CN117652916A - Control method of cleaning device, cleaning device and storage medium - Google Patents

Control method of cleaning device, cleaning device and storage medium Download PDF

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Publication number
CN117652916A
CN117652916A CN202210993811.0A CN202210993811A CN117652916A CN 117652916 A CN117652916 A CN 117652916A CN 202210993811 A CN202210993811 A CN 202210993811A CN 117652916 A CN117652916 A CN 117652916A
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CN
China
Prior art keywords
distance
cleaning device
boundary
controlling
current
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Pending
Application number
CN202210993811.0A
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Chinese (zh)
Inventor
贺敏
陈荣
丁民权
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ecovacs Robotics Suzhou Co Ltd
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Ecovacs Robotics Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Ecovacs Robotics Suzhou Co Ltd filed Critical Ecovacs Robotics Suzhou Co Ltd
Priority to CN202210993811.0A priority Critical patent/CN117652916A/en
Priority to PCT/CN2023/107042 priority patent/WO2024037260A1/en
Publication of CN117652916A publication Critical patent/CN117652916A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • 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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • A47L11/32—Carpet-sweepers
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G05D1/633—Dynamic obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Optical Head (AREA)

Abstract

The embodiment of the application provides a control method of cleaning equipment, the cleaning equipment and a storage medium. According to the embodiment of the application, the cleaning equipment is accurately and efficiently controlled to return to the starting position according to the distance information between the starting position of the cleaning equipment placed in the working area and each boundary line of the working area, and the use experience of the cleaning equipment is improved.

Description

Control method of cleaning device, cleaning device and storage medium
Technical Field
The application relates to the technical field of cleaning equipment, in particular to a control method of cleaning equipment, the cleaning equipment and a storage medium.
Background
With the continuous development of computer technology, sensor technology, artificial intelligence technology and the like, the functions of the cleaning equipment are more and more perfect. More and more families choose cleaning equipment to replace traditional manual cleaning modes to complete cleaning tasks of the family environment. For example, the window cleaning robot can overcome various limitations of traditional manual window cleaning, avoid the danger of high-altitude window cleaning, easily solve the daily difficult problem of cleaning a large-area or high-rise window, further automatically complete the window cleaning task and liberate hands of a user. For another example, the floor sweeping robot may automatically complete the floor cleaning task freeing up both hands of the user. For another example, the carpet cleaning machine sprays clear water in the clear water bucket onto the carpet in real time to clean the carpet, and meanwhile, sewage generated in the cleaning process is recovered into the recovery bucket, so that the carpet cleaning task is automatically completed, and the hands of a user are liberated.
In practice, some users may wish the cleaning device to automatically return to the starting position after completion of the cleaning task. For example, when a user needs to wipe a window, the user places the window cleaning robot on the glass window, and the placed position is the starting position, and the starting position is the position where the user conveniently takes the window cleaning robot. After the window cleaning robot completes the window cleaning task, the window cleaning robot may stay at any position of the glass window, where the any position may be far away from the starting position, for example, a position close to the upper frame of the glass window, and there is a great difficulty in removing the window cleaning robot from the glass window. Therefore, it is necessary to control the cleaning apparatus to return to the home position accurately and efficiently.
Disclosure of Invention
Aspects of the present application provide a control method of a cleaning apparatus, and a storage medium for accurately and efficiently controlling the cleaning apparatus to return to a starting position, thereby improving the use experience of the cleaning apparatus.
The embodiment of the application provides a control method of cleaning equipment, wherein a working area of the cleaning equipment comprises a first boundary and a third boundary which are oppositely arranged along a first direction, and a second boundary and a fourth boundary which are oppositely arranged along a second direction, and the first boundary, the second boundary, the third boundary and the fourth boundary are sequentially connected end to form the working area; the method comprises the following steps: acquiring at least one distance information of a first distance between a starting position of the cleaning device placed in the working area and a first boundary, a second distance between the cleaning device placed in the working area and a third boundary, a third distance between the cleaning device placed in the working area and a fourth distance between the cleaning device placed in the working area and the second boundary, and a fourth distance between the cleaning device placed in the working area and the second boundary; and controlling the cleaning device to return to the starting position from the current position according to the at least one distance information.
The embodiment of the application also provides a cleaning device, which comprises: the device comprises a device body, wherein a memory and a processor are arranged on the device body; a memory for storing a computer program; the processor is coupled to the memory for executing the computer program for executing the steps in the control method of the cleaning device.
The embodiments also provide a computer storage medium storing a computer program which, when executed by a processor, causes the processor to enable steps in a control method of a cleaning apparatus.
According to the embodiment of the application, the cleaning equipment is accurately and efficiently controlled to return to the starting position according to the distance information between the starting position of the cleaning equipment placed in the working area and each boundary line of the working area, and the use experience of the cleaning equipment is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a flowchart of a control method of a cleaning device according to an embodiment of the present application;
FIG. 2 is an exemplary cleaning device ranging scenario diagram;
FIG. 3 is an exemplary arcuate path;
FIGS. 4 to 15 are schematic views showing a case where the cleaning apparatus is returned to the home position, respectively;
fig. 16 is a schematic structural view of a cleaning device provided in the present application.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
In embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or" describes the access relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may represent: there are three cases, a alone, a and B together, and B alone, wherein a, B may be singular or plural. In the text description of the present application, the character "/" generally indicates that the front-rear association object is an or relationship. In addition, in the embodiments of the present application, "first", "second", "third", "fourth", "fifth" and "sixth" are only for distinguishing contents of different objects, and have no other special meaning.
In practice, it is necessary to control the return of the cleaning device to the starting position accurately and efficiently. For this reason, the embodiment of the application provides a control method of a cleaning device, the cleaning device and a storage medium. According to the embodiment of the application, the cleaning equipment is accurately and efficiently controlled to return to the starting position according to the distance information between the starting position of the cleaning equipment placed in the working area and each boundary line of the working area, and the use experience of the cleaning equipment is improved.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
Fig. 1 is a flowchart of a control method of a cleaning device according to an embodiment of the present application. Referring to fig. 1, the method may include the steps of:
101. at least one distance information of a first distance between a starting position of the cleaning device placed in the working area and the first boundary, a second distance between the cleaning device placed in the working area and the third boundary, a third distance between the cleaning device placed in the working area and the fourth distance between the cleaning device placed in the working area and the second boundary is acquired.
102. And controlling the cleaning device to return to the starting position from the current position according to the at least one distance information.
