacle area updated as the unobstructed area are reset as the temporary obstacle area. The method and the device have the advantages that the target operation mode is determined according to the obstacle detection result, and the electronic equipment is controlled to execute the target operation mode, so that the electronic equipment can efficiently and flexibly operate in the environment with or without the obstacle, thereby being beneficial to improving the automation capacity of the electronic equipment and optimizing the user experience.
Fig. 5 is a schematic structural diagram of a cleaning device according to an embodiment of the present invention, where the device may be suitable for cleaning a temporary obstacle area that may include an obstacle, thereby improving cleaning efficiency. The apparatus may be implemented in software and/or hardware. As shown in fig. 5, the apparatus includes: an obstacle detection module 510, configured to determine that the electronic device enters a temporary obstacle area in a to-be-cleaned area, and perform obstacle detection on the temporary obstacle area; and an execution module 520, configured to control the electronic device to execute a target operation mode, where the target operation mode is determined according to the obstacle detection result.
The embodiment of the invention provides a cleaning device, which is used for determining that electronic equipment enters a temporary obstacle area in an area to be cleaned and detecting the obstacle of the temporary obstacle area; and controlling the electronic equipment to execute a target operation mode, wherein the target operation mode is determined according to the obstacle detection result. According to the technical scheme, when the temporary obstacle area where the electronic equipment enters the area to be cleaned is determined, the temporary obstacle area can be subjected to obstacle detection, the target operation mode of the electronic equipment is determined according to the obstacle detection result, the electronic equipment is controlled to execute the target operation mode, the target operation mode is determined according to the obstacle detection result, the electronic equipment is controlled to execute the target operation mode, and the electronic equipment can efficiently and flexibly operate in the environment with or without the obstacle, so that the automation capability of the electronic equipment is improved, and the user experience is optimized.
On the basis of the above embodiment, the obstacle detection result includes determining that the temporary obstacle region is an obstacle region, the target operation mode may include only an obstacle cleaning mode or a driving-away mode, and the execution module 520 includes: an obstacle cleaning unit 5210 for controlling the electronic apparatus to perform an obstacle cleaning mode to clean the temporary obstacle region determined as the obstacle region if the target operation mode includes an obstacle cleaning mode; and a driving-off unit 5220 for controlling the electronic apparatus to execute the driving-off mode if the target operation mode includes a driving-off mode, driving off the temporary obstacle area determined as the obstacle area.
On the basis of the above embodiment, the obstacle detection result includes determining that the temporary obstacle area is an obstacle area, the target operation mode may include both an obstacle cleaning mode and a driving-away mode, and correspondingly, the execution module 520 may further include: a determination unit 5230 for determining whether the electronic apparatus performs the obstacle cleaning mode or the drive-off mode in the temporary obstacle region determined as an obstacle region; accordingly, an obstacle cleaning unit 5210 for controlling the electronic apparatus to clean the temporary obstacle region determined as the obstacle region if an obstacle cleaning mode is performed; and a driving-off unit 5220 for controlling the electronic apparatus to drive off the temporary obstacle region determined as the obstacle region if a driving-off mode is performed.
On the basis of the above embodiment, the device further includes: a determining module 530 is configured to determine the temporary obstacle region based on an environment map.
On the basis of the above embodiment, the obstacle detection result includes that when the temporary obstacle area is determined to be an unobstructed area, the target operation mode further includes a normal cleaning mode, and correspondingly, the executing module 520 further includes: a general cleaning unit 5240 for controlling the electronic apparatus to perform a general cleaning mode to clean the temporary obstacle area determined as the unobstructed area;
on the basis of the above embodiment, the electronic device includes a cleaning module, and correspondingly, the apparatus further includes: and a control lifting module 540 for controlling lifting of the cleaning module based on the floor when it is determined that the electronic device is driven into the temporary obstacle area in the area to be cleaned.
On the basis of the above embodiment, the obstacle detection module 510 includes: a construction unit 5110, configured to construct a detection path according to an entry position of the electronic device into the temporary obstacle region and a preset position in the temporary obstacle region; an acquiring unit 5120, configured to sequentially acquire detection data based on the detection paths, where the detection data is used to determine whether the current position of the electronic device includes an obstacle; an accumulating unit 5130 for accumulating the detection data based on the time information and/or the distance information and determining the obstacle detection result based on the accumulation result.
