CN117953882A

CN117953882A - Control method and device of cleaning equipment, storage medium and electronic device

Info

Publication number: CN117953882A
Application number: CN202211274327.9A
Authority: CN
Inventors: 耿文峰; 孙佳佳; 蔡晶
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2022-10-18
Filing date: 2022-10-18
Publication date: 2024-04-30

Abstract

The application provides a control method and device of cleaning equipment, a storage medium and an electronic device, wherein the method comprises the following steps: acquiring first voice data corresponding to the cleaning equipment, wherein the first voice data are voice data acquired by a voice acquisition component on the cleaning equipment; performing voice recognition on the first voice data to obtain a first voice command, wherein the first voice command is used for controlling the cleaning equipment to execute a first action; the cleaning device is controlled to perform a first action in accordance with the first voice command. The application can solve the problem of poor flexibility of equipment control caused by dependence of the issuing of the control instruction on the application end in the control method of the cleaning equipment in the related technology.

Description

Control method and device of cleaning equipment, storage medium and electronic device

[ Field of technology ]

The application relates to the field of intelligent home, in particular to a control method and device of cleaning equipment, a storage medium and an electronic device.

[ Background Art ]

Currently, in order to facilitate control of the cleaning device, a user may issue a control instruction to the cleaning device through a control interface on an application end matched with the cleaning device, so as to control the cleaning device. However, in the control manner of the cleaning device, the issuing of the control command depends on the application end, resulting in poor flexibility of device control.

As can be seen from the above, the control method of the cleaning device in the related art has a problem of poor flexibility of device control due to dependence of issuing a control command on an application side.

[ Invention ]

The application aims to provide a control method and device of cleaning equipment, a storage medium and an electronic device, which at least solve the problem that the control method of the cleaning equipment in the related art has poor flexibility of equipment control caused by dependence of issuing control instructions on an application end.

The application aims at realizing the following technical scheme:

According to an aspect of an embodiment of the present application, there is provided a control method of a cleaning apparatus, including: acquiring first voice data corresponding to the cleaning equipment, wherein the first voice data are voice data acquired by a voice acquisition component on the cleaning equipment; performing voice recognition on the first voice data to obtain a first voice instruction, wherein the first voice instruction is used for controlling the cleaning equipment to execute a first action; and controlling the cleaning equipment to execute the first action according to the first voice instruction.

In an exemplary embodiment, the controlling the cleaning device to perform the first action according to the first voice command includes: and controlling the cleaning equipment to execute the first action according to the target motion parameter indicated by the first voice instruction.

In an exemplary embodiment, the controlling the cleaning device to perform the first action according to the target motion parameter indicated by the first voice command includes: controlling the cleaning device to execute a rotating action according to a first rotating parameter under the condition that the target motion parameter comprises the first rotating parameter; controlling the cleaning device to execute a moving action according to a first moving distance under the condition that the target motion parameter comprises the first moving distance; and under the condition that the target motion parameters comprise a second rotation parameter and a second moving distance, controlling the cleaning equipment to execute the rotation action according to the second rotation parameter and then execute the moving action according to the second moving distance, or controlling the cleaning equipment to execute the rotation action according to the second moving distance and then execute the rotation action according to the second rotation parameter.

In an exemplary embodiment, in a case that the target motion parameter includes a first rotation parameter, controlling the cleaning apparatus to perform a rotation according to the first rotation parameter includes: and controlling the cleaning device to execute a rotating action along the target rotating direction until the rotating angle reaches the target rotating angle under the condition that the target motion parameters comprise the target rotating direction and the target rotating angle.

In an exemplary embodiment, the controlling the cleaning device to perform the first action according to the first voice command includes: and under the condition that the first voice instruction is used for instructing the cleaning device to move to a first position for cleaning the area, controlling the cleaning device to move to the first position and executing the area cleaning operation.

In an exemplary embodiment, the controlling the cleaning device to perform the first action according to the first voice command includes: and controlling the cleaning device to move to the base station matched with the cleaning device and executing the first action under the condition that the first voice instruction is used for instructing the cleaning device to return to the base station matched with the cleaning device to execute the first action.