In this embodiment, the cleaning apparatus includes, for example, but is not limited to: various self-moving devices such as window cleaning robots, floor sweeping robots, carpet cleaners and the like capable of performing cleaning tasks for a work area, the self-moving devices being capable of highly autonomous spatial movement in the environment in which they are located. The working area of the cleaning device may be a working environment with a real frame or a working environment without a real frame, which is not limited. Working areas include, for example, but are not limited to: glass surfaces of windows, table surfaces or floors, etc. The cleaning device is provided with a boundary detection capability capable of detecting boundary lines defining the working area. In practical applications, the cleaning device may perform boundary detection by means of several sensors such as collision sensors, global positioning system (Global Positioning System, GPS), ultrasound, lidar, vision sensors, etc. For more description of boundary detection, see related art. Specifically, during the movement of the working area, the cleaning device can detect a first boundary and a third boundary of the working area, which are oppositely arranged along a first direction, and a second boundary and a fourth boundary, which are oppositely arranged along a second direction, wherein the first boundary, the second boundary, the third boundary and the fourth boundary are sequentially connected end to form the working area. The included angle between the second direction and the first direction is not limited, for example, the included angle between the second direction and the first direction is 45 ° or 30 °,90 °. When the included angle between the second direction and the first direction is 90 degrees, the second direction and the first direction are mutually perpendicular. In some scenarios, the first boundary is above the third boundary relative to the third boundary, the third boundary being below the first boundary; the second boundary and the fourth boundary are relatively speaking, the second boundary being to the right of the fourth boundary and the fourth boundary being to the left of the second boundary.
In this embodiment, the user places the cleaning device at any position of the working area when there is a need for cleaning, and this position can be regarded as the initial position of the cleaning device in the working area, i.e. the home position. Of course, the user adjusts the current position of the cleaning device to be shifted from the initial position after placing the cleaning device at the initial position of the work area, takes the adjusted position as the initial position, and the like, without limitation. The cleaning apparatus may record information about the start position, for example, coordinate information of the start position, distance information between the start position and the respective boundary lines, without limitation.
In this embodiment, the cleaning device may perform a cleaning task from a home position; the cleaning device can also be moved from the starting position to other positions and then perform cleaning tasks from other positions, without limitation. The cleaning device can move in the working area in a random collision mode and execute cleaning tasks; the cleaning device may also perform cleaning tasks while moving in a work area in a path planning manner, for example, performing cleaning tasks in an arcuate, zig-zag, N-shaped, return-to-the-figure path, without limitation.
In this embodiment, the cleaning apparatus may exhibit a return requirement to the home position whenever and wherever possible. For example, after the cleaning apparatus starts moving from the home position, a need arises for the cleaning apparatus to return to the home position before the cleaning apparatus has not performed a cleaning task. For another example, after the cleaning device has finished the cleaning task, a need arises for a return to the starting position to occur. For another example, after the cleaning device has completed the path planning task, a need arises for a return to the starting position to occur. In practice, the cleaning device may be located at any position in the working area when the need to return to the home position arises. The position may be any position other than the vertex position in the work area, and may be the vertex position.
In the present embodiment, the vertex position refers to the position of a vertex, and the vertex may be any one of a lower right corner vertex, an upper right corner vertex, a lower left corner vertex, and an upper left corner vertex, for example. The right lower corner vertex is an intersection point formed by intersecting two boundary lines of the second boundary and the third boundary; the right upper corner vertex is an intersection point formed by intersecting two boundary lines of the second boundary and the first boundary; the vertex of the lower left corner is an intersection point formed by intersecting two boundary lines of a fourth boundary and a third boundary; the upper left corner vertex is an intersection point formed by the intersection of the two boundary lines of the fourth boundary and the first boundary.
In this embodiment, in order to accurately and quickly control the return of the cleaning device from the current position to the start position, at least one distance information between the start position and one or more boundary lines is acquired, and the cleaning device is controlled to return from the current position to the start position based on the distance information. It should be noted that the current position may refer to a current position of the cleaning device when the requirement of returning to the starting position occurs, or may refer to a position of the cleaning device that moves a distance after the requirement of returning to the starting position occurs, which is not limited.
In practice, after the cleaning device is placed at the starting position of the working area, at least one distance information between the starting position and one or more boundary lines can be determined at any time. In particular, at least one of a first distance from a first boundary, a second distance from a third boundary, a third distance from a fourth boundary, and a fourth distance from the second boundary, respectively, of a start position of the cleaning device placed in the work area is determined.
In this embodiment, the first distance and the second distance refer to the distance between the starting point position and the first boundary and the third boundary along the second direction, and taking the second direction as a vertical direction as an example, the first distance and the second distance can be respectively understood as the vertical distance between the starting point position and the first boundary and the third boundary; the third distance and the fourth distance refer to distances between the starting point position and the fourth boundary and the second boundary along the first direction, respectively, and taking the first direction as a horizontal direction as an example, the third distance and the first chamber distance can be respectively understood as horizontal distances between the starting point position and the fourth boundary and the second boundary, respectively.
In the present embodiment, the first and second distances along the second direction or the third and fourth distances along the first direction between the start position and each boundary line may be manually measured by the user and provided to the cleaning apparatus. If the cleaning device stores an environment map in which the working area is recorded, based on the spatial position coordinates of the start position recorded in the environment map and the spatial position coordinates of the position points on the respective boundary lines, the first distance and the second distance along the second direction or the third distance and the fourth distance along the first direction between the start position and the respective boundary lines can be automatically measured. The environment map is a map describing spatial position coordinates, attributes thereof, and the like of each position point of the working area, and may be a map obtained based on an immediate localization and mapping (Simultaneous Localization and Mapping, simply referred to as SLAM) method, but is not limited thereto. Further alternatively, in order to accurately acquire the distance information of the start position to each boundary line, after the cleaning device is placed at the start position of the work area, the cleaning device is controlled to move from the start position toward each boundary line, and the distance information of the start position to each boundary line can be calculated according to the moving speed and the moving time of the cleaning device from the start position to the boundary line. In practice, the movement speed of the cleaning device can be detected by means of a grating encoder mounted on the drive motor of the cleaning device. The grating encoder sends out a plurality of pulse signals every time the driving motor rotates, and the moving speed of the cleaning equipment can be converted by periodically detecting and recording the pulse signals. Of course, the speed sensor mounted on the cleaning apparatus may also be used to detect the moving speed of the cleaning apparatus.
In this embodiment, the first direction and the second direction have two direction categories, i.e., a forward direction category and a reverse direction category, respectively, and the first direction belonging to the forward direction category and the first direction belonging to the reverse direction category are opposite to each other, for example, the first direction belonging to the forward direction category is a horizontal right direction and the first direction belonging to the reverse direction category is a horizontal left direction. Alternatively, the first direction belonging to the forward direction category is a horizontal left direction, and the first direction belonging to the reverse direction category is a horizontal right direction. For example, the second direction belonging to the forward direction category is a vertically upward direction, and the first direction belonging to the reverse direction category is a vertically downward direction. Alternatively, the second direction belonging to the forward direction category is a vertically downward direction, and the first direction belonging to the reverse direction category is a vertically upward direction.
In some alternative embodiments, the cleaning device is controlled to move in a second direction belonging to the positive direction category from the starting position until reaching a first position on a first target boundary, and to move in the first direction until reaching a first vertex position on a first target boundary, which is a fourth boundary or a second boundary, from the first vertex position until reaching a second vertex position on a second target boundary, which is opposite to the first target boundary, respectively; determining a first distance between the starting position and a first boundary according to the moving speed and the moving time of the cleaning device between the starting position and the first position; determining a second distance between the starting position and the third boundary according to the length of the fourth boundary and the first distance; a third distance between the start position and the fourth boundary and a fourth distance between the start position and the second boundary are determined based on the speed and time of movement of the cleaning device between the first position and the first vertex position and between the first vertex position and the second vertex position.