On the basis of the above embodiment, the device further includes: a first updating module 550, configured to update a current temporary obstacle area in an environment map to the obstacle area if the obstacle detection result is that the temporary obstacle area is determined to be the obstacle area; and a second updating module 560, configured to update the current temporary obstacle area in the environment map to the unobstructed area if the obstacle detection result is that the temporary obstacle area is determined to be the unobstructed area.
On the basis of the above embodiment, the device further includes: and a resetting module 570, configured to reset the temporary obstacle area updated to the obstacle area and the temporary obstacle area updated to the unobstructed area to the temporary obstacle area after determining that the cleaning of the area to be cleaned is completed.
The cleaning device provided by the embodiment of the invention can execute the cleaning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 6 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present invention. Fig. 6 shows a block diagram of an exemplary cleaning device 7 suitable for use in implementing embodiments of the invention. The cleaning device 7 shown in fig. 6 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the invention.
As shown in fig. 6, the cleaning device 7 is in the form of a general purpose computing electronic device. The components of the cleaning device 7 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The cleaning device 7 may further comprise other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard disk drive"). Although not shown in fig. 6, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The cleaning device 7 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with the cleaning device 7, and/or with any device (e.g., network card, modem, etc.) that enables the cleaning device 7 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Also, the cleaning device 7 may communicate with one or more networks, such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the internet, via the network adapter 20. As shown in fig. 6, the network adapter 20 communicates with other modules of the cleaning device 7 via the bus 18. It should be appreciated that although not shown in fig. 6, other hardware and/or software modules may be used in connection with the cleaning device 7, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28, for example, implementing the cleaning method provided by the present embodiment, the method including: determining that the electronic equipment enters a temporary obstacle area in an area to be cleaned, and performing obstacle detection on the temporary obstacle area; and controlling the electronic equipment to execute a target operation mode, wherein the target operation mode is determined according to the obstacle detection result.
Of course, those skilled in the art will appreciate that the processor may implement the cleaning method according to any of the embodiments of the present invention.
Fig. 7 is a schematic diagram illustrating interaction between a computer readable storage medium and a processor according to an embodiment of the present invention. The computer readable storage medium 81 has stored thereon a computer program 810, which computer program 810 when executed by the processor 82 is adapted to perform a cleaning method, which method may comprise: determining that the electronic equipment enters a temporary obstacle area in an area to be cleaned, and performing obstacle detection on the temporary obstacle area; and controlling the electronic equipment to execute a target operation mode, wherein the target operation mode is determined according to the obstacle detection result.
Optionally, the computer program 810, when executed by the processor 82, may also be used to perform the cleaning method provided by any of the embodiments of the present invention.
The computer-readable storage medium 81 of embodiments of the present invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium 81 may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium 81 would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. The computer readable storage medium 81 may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to: electromagnetic signals, optical signals, or any suitable combination of the preceding. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), and the like, or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. A cleaning method, for use with an electronic device, the method comprising:
determining that the electronic equipment enters a temporary obstacle area in an area to be cleaned, and performing obstacle detection on the temporary obstacle area; the obstacle detection result comprises the steps of determining the temporary obstacle area as an unobstructed area or determining the temporary obstacle area as an obstacle area;
when the temporary obstacle area is an obstacle area and the target operation mode comprises an obstacle cleaning mode or a driving-away mode, if the target operation mode comprises the obstacle cleaning mode, controlling the electronic equipment to execute the obstacle cleaning mode, and cleaning the temporary obstacle area determined to be the obstacle area; if the target operation mode comprises a driving-off mode, controlling the electronic equipment to execute the driving-off mode, and driving off the temporary obstacle area which is determined to be the obstacle area;
When the temporary obstacle area is an obstacle area and the target operation mode comprises an obstacle cleaning mode and a driving-away mode, determining whether the electronic equipment executes the obstacle cleaning mode or the driving-away mode in the temporary obstacle area which is determined to be the obstacle area; controlling the electronic apparatus to clean the temporary obstacle region determined as the obstacle region if an obstacle cleaning mode is performed; if a driving-off mode is executed, controlling the electronic device to drive off the temporary obstacle area determined as the obstacle area;
wherein the obstacle region is a first obstacle region or a second obstacle region determined according to the type of obstacle present in the obstacle region, and the obstacle cleaning mode includes a first obstacle cleaning mode for cleaning the first obstacle region and a second obstacle cleaning mode for cleaning the second obstacle region.