In an exemplary embodiment, during the controlling the cleaning device to perform the first action according to the first voice command, the method further comprises: and under the condition that the obstacle exists in the current moving direction of the cleaning equipment, controlling the cleaning equipment to execute obstacle avoidance operation or controlling the cleaning equipment to stop moving, and sending out prompt information so as to prompt the detected obstacle.

In an exemplary embodiment, before the acquiring the first voice data corresponding to the cleaning device, the method further includes: acquiring second voice data corresponding to the cleaning device, wherein the second voice data is the voice data acquired by the voice acquisition component; and performing a voice wake-up operation on the cleaning device if a wake-up instruction matched with the cleaning device is recognized from the second voice data.

In an exemplary embodiment, after the acquiring the first voice data corresponding to the cleaning device, the method further includes: acquiring third voice data corresponding to the cleaning equipment in a preset time period, wherein the third voice data are voice data acquired by the voice acquisition component; performing voice recognition on the third voice data to obtain a second voice instruction, wherein the second voice instruction is used for controlling the cleaning equipment to execute a second action; and controlling the cleaning equipment to execute the second action according to the second voice instruction.

In an exemplary embodiment, after said controlling said cleaning device to perform said first action in accordance with said first voice command, said method further comprises: and under the condition that voice data corresponding to the cleaning equipment is not acquired within a preset time period and the cleaning equipment is executing a target task before executing the first action, controlling the cleaning equipment to return to a second position where the cleaning equipment is located before executing the first action, and continuing to execute the target task.

In an exemplary embodiment, before said controlling said cleaning device to perform said first action in accordance with said first voice command, said method further comprises: and saving the second position where the cleaning device is located.

In an exemplary embodiment, the controlling the cleaning device to perform the first action according to the first voice command includes: and issuing the first voice command to the cleaning equipment so as to control the cleaning equipment to execute the first action according to the first voice command.

According to another aspect of the embodiment of the present application, there is also provided a control device of a cleaning apparatus, including: a first acquiring unit, configured to acquire first voice data corresponding to the cleaning device, where the first voice data is voice data acquired by a voice acquisition component on the cleaning device; the first recognition unit is used for carrying out voice recognition on the first voice data to obtain a first voice instruction, wherein the first voice instruction is used for controlling the cleaning equipment to execute a first action; and the first control unit is used for controlling the cleaning equipment to execute the first action according to the first voice instruction.

In an exemplary embodiment, the first control unit includes: and the first control module is used for controlling the cleaning equipment to execute the first action according to the target motion parameter indicated by the first voice instruction.

In one exemplary embodiment, the first control module includes: the first control sub-module is used for controlling the cleaning equipment to execute a rotating action according to the first rotating parameter under the condition that the target motion parameter comprises the first rotating parameter; the second control sub-module is used for controlling the cleaning equipment to execute a moving action according to the first moving distance under the condition that the target motion parameter comprises the first moving distance; and the third control sub-module is used for controlling the cleaning equipment to execute the moving action according to the second moving distance after executing the rotating action according to the second rotating parameter or controlling the cleaning equipment to execute the rotating action according to the second rotating parameter after executing the moving action according to the second moving distance under the condition that the target motion parameter comprises the second rotating parameter and the second moving distance.

In an exemplary embodiment, the first control submodule includes: and the first control subunit is used for controlling the cleaning equipment to execute a rotating action along the target rotating direction until the rotating angle reaches the target rotating angle under the condition that the target motion parameters comprise the target rotating direction and the target rotating angle.

In an exemplary embodiment, the first control unit includes: and the second control module is used for controlling the cleaning equipment to move to the first position and executing the region cleaning operation under the condition that the first voice instruction is used for instructing the cleaning equipment to move to the first position for region cleaning.

In an exemplary embodiment, the first control unit includes: and the third control module is used for controlling the cleaning equipment to move to the base station matched with the cleaning equipment and executing the first action under the condition that the first voice instruction is used for instructing the cleaning equipment to return to the base station matched with the cleaning equipment to execute the first action.

In an exemplary embodiment, the apparatus further comprises: the first execution unit is used for controlling the cleaning equipment to execute the obstacle avoidance operation or controlling the cleaning equipment to stop moving and sending prompt information to prompt the detected obstacle under the condition that the obstacle exists in the current moving direction of the cleaning equipment in the process of controlling the cleaning equipment to execute the first action according to the first voice command.