In this embodiment, for ease of understanding and distinction, a position on the first boundary where the cleaning device starts to move from the start position is referred to as a first position, and the start position where the cleaning device starts is different, and the first position is also different. The first position may fall on the first boundary, and may be a position where the distance from the first boundary falls within an allowable error range, without limitation. For example, when the working area is a glass window with a real frame, and the window cleaning robot collides with the upper frame, the position of the window cleaning robot is confirmed to be the first position on the upper frame. Taking fig. 2 as an example, the cleaning apparatus adjusts the traveling direction at the start position to a second direction (for example, a vertically upward direction) belonging to the positive direction category, and proceeds from the start position along the second direction belonging to the positive direction category, and performs boundary detection during the proceeding, detects in real time whether the current position of the cleaning apparatus falls at the first position on the first boundary, and when detecting that the current position of the cleaning apparatus falls at the first position on the first boundary, it can be confirmed that the cleaning apparatus has reached the first boundary from the start position. At this time, from the moving speed and moving time of the cleaning apparatus from the start position to the first position, the moving distance of the start position to the first position, that is, the first distance between the start position and the first boundary, may be calculated, and as shown in fig. 2, the first distance may be denoted as s1.
In some alternative embodiments, the length of the fourth boundary or the second boundary is subtracted by the first distance to obtain a second distance between the starting position and the third boundary, which may be denoted as s4 as shown in fig. 2.
In practice, the cleaning device may receive the length of the fourth boundary or the second boundary entered by the user. The cleaning device can also be controlled to move from the first boundary to the third boundary along the second direction (such as the vertical direction), and the length of the fourth boundary or the second boundary can be calculated according to the moving speed and the moving time of the cleaning device from the first boundary to the third boundary; the length of the fourth boundary or the second boundary can also be obtained according to the boundary information of the first boundary and the third boundary in the environment map of the working area. Further alternatively, the length of the fourth boundary or the second boundary may also be determined from planned path information of the cleaning device. For example, when the cleaning apparatus can move in the work area according to the arch-shaped planned path, the length of the fourth boundary or the second boundary may be determined according to the number of arch-shaped objects walked when the cleaning apparatus performs the cleaning task according to the arch-shaped path and the downward-looking distance corresponding to each arch-shaped object. Referring to fig. 3, the broken straight lines in fig. 3 show a plurality of arcuate routes which are parallel to each other, and of course, the next arcuate route of the cleaning apparatus after moving any arcuate route may continue to move in any direction in the arcuate route. An arcuate path is formed of five line segments, long side, short side, long side, so that the downward distance of the arcuate path is the length of the two short sides. Referring to fig. 3, the length of the short side is denoted s5. Assuming that the number of arches walked when the cleaning device performs a cleaning task is denoted as n, the downward-looking distance corresponding to each arche is denoted as 2×s5, the length of the fourth boundary or the second boundary is 2×s4×n. Where n may be 0.5, 1, 1.5, 2, etc. That is, the cleaning device may travel an integer number of arcuate paths in the work area, or, alternatively, half arcuate paths, or, on the basis of an integer number of arcuate paths, half arcuate paths.
In this embodiment, after the cleaning apparatus reaches the first position, it moves in a first direction (e.g., a horizontal direction) from the first position until reaching a first vertex position on the first target boundary, and moves in the first direction from the first vertex position until reaching a second vertex position on the second target boundary. Specifically, if the cleaning apparatus moves from the first position along the first direction belonging to the negative direction category, the first target boundary is the fourth boundary, the first vertex position is the upper left vertex position, the second target boundary is the second boundary, and the second vertex position is the upper right vertex position. If the cleaning device moves from the first position along the first direction belonging to the positive direction category, the first target boundary is a second boundary, the first vertex position is an upper right vertex position, the second target boundary is a fourth boundary, and the second vertex position is an upper left vertex position.
In the present embodiment, the third distance between the start position and the fourth boundary and the fourth distance between the start position and the second boundary may be determined according to the moving speed and moving time of the cleaning device between the first position and the first vertex position and between the first vertex position and the second vertex position. As shown in fig. 2, the third distance may be denoted as s2 and the fourth distance may be denoted as s3. Specifically, a fifth distance between the starting position and the first target boundary is determined according to the moving speed and the moving time of the cleaning device between the first position and the first vertex position; determining the length of the first boundary according to the moving speed and the moving time of the cleaning device between the first vertex position and the second vertex position; determining a sixth distance between the starting position and the second target boundary according to the length of the first boundary and the fifth distance; one of the fifth distance and the sixth distance is taken as a third distance, and the other is taken as a fourth distance. Wherein the length of the first boundary minus the fifth distance results in a sixth distance.
In this embodiment, the cleaning apparatus can be controlled to return from the current position to the start position at any time and any place according to at least one of the first distance between the start position of the cleaning apparatus placed in the work area and the first boundary, the second distance between the cleaning apparatus placed in the work area and the third boundary, the third distance between the cleaning apparatus placed in the work area and the fourth distance between the cleaning apparatus placed in the work area and the second boundary.
In some embodiments, controlling the cleaning device to return from the current position to the starting position based on the at least one distance information comprises: controlling the cleaning device to move from the current position along a second direction belonging to the positive direction category until reaching a second position on the first boundary; controlling the cleaning device to move from the second position along a second direction belonging to the opposite direction category until reaching a third position at a first distance from the second position; controlling the cleaning device to move from the third position along the first direction belonging to the positive direction category until reaching a fourth position on the second boundary; the cleaning device is controlled to move from the fourth position in the first direction belonging to the negative direction category until reaching a starting position at a fourth distance from the fourth position. The second position may fall on the first boundary, and may be a position where a distance from the first boundary falls within an allowable error range, which is not limited. In addition, the fourth position may fall on the second boundary, and may be a position at which the distance from the second boundary falls within an allowable error range, without limitation.
In practical applications, after the cleaning device reaches the current position, the cleaning device may be controlled to rotate at the current position to adjust the current traveling direction to a second direction belonging to the positive direction category, and the cleaning device may be controlled to move from the current position along the second direction belonging to the positive direction category until reaching the second position on the first boundary. Further alternatively, in order to improve the return efficiency of the cleaning apparatus, after the cleaning apparatus reaches the current position, particularly in the case where the current position is the vertex position, referring to fig. 4, taking the current position as the lower right corner vertex position as an example, the cleaning apparatus may be controlled to move from the current position while adjusting the traveling direction until the traveling direction is parallel to the second direction belonging to the positive direction category, and to continue to move in the second direction belonging to the positive direction category until reaching the second position on the first boundary.
With continued reference to fig. 4, after the cleaning device that has completed the cleaning task reaches the second position of the first boundary from the lower right corner vertex position, the cleaning device is controlled to rotate in the second position to adjust the current traveling direction to a second direction (e.g., a vertically downward direction) that belongs to the opposite direction category. Next, controlling the cleaning device to move from the second position to the third position along the second direction belonging to the opposite direction category by the first distance S1; controlling the cleaning device to rotate on the third position so that the current travelling direction is adjusted to be a first direction belonging to the positive direction category; then, the cleaning device is controlled to move from the third position along the first direction belonging to the positive direction category until reaching a fourth position on the second boundary; then, the cleaning device rotates on the fourth position to adjust the current traveling direction to a first direction belonging to the negative direction category; the cleaning device is controlled to move a fourth distance S3 from the fourth position in the first direction belonging to the negative direction category to reach the starting position.