2. The method of cleaning according to claim 1, wherein,
before determining that the electronic device is driven into the temporary obstacle region in the region to be cleaned, the method further comprises: determining the temporary obstacle region based on an environment map;
and/or the number of the groups of groups,
the obstacle detection result includes determining that the temporary obstacle area is an unobstructed area, the target operation mode includes a normal cleaning mode, and correspondingly, controlling the electronic device to execute the target operation mode includes: controlling the electronic equipment to execute a common cleaning mode to clean the temporary obstacle area which is determined to be the unobstructed area;
And/or the number of the groups of groups,
the electronic device comprises a cleaning module, and correspondingly, when the electronic device is determined to drive into a temporary obstacle area in an area to be cleaned, the electronic device further comprises: lifting the cleaning module is controlled by taking the ground as a reference.
3. The cleaning method according to claim 1, wherein performing obstacle detection on the temporary obstacle region includes:
constructing a detection path according to the entering position of the electronic equipment entering the temporary obstacle area and the preset position in the temporary obstacle area;
sequentially acquiring detection data based on the detection paths, wherein the detection data is used for determining whether the current position of the electronic equipment contains an obstacle or not;
and accumulating the detection data based on the time information and/or the distance information, and determining the obstacle detection result based on the accumulation result.
4. The method according to claim 1, wherein the obstacle detection result includes determining the temporary obstacle area as an unobstructed area or determining the temporary obstacle area as an obstacle area,
accordingly, after performing the obstacle detection on the temporary obstacle region, the method further includes:
if the obstacle detection result is that the temporary obstacle area is determined to be the obstacle area, updating the current temporary obstacle area in the environment map to be the obstacle area;
And if the obstacle detection result is that the temporary obstacle area is determined to be an unobstructed area, updating the current temporary obstacle area in the environment map to be the unobstructed area.
5. The cleaning method of claim 4, further comprising:
and after the cleaning of the to-be-cleaned area is determined to be completed, resetting the temporary obstacle area updated as the obstacle area and the temporary obstacle area updated as the unobstructed area as the temporary obstacle area.
6. A cleaning device, comprising:
the obstacle detection module is used for determining that the electronic equipment enters a temporary obstacle area in the area to be cleaned and detecting the obstacle of the temporary obstacle area; the obstacle detection result comprises the steps of determining the temporary obstacle area as an unobstructed area or determining the temporary obstacle area as an obstacle area;
the execution module is used for controlling the electronic equipment to execute the obstacle cleaning mode to clean the temporary obstacle area determined to be the obstacle area if the target operation mode comprises the obstacle cleaning mode when the temporary obstacle area is the obstacle area and the target operation mode comprises the obstacle cleaning mode or the driving-away mode; if the target operation mode comprises a driving-off mode, controlling the electronic equipment to execute the driving-off mode, and driving off the temporary obstacle area which is determined to be the obstacle area; when the temporary obstacle area is an obstacle area, and the target operation mode comprises an obstacle cleaning mode and a driving-away mode, determining whether the electronic equipment executes the obstacle cleaning mode or the driving-away mode in the temporary obstacle area determined to be the obstacle area; controlling the electronic apparatus to clean the temporary obstacle region determined as the obstacle region if an obstacle cleaning mode is performed; if a driving-off mode is executed, controlling the electronic device to drive off the temporary obstacle area determined as the obstacle area; wherein the obstacle region is a first obstacle region or a second obstacle region determined according to the type of obstacle present in the obstacle region, and the obstacle cleaning mode includes a first obstacle cleaning mode for cleaning the first obstacle region and a second obstacle cleaning mode for cleaning the second obstacle region.
7. A cleaning apparatus, the apparatus comprising:
one or more processors;
storage means for storing one or more programs,
when executed by the one or more processors, causes the one or more processors to implement the cleaning method of any of claims 1-5.
8. A storage medium containing computer executable instructions for performing the cleaning method of any one of claims 1-5 when executed by a computer processor.
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| CN111752275A (en) * | 2020-06-19 | 2020-10-09 | 五邑大学 | Automatic cruise method and device for robot and storage medium |
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| CN113017518A (en) * | 2021-03-09 | 2021-06-25 | 李侃 | Cleaning control method and device for sweeping and mopping integrated robot |
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