In an exemplary embodiment, the apparatus further comprises: a second acquisition unit configured to acquire second voice data corresponding to the cleaning apparatus before the first voice data corresponding to the cleaning apparatus is acquired, wherein the second voice data is the voice data acquired by the voice acquisition unit; and the second execution unit is used for executing voice awakening operation on the cleaning equipment under the condition that the awakening instruction matched with the cleaning equipment is identified from the second voice data.

In an exemplary embodiment, the apparatus further comprises: a third acquiring unit configured to acquire third voice data corresponding to the cleaning device within a preset period of time after the first voice data corresponding to the cleaning device is acquired, where the third voice data is the voice data acquired by the voice acquisition component; the second recognition unit is used for carrying out voice recognition on the third voice data to obtain a second voice instruction, wherein the second voice instruction is used for controlling the cleaning equipment to execute a second action; and the second control unit is used for controlling the cleaning equipment to execute the second action according to the second voice instruction.

In an exemplary embodiment, the apparatus further comprises: and the third control unit is used for controlling the cleaning device to return to a second position where the cleaning device is located before the first action is executed and continuously executing the target task under the condition that the voice data corresponding to the cleaning device is not acquired within a preset time period after the cleaning device is controlled to execute the first action according to the first voice command and the cleaning device is executing the target task before the first action is executed.

In an exemplary embodiment, the apparatus further comprises: and the storage unit is used for storing the second position where the cleaning equipment is located before the cleaning equipment is controlled to execute the first action according to the first voice instruction.

In an exemplary embodiment, the first control unit includes: and the issuing module is used for issuing the first voice instruction to the cleaning equipment so as to control the cleaning equipment to execute the first action according to the first voice instruction.

According to a further aspect of the embodiments of the present application, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to execute the control method of the cleaning apparatus described above when run.

According to still another aspect of the embodiments of the present application, there is further provided an electronic apparatus including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the control method of the cleaning device described above through the computer program.

In the embodiment of the application, a mode of controlling the cleaning equipment to execute corresponding actions by adopting a voice control instruction is adopted to acquire first voice data corresponding to the cleaning equipment, wherein the first voice data is voice data acquired by a voice acquisition component on the cleaning equipment; performing voice recognition on the first voice data to obtain a first voice command, wherein the first voice command is used for controlling the cleaning equipment to execute a first action; the cleaning device is controlled to perform a first action in accordance with the first voice command. The voice data acquisition is carried out through the voice acquisition component on the cleaning equipment, the acquired voice data is identified, the voice control instruction is obtained, the cleaning equipment is controlled to execute corresponding actions according to the obtained voice control instruction, the voice control instruction is acquired without participation of an application end, the aim of reducing dependence of issuing of the control instruction on the application end can be fulfilled, the problem that the control method of the cleaning equipment in the related art is poor in flexibility of equipment control caused by the fact that issuing of the control instruction depends on the application end is solved, and the technical effect of improving the flexibility of equipment control is achieved.

[ Description of the drawings ]

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a schematic diagram of a hardware environment of an alternative method of controlling a cleaning device in accordance with an embodiment of the application;

FIG. 2 is a flow chart of an alternative method of controlling a cleaning device according to an embodiment of the application;

FIG. 3 is a block diagram of the control of an alternative cleaning apparatus according to an embodiment of the present application;

fig. 4 is a block diagram of an alternative electronic device according to an embodiment of the application.

[ Detailed description ] of the invention

The application will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

According to one aspect of an embodiment of the present application, a control method of a cleaning apparatus is provided. Alternatively, in the present embodiment, the control method of the cleaning apparatus described above may be applied to a hardware environment constituted by the cleaning apparatus 102, the base station 104, and the server 106 as shown in fig. 1. As shown in fig. 1, the cleaning device 102 may be connected to the base station 104 and/or the server 106 (e.g., a voice cloud platform) over a network to enable interaction between the cleaning device 102 and the base station 104 and/or the server 106.

The network may include, but is not limited to, at least one of: wired network, wireless network. The wired network may include, but is not limited to, at least one of: a wide area network, a metropolitan area network, a local area network, and the wireless network may include, but is not limited to, at least one of: WIFI (WIRELESS FIDELITY ), bluetooth, infrared. The network used by the cleaning device 102 to communicate with the base station 104 and/or the server 106 may be the same as or different from the network used by the base station 104 to communicate with the server 106. The cleaning device 102 may include, but is not limited to: a sweeping robot (simply called a sweeping machine), a floor washing robot (simply called a floor washing machine), a robot integrating washing and sweeping, a self-cleaning robot and the like.