In some embodiments, controlling the cleaning device to return from the current position to the starting position based on the at least one distance information comprises: controlling the cleaning device to move from the current position along the second direction belonging to the opposite direction category until reaching a fifth position on the third boundary; controlling the cleaning device to move from the fifth position along a second direction belonging to the positive direction category until reaching a sixth position at a second distance from the fifth position; controlling the cleaning device to move from the sixth position along the first direction belonging to the positive direction category until reaching a seventh position on the second boundary; the cleaning device is controlled to move from the seventh position in the first direction belonging to the negative direction category until reaching a starting position at a fourth distance from the seventh position.
In practice, after the cleaning device reaches the current position, the cleaning device may be controlled to rotate at the current position to adjust the current traveling direction to a second direction (for example, a vertically downward direction) belonging to the opposite direction category, and to move from the current position in the second direction belonging to the opposite direction category until reaching a fifth position on the third boundary. Further alternatively, in order to improve the return efficiency of the cleaning apparatus, after the cleaning apparatus reaches the current position, particularly in the case where the current position is the vertex position, referring to fig. 5, taking the current position as the upper right corner vertex position on the second boundary as an example, the cleaning apparatus is controlled to move from the current position while adjusting the traveling direction until the traveling direction is parallel to the second direction belonging to the opposite direction category, and to continue to move in the second direction belonging to the opposite direction category until reaching the fifth position on the third boundary.
With continued reference to fig. 5, after the cleaning device that ends the cleaning task reaches the fifth position on the third boundary from the upper right corner vertex position, the cleaning device is controlled to rotate on the fifth position so that the current traveling direction is adjusted to the second direction (for example, the vertically upward direction) belonging to the positive direction category. Next, the cleaning device is controlled to move from the fifth position to the sixth position along a second direction belonging to the positive direction category by a second distance S4; controlling the cleaning device to rotate on the sixth position so that the current traveling direction is adjusted to a first direction belonging to the positive direction category; then, the cleaning device is controlled to move from the sixth position along the first direction belonging to the positive direction category until reaching a seventh position on the second boundary; then, the cleaning device rotates on the seventh position to adjust the current traveling direction to a first direction belonging to the negative direction category; the cleaning device is controlled to move a fourth distance S3 from the seventh position in the first direction belonging to the negative direction category to reach the starting position.
In some embodiments, if the current position is a lower left corner vertex position on the fourth boundary, controlling the cleaning device to return from the current position to the starting position based on the at least one distance information comprises: controlling the cleaning device to move from the current position along the second direction belonging to the positive direction category until reaching an eighth position on the first boundary; controlling the cleaning device to move from the eighth position along the second direction belonging to the opposite direction category until reaching a ninth position at a first distance from the eighth position; controlling the cleaning device to move from the ninth position in the first direction belonging to the negative direction category until reaching a tenth position on the fourth boundary; the cleaning device is controlled to move from the tenth position in the first direction belonging to the positive direction category until reaching a starting position at a third distance from the tenth position. The eighth position may fall on the first boundary, and may be a position where a distance from the first boundary falls within an allowable error range, which is not limited. In addition, the tenth position may fall on the fourth boundary, and may be a position at which the distance from the fourth boundary falls within the allowable error range, without limitation.
In practical applications, after the cleaning device reaches the current position, the cleaning device may be controlled to rotate at the current position to adjust the current traveling direction to the second direction belonging to the positive direction category, and the cleaning device may be controlled to move from the current position along the second direction belonging to the positive direction category until reaching the eighth position on the first boundary. Further alternatively, in order to improve the return efficiency of the cleaning apparatus, after the cleaning apparatus reaches the current position, particularly in the case where the current position is the vertex position, referring to fig. 6, taking the current position as the lower left corner vertex position on the fourth boundary as an example, the cleaning apparatus is controlled to move from the current position while adjusting the traveling direction until the traveling direction is parallel to the second direction belonging to the positive direction category, and to continue to move in the second direction belonging to the positive direction category until reaching the eighth position on the first boundary.
With continued reference to fig. 6, after the cleaning device ending the cleaning task reaches the eighth position on the first boundary from the lower left corner vertex position, the cleaning device is controlled to rotate on the eighth position so that the current traveling direction is adjusted to the second direction belonging to the opposite direction category. Next, the cleaning device is controlled to move from the eighth position to the ninth position by a first distance S1 along a second direction (e.g., a vertically downward direction) belonging to the opposite direction category; controlling the cleaning device to rotate on the ninth position to adjust the current traveling direction to a first direction belonging to the negative direction category; then, controlling the cleaning device to move from the ninth position along the first direction belonging to the negative direction category until reaching a tenth position on the fourth boundary; then, the cleaning device rotates at the tenth position to adjust the current traveling direction to a first direction belonging to the positive direction category; the cleaning device is controlled to move a third distance S2 from the tenth position in the first direction belonging to the positive direction category to reach the starting position.
In some embodiments, controlling the cleaning device to return from the current position to the starting position based on the at least one distance information comprises: controlling the cleaning device to move from the current position in the second direction belonging to the opposite direction category until reaching an eleventh position on the third boundary; controlling the cleaning device to move from the eleventh position along a second direction belonging to the positive direction category until reaching a twelfth position at a second distance from the eleventh position; controlling the cleaning device to move from the twelfth position in the first direction belonging to the negative direction category until reaching a thirteenth position on the fourth boundary; the cleaning device is controlled to move from the thirteenth position in the first direction belonging to the positive direction category until reaching a starting position at a third distance from the thirteenth position.
In practical applications, after the cleaning device reaches the current position, the cleaning device may be controlled to rotate at the current position to adjust the current traveling direction to the second direction belonging to the opposite direction category, and the cleaning device may be controlled to move from the current position along the second direction belonging to the opposite direction category until reaching the eleventh position on the third boundary. Further alternatively, in order to improve the return efficiency of the cleaning apparatus, after the cleaning apparatus reaches the current position, particularly in the case where the current position is the vertex position, referring to fig. 7, taking the current position as the upper left corner vertex position on the fourth boundary as an example, the cleaning apparatus is controlled to move from the current position while adjusting the traveling direction until the traveling direction is parallel to the second direction belonging to the opposite direction category, and to continue to move in the second direction belonging to the opposite direction category until reaching the eleventh position on the third boundary.
With continued reference to fig. 7, after the cleaning device that ends the cleaning task reaches the eleventh position on the third boundary from the upper left corner vertex position, the cleaning device is controlled to rotate at the eleventh position so that the current traveling direction is adjusted to the second direction belonging to the positive direction category. Next, the cleaning device is controlled to move vertically upward from the eleventh position by a second distance S4 to a twelfth position; controlling the cleaning device to rotate on the twelfth position so that the current traveling direction is adjusted to a first direction belonging to the negative direction category; then, controlling the cleaning device to move from the twelfth position along the first direction belonging to the negative direction category until reaching a thirteenth position on the fourth boundary; then, the cleaning device rotates on the thirteenth position to adjust the current traveling direction to a first direction belonging to the positive direction category; the cleaning device is controlled to move a third distance S2 from the thirteenth position in the first direction belonging to the positive direction category to reach the starting position.
According to the technical scheme provided by the embodiment of the application, the cleaning equipment is accurately and efficiently controlled to return to the starting position according to the distance information between the starting position of the cleaning equipment placed in the working area and each boundary line of the working area, so that the use experience of the cleaning equipment is improved.
In practical application, after the cleaning device triggers an event of returning to the starting position, if the current position of the cleaning device is not the vertex position, the cleaning device can be controlled to move to the vertex position, and the cleaning device is controlled to return to the starting position based on the distance information between the starting position and each boundary line of the working area from the vertex position. Of course, the event of returning to the starting position may also be triggered when the cleaning device is in the apex position, without limitation.
In some alternative embodiments, if the current position is a lower right corner vertex position and an upper right corner vertex position, controlling the cleaning device to return from the current position to the starting position according to the at least one distance information comprises: controlling the cleaning equipment to rotate in situ at the current position so that the included angle between the current travelling direction and the first direction is a first target angle; determining a first movement distance according to the first target angle and the fourth distance; controlling the cleaning device to move a first moving distance from the current position to a first target position according to the current travelling direction; controlling the cleaning device to rotate in place at the first target position so as to adjust the current travelling direction to a second direction belonging to the positive direction category; controlling the cleaning device to move from the first target position along the second direction belonging to the positive direction category until reaching the second target position on the first boundary; the cleaning device is controlled to move from the second target position in a second direction belonging to the opposite direction category until reaching a starting position at a first distance from the second target position. Wherein the first target position is an arbitrary position, the first target position changing as the first target angle and the fourth distance change. The second target position may fall on the first boundary, and may be a position at which the distance from the first boundary falls within an allowable error range, without limitation.
Taking the current position as the position of the right lower corner vertex as an example, referring to fig. 8, the cleaning device starts to rotate in place at the position of the right lower corner vertex until the included angle between the current travelling direction and the first direction is a first target angle θ, and θ is any angle; assuming that the first moving distance is s6, s6=s3/cos θ, controlling the cleaning apparatus to move the first moving distance s6 from the right lower corner vertex position to the first target position; controlling the cleaning device to rotate in situ at the first target location to adjust the current travel direction to a second direction (e.g., vertically upward direction) belonging to the positive direction category; controlling the cleaning device to move from the first target position along a second direction (e.g., a vertically upward direction) belonging to the positive direction category until reaching the second target position on the first boundary; the cleaning device is controlled to move from the second target position a first distance s3 in a second direction (e.g. vertically downwards) belonging to the opposite direction category to reach the starting position.
Taking the current position as the position of the top right corner as an example, referring to fig. 9, the cleaning device starts to rotate in place at the position of the top right corner until the included angle between the current travelling direction and the first direction is a first target angle θ, which is any angle; assuming that the first moving distance is s6, s6=s3/cos θ, controlling the cleaning apparatus to move the first moving distance s6 from the upper right corner vertex position to the first target position; controlling the cleaning device to rotate in situ at the first target location to adjust the current travel direction to a second direction (e.g., vertically upward direction) belonging to the positive direction category; controlling the cleaning device to move from the first target position along a second direction (e.g., a vertically upward direction) belonging to the positive direction category until reaching the second target position on the first boundary; the cleaning device is controlled to move from the second target position a first distance s3 in a second direction (e.g. vertically downwards) belonging to the opposite direction category to reach the starting position.
In some alternative embodiments, if the current position is a lower left corner vertex position and an upper left corner vertex position, controlling the cleaning device to return from the current position to the starting position according to the at least one distance information comprises: controlling the cleaning equipment to rotate in situ at the current position so that the included angle between the current travelling direction and the first direction is a second target angle; determining a second movement distance according to the second target angle and the third distance; controlling the cleaning device to move a second movement distance from the current position to a third target position according to the current travelling direction; controlling the cleaning device to rotate in situ at the third target position so as to adjust the current travelling direction to a second direction belonging to the positive direction category; controlling the cleaning device to move from the third target position along the second direction belonging to the positive direction category until reaching a fourth target position on the first boundary; the cleaning device is controlled to move from the fourth target position in a second direction belonging to the opposite direction category until reaching a starting position at a first distance from the fourth target position.
Taking the current position as the upper left corner vertex position as an example, referring to fig. 11, the cleaning apparatus rotates in place at the upper left corner vertex position such that the included angle between the current traveling direction and the first direction (e.g., the horizontal direction) is the second target angle β, which is any angle; assuming that the second moving distance is s7, s7=s7/cos β, controlling the cleaning apparatus to move the second moving distance s7 from the current position to the third target position according to the current traveling direction; controlling the cleaning device to rotate in situ at the third target location to adjust the current travel direction to a second direction (e.g., vertically upward direction) belonging to the positive direction category; controlling the cleaning device to move from the third target position along the second direction belonging to the positive direction category until reaching a fourth target position on the first boundary; the cleaning device is controlled to move from the fourth target position a first distance s1 in a second direction (e.g. vertically downwards) belonging to the opposite direction category to reach the starting position.
In some alternative embodiments, if the current position is a lower right corner vertex position, controlling the cleaning device to return from the current position to the starting position according to the at least one distance information comprises: controlling the cleaning equipment to rotate in situ at the current position so that the included angle between the current travelling direction and the first direction is a third target angle; determining a third moving distance and a fourth moving distance according to the third target angle and the fourth distance, and subtracting the fourth moving distance from the second distance to obtain a seventh distance; controlling the cleaning device to move a third movement distance from the current position to a fifth target position according to the current travelling direction; controlling the cleaning device to rotate in place at a fifth target position to adjust the current traveling direction to a second direction belonging to the positive direction category; the cleaning device is controlled to move from the fifth target position along the second direction belonging to the positive direction category until reaching a starting position at a seventh distance from the fifth target position.
Taking the current position as the right lower corner vertex position as an example, referring to fig. 12, the cleaning device starts to rotate in place at the right lower corner vertex position until the included angle between the current traveling direction and the first direction (for example, the horizontal direction) is a third target angle θ, which is any angle; let the third movement distance be s6, the fourth movement distance be s8, the second distance be s4, the seventh distance be s9, s6=s3/cos θ, s8=s3×tan θ, s9=s4-s 8.
Controlling the cleaning device to move from the right lower corner vertex position by a third movement distance s6 to a fifth target position; and controlling the cleaning device to move a seventh distance s9 from the fifth target position in a second direction (e.g., a vertically upward direction) belonging to the positive direction category to reach the home position.
In some alternative embodiments, if the current position is an upper right corner vertex position, controlling the cleaning device to return from the current position to the starting position according to the at least one distance information comprises: controlling the cleaning equipment to rotate in situ at the current position so that the included angle between the current travelling direction and the first direction is a fourth target angle; determining a fifth moving distance and a sixth moving distance according to the fourth target angle and the fourth distance, and subtracting the sixth moving distance from the first distance to obtain an eighth distance; controlling the cleaning device to move a fifth movement distance from the current position to a sixth target position according to the current travelling direction; controlling the cleaning device to rotate in place at the sixth target position to adjust the current traveling direction to a second direction belonging to the opposite direction category; the cleaning device is controlled to move from the sixth target position in the second direction belonging to the opposite direction category until reaching a starting position at an eighth distance from the sixth target position.