The control method of the cleaning device according to the embodiment of the present application may be executed by the cleaning device 102 and the server 106 separately, or may be executed by both the cleaning device 102 and the server 106 together. The control method of the cleaning device 102 for executing the cleaning device according to the embodiment of the present application may be executed by a client installed thereon.

Taking the control method of the cleaning device in this embodiment performed by the cleaning device 102 as an example, fig. 2 is a schematic flow chart of an alternative control method of the cleaning device according to an embodiment of the present application, as shown in fig. 2, the flow of the method may include the following steps:

Step S202, first voice data corresponding to the cleaning device is obtained, wherein the first voice data is collected by a voice collection component on the cleaning device.

The control method of the cleaning device in the present embodiment may be applied to a scenario in which the cleaning device is controlled to perform a corresponding action by a voice control instruction. The cleaning device may be the aforementioned sweeper, scrubber, etc., and the actions performed by the cleaning device may be: a movement motion, a rotation motion, a tumbling motion, a zone cleaning motion (i.e., a zone cleaning operation), and may also be motion allowed by other cleaning devices. The cleaning device may be in an idle state when the cleaning device is controlled to perform a corresponding action, in which case the cleaning device is not performing a task, and in an active state, in which case the cleaning device is performing a particular task (e.g., cleaning task, navigation task, etc.).

In the related art, when there is a motion control requirement for the cleaning device, a user may issue a control instruction through a control interface on an application terminal (i.e., an application terminal running on a mobile terminal) bound to the cleaning device, so as to perform motion control on the cleaning device. However, the above motion control method depends on the application end, and the convenience of issuing the control command is poor.

For example, when remote control of a sweeper is performed, an App (Application) based remote control interface issues a motion control instruction, and the motion control instruction needs to be issued by a mobile phone or a remote controller, so that the operation is inconvenient.

In order to at least partially solve the above technical problems, in this embodiment, a voice data acquisition may be performed through a voice acquisition component on a cleaning device, and the acquired voice data is identified, so as to obtain a voice control instruction, and the cleaning device is controlled to execute a corresponding action according to the obtained voice control instruction, by means of the above voice issuing control instruction, the voice control instruction is acquired without participation of an application end, so that the purpose of reducing the dependence of issuing the control instruction on the application end can be achieved.

The voice acquisition component may be a component on the cleaning device for voice data acquisition, which may be a microphone, a microphone array, a sound acquisition card, or other sound receiving component. And under the condition that the cleaning equipment is in a voice awakening state or the cleaning equipment is not required to be awakened, voice data acquisition is carried out through the voice acquisition component, so that first voice data are obtained. The obtained first voice data can be directly transmitted to a control component (such as a processor) in the cleaning device, or can be uploaded to a server through a transceiver antenna or other communication devices on the cleaning device, and the server performs operations such as voice recognition and the like.

Step S204, performing voice recognition on the first voice data to obtain a first voice command, wherein the first voice command is used for controlling the cleaning device to execute a first action.

After the first voice data is obtained, voice recognition can be performed on the first voice data to obtain a first voice command. The voice recognition may be to recognize the text information in the first voice data, then to perform instruction recognition on the recognized text information, where the instruction recognition may be based on a rule or other manner, and the recognition may be based on a preset control instruction, that is, a set of control instructions is preset, and if the recognized text information completely coincides with a certain control instruction, the control instruction is recognized; otherwise, it means that the control instruction is not recognized. Here, the control instruction is a voice control instruction, that is, a voice instruction.

Alternatively, the recognition of the control instruction may be based on semantic understanding, that is, the matched control instruction is obtained by performing semantic recognition on the text information. In this case, the manner in which the user issues the control instruction may be varied without issuing an instruction that is completely identical to the preset control instruction.

Step S206, controlling the cleaning device to execute a first action according to the first voice command.