Taking the current position as the upper right corner vertex position as an example, referring to fig. 13, the cleaning device starts to rotate in place at the upper right corner vertex position until the included angle between the current traveling direction and the first direction (for example, the horizontal direction) is a fourth target angle θ, which is any angle; let the fifth movement distance be s6, the sixth movement distance be s10, the first distance be s1, the eighth distance be s11, s6=s3/cos θ, s10=s3×tan θ, s11=s1-s 10. Controlling the cleaning device to move from the upper right corner vertex position by a fifth movement distance s6 to a sixth target position; and controlling the cleaning device to move an eighth distance s11 from the sixth target position in a second direction (e.g., a vertically downward direction) belonging to the opposite direction category to reach the home position.
In some embodiments, if the current position is a lower left corner vertex position, controlling the cleaning device to return from the current position to the starting position according to the at least one distance information comprises: controlling the cleaning equipment to rotate in situ at the current position so that the included angle between the current travelling direction and the first direction is a fifth target angle; determining a seventh moving distance and an eighth moving distance according to the fifth target angle and the third distance, and subtracting the eighth moving distance from the second distance to obtain a ninth distance; controlling the cleaning device to move a seventh movement distance from the current position to a seventh target position according to the current travelling direction; controlling the cleaning device to rotate in place at the seventh target position to adjust the current traveling direction to a second direction belonging to the positive direction category; the cleaning device is controlled to move from the seventh target position along the second direction belonging to the positive direction category until reaching a starting position at a ninth distance from the seventh target position.
Taking the current position as the lower left corner vertex position as an example, referring to fig. 14, the cleaning device starts to rotate in place at the lower left corner vertex position until the included angle between the current traveling direction and the first direction (for example, the horizontal direction) is a fifth target angle β, which is any angle; let the seventh distance of movement be s7, the eighth distance of movement be s12, the second distance be s4, the ninth distance be s13, s7=s2/cos β, s12=s2×tan β, s13=s4-s 12. Controlling the cleaning device to move a seventh movement distance s7 from the lower left corner vertex position to a seventh target position; and controlling the cleaning device to move (e.g., vertically upward) a ninth distance s13 from the seventh target position along the second direction belonging to the positive direction category to reach the home position.
In some embodiments, if the current position is an upper left corner vertex position, controlling the cleaning device to return from the current position to the starting position based on the at least one distance information comprises: controlling the cleaning equipment to rotate in situ at the current position so that the included angle between the current travelling direction and the first direction is a sixth target angle; determining a ninth moving distance and a tenth moving distance according to the sixth target angle and the third distance, and subtracting the tenth moving distance from the first distance to obtain a tenth distance; controlling the cleaning device to move a ninth movement distance from the current position to an eighth target position according to the current travelling direction; controlling the cleaning device to rotate in place at the eighth target position to adjust the current traveling direction to a second direction belonging to the opposite direction category; the cleaning device is controlled to move from the eighth target position along the second direction belonging to the opposite direction category until reaching a starting position at a tenth distance from the eighth target position.
Taking the current position as the upper left corner vertex position as an example, referring to fig. 15, the cleaning device starts to rotate in place at the upper right corner vertex position until the included angle between the current traveling direction and the first direction (for example, the horizontal direction) is a sixth target angle β, which is any angle; let the ninth movement distance be s7, the tenth movement distance be s14, the first distance be s1, the tenth distance be s15, s7=s2/cos β, s14=s2×tan β, s15=s1-s 14. Controlling the cleaning device to move from the lower left corner vertex position by an eighth movement distance s7 to an eighth target position; and controlling the cleaning apparatus to move a tenth distance s15 from the eighth target position in a second direction (e.g., a vertically downward direction) belonging to the opposite direction category to reach the home position.
In order to better understand the technical solution provided by the embodiments of the present application, a description of a scenario embodiment is made below.
Scene embodiment:
the user starts up the window cleaning robot and places the window cleaning robot on the glass window with the real frame. The window cleaning robot records the current position as the starting position. Then, the window cleaning robot automatically measures the distances from the starting position to the upper frame, the lower frame, the right frame and the left frame of the glass window. Specifically, the window cleaning robot adjusts the traveling direction to a second direction (for example, a vertically upward direction) belonging to the positive direction category, moves from the start position along the second direction belonging to the positive direction category, confirms that the window cleaning robot reaches the upper frame if the window cleaning robot collides with the upper frame, and calculates a first distance from the start position to the upper frame based on a movement speed and a movement time from the start position to the upper frame. Then, the window cleaning robot rotates in place to adjust the traveling direction to a first direction (e.g., a horizontal left direction) belonging to the negative direction category, and moves according to the first direction belonging to the negative direction category, and if the window cleaning robot collides with the left frame, the window cleaning robot confirms that the window cleaning robot reaches the left frame, and calculates a third distance from the starting position to the left frame according to the moving speed and the moving time in the horizontal left moving process. Then, the window cleaning robot rotates in place to adjust the traveling direction to a first direction (e.g., a horizontal rightward direction) belonging to the positive direction category, moves in accordance with the first direction belonging to the positive direction category, confirms that the right frame is reached if the right frame is bumped, calculates a length of the upper frame from a moving speed and a moving time during the horizontal rightward movement, and subtracts the third distance from the length of the upper frame to obtain a fourth distance from the start position to the right frame. As for the second distance from the starting position to the lower frame, the second distance can be obtained by subtracting the first distance from the length of the left frame obtained in the process of executing the window cleaning task by the window cleaning robot. Then, the window cleaning robot performs a window cleaning task in the glass window according to an arcuate path from the right upper corner vertex position of the right frame side until reaching the right lower corner vertex position of the right frame side. Of course, the window cleaning robot may perform a plurality of window cleaning tasks and stop the window cleaning task at any location in the glazing. Next, for a window cleaning robot that ends a window cleaning task, the window cleaning robot is first controlled to move to a vertex position, e.g., a lower right corner vertex position. And controlling the window cleaning robot to return from the apex position to the starting position based on one or more of the third distance, the fourth distance, the first distance, or the second distance, starting from the lower right corner apex position. Referring to fig. 4-15, there are a variety of return schemes possible.
It should be noted that, the execution subjects of each step of the method provided in the above embodiment may be the same device, or the method may also be executed by different devices. For example, the execution subject of steps 101 to 102 may be device a; for another example, the execution body of step 101 may be device a, and the execution body of step 102 may be device B; etc.
In addition, in some of the flows described in the above embodiments and the drawings, a plurality of operations appearing in a specific order are included, but it should be clearly understood that the operations may be performed out of the order in which they appear herein or performed in parallel, the sequence numbers of the operations such as 101, 102, etc. are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.
Fig. 16 is a schematic structural view of a cleaning device provided in the present application. As shown in fig. 16, the cleaning apparatus includes: the device comprises a device body, wherein a memory 11 and a processor 12 are arranged on the device body;
Memory 11 is used to store computer programs and may be configured to store various other data to support operations on the computing platform. Examples of such data include instructions for any application or method operating on a computing platform, contact data, phonebook data, messages, pictures, videos, and the like.
The memory 11 may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
A processor 12 coupled to the memory 11 for executing a computer program in the memory 11 for: acquiring at least one distance information of a first distance between a starting position of the cleaning device placed in the working area and a first boundary, a second distance between the cleaning device placed in the working area and a third boundary, a third distance between the cleaning device placed in the working area and a fourth distance between the cleaning device placed in the working area and the second boundary, and a fourth distance between the cleaning device placed in the working area and the second boundary; and controlling the cleaning device to return to the starting position from the current position according to the at least one distance information.
The specific implementation of each step performed by the processor 12 may refer to the specific implementation of each step in the foregoing method embodiment, and will not be described herein.
The cleaning device may also comprise some basic components, such as a cleaning component 13, a communication component 14, a driving component 15, a power supply component 16, etc. In the present embodiment, these components are only parts of the components given schematically, and it is not meant that the cleaning device comprises only these components, but that the cleaning device may also comprise other components depending on the product form of the cleaning device, for different application requirements.
The communication component is configured to facilitate wired or wireless communication between the device in which the communication component is located and other devices. The device where the communication component is located can access a wireless network based on a communication standard, such as Wifi,2G or 3G, 4G, 5G or a combination thereof. In one exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component may further include a Near Field Communication (NFC) module, radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and the like.
The power supply component provides power for various components of equipment where the power supply component is located. The power components may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the devices in which the power components are located.
Alternatively, the drive assembly 15 may include a drive wheel, a drive motor, a universal wheel, or the like.
Alternatively, the cleaning apparatus of the present embodiment may be implemented as a sweeping robot, and then in the case of being implemented as a sweeping robot, the cleaning assembly may include a sweeping motor, a cleaning brush, a dusting brush, a dust suction fan, and the like. The basic components and their constitution may vary from cleaning device to cleaning device, and the embodiments herein are only some examples.
Alternatively, the cleaning apparatus of the present embodiment may be implemented as a window cleaning robot, and in the case of a window cleaning robot, the cleaning assembly may include a water storage tank, a wipe, a brush, or the like. In an alternative embodiment, the water in the water storage tank is sucked out by the water suction pump and uniformly dripped on the cleaning cloth, or the water in the water storage tank seeps into the cleaning cloth; or the water in the water storage tank is atomized by the atomizer to form water mist to be sprayed to the surface to be cleaned so as to soften dust.
In the embodiment of the present application, the implementation form of the processor 12 is not limited, and may be, for example, but not limited to, a CPU, GPU, MCU, or the like. The processor 12 may be regarded as a control system of the cleaning device and may be used to execute a computer program stored in the memory 11 for controlling the cleaning device to perform the respective functions, to perform the respective actions or tasks. It should be noted that, depending on the implementation form of the cleaning device and the scene in which the cleaning device is located, the functions, actions or tasks to be implemented may be different; accordingly, the computer programs stored in the memory 11 may also be different, and execution of the different computer programs by the processor 12 may control the cleaning device to perform different functions, perform different actions or tasks.
Accordingly, embodiments of the present application also provide a computer-readable storage medium storing a computer program that, when executed, enables the implementation of the steps of the above-described method embodiments that may be performed by a cleaning device.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (16)

1. A control method of a cleaning device, characterized in that a working area of the cleaning device comprises a first boundary and a third boundary which are oppositely arranged along a first direction, and a second boundary and a fourth boundary which are oppositely arranged along a second direction, wherein the first boundary, the second boundary, the third boundary and the fourth boundary are sequentially connected end to form the working area; the method comprises the following steps:
Acquiring at least one distance information of a first distance between a starting position of the cleaning device placed in the working area and the first boundary, a second distance between the cleaning device placed in the working area and the third boundary, a third distance between the cleaning device placed in the working area and the fourth distance between the cleaning device placed in the working area and the second boundary, and a fourth distance between the cleaning device placed in the working area and the fourth boundary;
and controlling the cleaning equipment to return to the starting position from the current position according to the at least one distance information.
2. The method as recited in claim 1, further comprising:
before the cleaning device performs a cleaning task, respectively controlling the cleaning device to move from the starting position along a second direction belonging to a positive direction category until reaching a first position on the first boundary, and to move from the first position along the first direction until reaching a first vertex position on a first target boundary, and to move from the first vertex position along the first direction until reaching a second vertex position on a second target boundary, wherein the first target boundary is a fourth boundary or a second boundary, and the second target boundary is opposite to the first target boundary;
Determining a first distance between the starting position and the first boundary according to the moving speed and the moving time of the cleaning device between the starting position and the first position;
determining a second distance between the starting position and the third boundary according to the length of the fourth boundary and the first distance;
a third distance between the start position and the fourth boundary and a fourth distance between the start position and the second boundary are determined based on a speed and a time of movement of the cleaning device between the first position and the first vertex position and between the first vertex position and the second vertex position.
3. The method of claim 2, wherein determining a third distance between the starting location and the fourth boundary and a fourth distance between the starting location and the second boundary comprises:
determining a fifth distance between the starting position and the first target boundary according to the moving speed and the moving time of the cleaning device between the first position and the first vertex position;
determining a length of the first boundary according to a moving speed and a moving time of the cleaning device between the first vertex position and the second vertex position;
Determining a sixth distance between the starting position and the second target boundary according to the length of the first boundary and the fifth distance;
one of the fifth distance and the sixth distance is taken as the third distance, and the other is taken as the fourth distance.
4. A method according to any one of claims 1 to 3, wherein controlling the cleaning device to return from the current position to the starting position in dependence on the at least one distance information comprises:
controlling the cleaning device to move from the current position along a second direction belonging to a positive direction category until reaching a second position on the first boundary;
controlling the cleaning device to move from the second position along a second direction belonging to the opposite direction category until reaching a third position at the first distance from the second position;
controlling the cleaning device to move from the third position along the first direction belonging to the positive direction category until reaching a fourth position on the second boundary;
the cleaning device is controlled to move from the fourth position in a first direction belonging to the negative direction category until the starting position at the fourth distance from the fourth position is reached.
5. The method of claim 4, wherein controlling the cleaning device to move from the current position in a second direction belonging to a positive direction category until reaching a second position on the first boundary comprises:
controlling the cleaning device to move from the current position and adjust the travelling direction until the travelling direction is parallel to the second direction belonging to the positive direction category, and continuously keeping moving along the second direction belonging to the positive direction category until reaching the second position on the first boundary.
6. A method according to any one of claims 1 to 3, wherein controlling the cleaning device to return from the current position to the starting position in dependence on the at least one distance information comprises:
controlling the cleaning device to move from the current position in a second direction belonging to the opposite direction category until reaching a fifth position on the third boundary;
controlling the cleaning device to move from the fifth position in a second direction belonging to a positive direction category until reaching a sixth position at the second distance from the fifth position;
controlling the cleaning device to move from the sixth position in a first direction belonging to the positive direction category until reaching a seventh position on the second boundary;
The cleaning device is controlled to move in a first direction belonging to a negative direction category from the seventh position until the starting position at the fourth distance from the seventh position is reached.