After the first voice command is obtained, the cleaning device may be controlled to perform a first action in accordance with the first voice command. The manner in which the cleaning device is controlled to perform the first action may be: the first action (the operation of directly performing the voice recognition by the cleaning device side) is directly controlled by the cleaning device based on the generated first voice command, which may be: the first voice command is issued to the cleaning device, and the cleaning device performs a first action (performs an operation such as voice recognition by the server side) after receiving the first voice command.

Here, the action type of the first action may be various, and may include, but not limited to, at least one of the following: the movement motion, rotation motion, tumbling motion, zone cleaning motion (i.e., zone cleaning operation) may also be motion allowed by other cleaning devices, which is not limited in this embodiment.

For example, the function of remote control can be realized by using the intelligent voice command to control the sweeper, the remote control of the sweeper by the voice command can be realized conveniently and rapidly, and compared with the remote control by a mobile phone, the mode of using the intelligent voice command is more intelligent and convenient, and various actions wanted by the user can be executed along with the voice control command.

Acquiring first voice data corresponding to the cleaning device through the steps S202 to S206, wherein the first voice data is collected by a voice collection component on the cleaning device; performing voice recognition on the first voice data to obtain a first voice command, wherein the first voice command is used for controlling the cleaning equipment to execute a first action; the cleaning equipment is controlled to execute the first action according to the first voice command, so that the problem that the control method of the cleaning equipment in the related art has poor flexibility of equipment control due to the fact that the issuing of the control command depends on an application end can be solved, and the flexibility of equipment movement control is improved.

In one exemplary embodiment, controlling the cleaning device to perform a first action in accordance with a first voice command includes:

S11, controlling the cleaning equipment to execute a first action according to the target motion parameter indicated by the first voice command.

In this embodiment, the cleaning device may be motion controlled by a voice control command. The first voice command may indicate a target motion parameter used for designating the first motion, so as to control the cleaning device to execute the first motion according to the target motion parameter, where the first motion may be a designated motion, for example, a moving motion, a rotating motion, a rolling motion, or other motion.

Here, the target motion parameter may be carried in the first voice command or may be preset inside the cleaning device. The target motion parameter carried in the first voice command may be a motion parameter extracted from the first voice data, for example, a control sentence sent by the user is "one meter forward", a motion parameter extracted therefrom is "one meter", or a motion parameter generated based on information extracted from the first voice data, for example, a control sentence sent by the user is "n meters left", a motion parameter extracted therefrom is "90 degrees left turn".

Alternatively, a set of motion parameters may be preset, for example, a left rotation angle, a right rotation angle, and a forward distance, and a parameter value corresponding to each motion parameter is extracted from the acquired voice data (if the parameter value is not extracted, the parameter value is null), so as to obtain a target motion parameter, where the target motion parameter may include the set of motion parameters having the corresponding parameter value, or may include a set of motion parameters, and the target motion parameter is not limited in this embodiment.

According to the embodiment, the corresponding motion operation is designated by the cleaning equipment through the motion parameters carried in the voice control instruction, so that the accuracy of motion control of the cleaning equipment can be improved.

In one exemplary embodiment, controlling the cleaning device to perform a first action in accordance with a target motion parameter indicated by a first voice command includes:

s21, controlling the cleaning equipment to execute a rotating action according to the first rotating parameter under the condition that the target motion parameter comprises the first rotating parameter;

s22, controlling the cleaning equipment to execute a moving action according to the first moving distance under the condition that the target motion parameter comprises the first moving distance;

S23, controlling the cleaning equipment to execute the rotating action according to the second rotating parameter and then execute the moving action according to the second moving distance or controlling the cleaning equipment to execute the moving action according to the second moving distance and then execute the rotating action according to the second rotating parameter when the target motion parameter comprises the second rotating parameter and the second moving distance.

The target motion parameters may comprise one or more motion parameters, which may include, but are not limited to, at least one of: rotation parameters, movement parameters. For different motion parameters, the cleaning device may be controlled to perform different actions.

As an alternative embodiment, the cleaning device may be controlled to perform a rotational action according to the first rotational parameter if the target motion parameter comprises the first rotational parameter. The rotation parameters herein may include, but are not limited to, at least one of: the rotation direction, the rotation angle, and the voice command may indicate at least one of the rotation direction and the rotation angle to control the cleaning device to perform the rotation action.