7. A method according to any one of claims 1 to 3, wherein controlling the cleaning device to return from the current position to the starting position in dependence on the at least one distance information comprises:
controlling the cleaning device to move from the current position along a second direction belonging to a positive direction category until reaching an eighth position on the first boundary;
controlling the cleaning device to move from the eighth position in a second direction belonging to a reverse direction category until reaching a ninth position at the first distance from the eighth position;
controlling the cleaning device to move from the ninth position in a first direction belonging to a negative direction category until reaching a tenth position on the fourth boundary;
the cleaning device is controlled to move in a first direction belonging to the positive direction category from the tenth position until the start position at the third distance from the tenth position is reached.
8. A method according to any one of claims 1 to 3, wherein controlling the cleaning device to return from the current position to the starting position in dependence on the at least one distance information comprises:
Controlling the cleaning device to move from the current position in a second direction belonging to a reverse direction category until reaching an eleventh position on the third boundary;
controlling the cleaning device to move from the eleventh position in a second direction belonging to the positive direction category until reaching a twelfth position at the second distance from the eleventh position;
controlling the cleaning device to move from the twelfth position in a first direction belonging to a negative direction category until reaching a thirteenth position on the fourth boundary;
the cleaning device is controlled to move in a first direction belonging to the positive direction category from the thirteenth position until the starting position at the third distance from the thirteenth position is reached.
9. A method according to any one of claims 1 to 3, wherein if the current position is a lower right corner vertex position and an upper right corner vertex position, controlling the cleaning device to return from the current position to the starting position according to the at least one distance information comprises:
controlling the cleaning equipment to rotate in situ at the current position so that the included angle between the current travelling direction and the first direction is a first target angle;
Determining a first movement distance according to the first target angle and the fourth distance;
controlling the cleaning equipment to move a first moving distance from the current position to a first target position according to the current travelling direction;
controlling the cleaning device to rotate in situ at the first target position to adjust the current traveling direction to a second direction belonging to a positive direction category;
controlling the cleaning device to move from the first target position along the second direction belonging to the positive direction category until reaching a second target position on the first boundary;
the cleaning device is controlled to move from the second target position along the second direction belonging to the opposite direction category until reaching a starting position at the first distance from the second target position.
10. A method according to any one of claims 1 to 3, wherein if the current position is a lower left corner vertex position and an upper left corner vertex position, controlling the cleaning device to return from the current position to the starting position according to the at least one distance information comprises:
controlling the cleaning equipment to rotate in situ at the current position so that the included angle between the current travelling direction and the first direction is a second target angle;
Determining a second movement distance according to the second target angle and the third distance;
controlling the cleaning equipment to move a second moving distance from the current position to a third target position according to the current travelling direction;
controlling the cleaning device to rotate in situ at the third target position to adjust the current traveling direction to a second direction belonging to a positive direction category;
controlling the cleaning device to move from the third target position along the second direction belonging to the positive direction category until reaching a fourth target position on the first boundary;
the cleaning device is controlled to move from the fourth target position along the second direction belonging to the opposite direction category until reaching a starting position at the first distance from the fourth target position.
11. A method according to any one of claims 1 to 3, wherein if the current position is a lower right corner vertex position, controlling the cleaning device to return from the current position to the starting position according to the at least one distance information comprises:
controlling the cleaning equipment to rotate in situ at the current position so that the included angle between the current travelling direction and the first direction is a third target angle;
Determining a third moving distance and a fourth moving distance according to the third target angle and the fourth distance, and subtracting the fourth moving distance from the second distance to obtain a seventh distance;
controlling the cleaning equipment to move a third movement distance from the current position to a fifth target position according to the current travelling direction;
controlling the cleaning device to rotate in situ at the fifth target position to adjust the current traveling direction to a second direction belonging to a positive direction category;
the cleaning device is controlled to move from the fifth target position along the second direction belonging to the positive direction category until reaching a starting position at the seventh distance from the fifth target position.
12. A method according to any one of claims 1 to 3, wherein if the current position is an upper right corner vertex position, controlling the cleaning device to return from the current position to the starting position according to the at least one distance information comprises:
controlling the cleaning equipment to rotate in situ at the current position so that the included angle between the current travelling direction and the first direction is a fourth target angle;
determining a fifth moving distance and a sixth moving distance according to the fourth target angle and the fourth distance, and subtracting the sixth moving distance from the first distance to obtain an eighth distance;
Controlling the cleaning equipment to move a fifth movement distance from the current position to a sixth target position according to the current travelling direction;
controlling the cleaning device to rotate in situ at the sixth target location to adjust the current travel direction to a second direction belonging to the opposite direction category;
the cleaning device is controlled to move from the sixth target position along the second direction belonging to the opposite direction category until reaching a starting position at the eighth distance from the sixth target position.
13. A method according to any one of claims 1 to 3, wherein if the current position is a lower left corner vertex position, controlling the cleaning device to return from the current position to the starting position according to the at least one distance information comprises:
controlling the cleaning equipment to rotate in situ at the current position so that the included angle between the current travelling direction and the first direction is a fifth target angle;
determining a seventh moving distance and an eighth moving distance according to the fifth target angle and the third distance, and subtracting the eighth moving distance from the second distance to obtain a ninth distance;
controlling the cleaning device to move a seventh movement distance from the current position to a seventh target position according to the current travelling direction;
Controlling the cleaning device to rotate in situ at the seventh target position to adjust the current traveling direction to a second direction belonging to a positive direction category;
the cleaning device is controlled to move from the seventh target position along the second direction belonging to the positive direction category until reaching a starting position at the ninth distance from the seventh target position.
14. A method according to any one of claims 1 to 3, wherein if the current position is an upper left corner vertex position, controlling the cleaning device to return from the current position to the starting position according to the at least one distance information comprises:
controlling the cleaning equipment to rotate in situ at the current position so that the included angle between the current travelling direction and the first direction is a sixth target angle;
determining a ninth moving distance and a tenth moving distance according to the sixth target angle and the third distance, and subtracting the tenth moving distance from the first distance to obtain a tenth distance;
controlling the cleaning device to move a ninth movement distance from the current position to an eighth target position according to the current travelling direction;
controlling the cleaning device to rotate in situ at the eighth target position to adjust the current traveling direction to a second direction belonging to the opposite direction category;
The cleaning device is controlled to move from the eighth target position along the second direction belonging to the opposite direction category until reaching a starting position at the tenth distance from the eighth target position.
15. A cleaning apparatus, comprising: the device comprises a device body, wherein a memory and a processor are arranged on the device body;
the memory is used for storing a computer program;
the processor is coupled to the memory for executing the computer program for performing the steps in the method of any of claims 1-14.
16. A computer storage medium storing a computer program, which, when executed by a processor, causes the processor to carry out the steps of the method of any one of claims 1-14.
CN202210993811.0A 2022-08-18 2022-08-18 Control method of cleaning device, cleaning device and storage medium Pending CN117652916A (en)

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CN107368079B (en) * 2017-08-31 2019-09-06 珠海市一微半导体有限公司 The planing method and chip in robot cleaning path
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