For example, at the time of normal cleaning, a voice operation mode may be entered. If the voice command is "right rotation" or "left rotation", the action performed by the sweeper is controlled to be: the rotation speed can be preset, and the sweeper can be controlled to continuously rotate before a voice command for stopping rotation is received or the rotation time reaches a preset time.

For example, the voice command is "rotate n °", and the action performed by the sweeper is controlled by: the rotation direction may be preset or random.

As another alternative embodiment, if the target motion parameter includes a first moving distance, the cleaning device may be controlled to perform a moving action according to the first moving distance, and the manner in which the moving action is specified may be: the first movement distance is moved forward along the current travel direction.

For example, at the time of normal cleaning, a voice operation mode may be entered. If the voice command is 'one meter forward', the action executed by the sweeper is controlled as follows: move one meter forward.

As yet another alternative embodiment, if the target motion parameter includes a second rotation parameter and a second moving distance, the cleaning device may be controlled to perform the rotation motion according to the second rotation parameter and the cleaning device may be controlled to perform the moving motion according to the second moving distance. The second rotation parameter may be similar to the first rotation parameter, and the second movement distance may be similar to the first movement distance, which has been described and will not be described here.

Alternatively, the execution order of the rotation action and the movement action may be preset, for example, the rotation action is executed first, and then the movement action is executed, and for example, the movement action is executed first, and then the rotation action is executed, and the execution order of the rotation action and the movement action may be set based on the information recognized from the first voice data.

For example, the voice command is "walk n meters to the left", and the actions performed by the control sweeper are: left turn is firstly carried out by 90 degrees, and then the machine is advanced by n meters. The voice command is "walk n meters right", and the action of controlling the sweeper to be executed is: the right turn is firstly carried out for 90 degrees, and then the forward direction is n meters. The voice instruction is "n meters backward", and the action executed by the sweeper is controlled as follows: first rotated 180 degrees and then advanced n meters.

By the embodiment, the voice command is used for controlling the cleaning device to execute at least one of the rotating action and the moving action, so that the accuracy of the movement control of the cleaning device can be improved.

In one exemplary embodiment, where the target motion parameter includes a first rotation parameter, controlling the cleaning device to perform a rotational action in accordance with the first rotation parameter includes:

S31, in the case where the target motion parameter includes the target rotation direction and the target rotation angle, controlling the cleaning apparatus to perform the rotation motion along the target rotation direction until the rotation angle reaches the target rotation angle.

In the present embodiment, the above-described first rotation parameter (the second rotation parameter is similar to the first rotation parameter) may include a target rotation direction and a target rotation angle, that is, a voice command simultaneously indicates the angle of rotation and the direction of rotation. In this case, the cleaning device may be controlled to perform a rotating action in the target rotation direction until the rotation angle reaches the target rotation angle. After the rotation angle reaches the target rotation angle, the cleaning device may be controlled to stop rotating and wait for further voice instructions.

For example, the voice command is "turn n ° to the left", and the actions performed by the sweeper are: the voice command is "rotate right n °", the action of controlling the sweeper to be executed is: rotated n degrees to the right.

Through this embodiment, through the angle of rotation and the direction of rotation of voice command simultaneous indication, can improve cleaning equipment motion control's precision.

S41, controlling the cleaning device to move to the first position and executing the region cleaning operation under the condition that the first voice instruction is used for instructing the cleaning device to move to the first position for region cleaning.

In this embodiment, the cleaning device may be controlled by a voice control command to perform area cleaning on a specified area, so as to perform targeted cleaning on a dead angle for cleaning or other areas that want to be cleaned in the area. If the first voice command is used to instruct the cleaning device to move to the first position for zone cleaning, the cleaning device may be controlled to first move to the first position and perform a zone cleaning operation after moving to the first position, where the first action may include: and a movement to the first position and an area cleaning operation.

Here, the first location may be a designated location, which may be a location designated by a specific movement instruction, for example, a location to which the sweeper is controlled to move by a voice instruction of "walking n meters to the left", or a location area (for example, bedroom, living room, etc.), for example, a living room area to which the sweeper is controlled to move by a voice instruction of "moving to living room", or "sweeping living room". The area cleaning operation may be performed in a fixed location area, such as a living room area, or in an unfixed area, such as an area near a location where cleaning is desired.

For example, the user can control the sweeper to sweep the designated area through voice instructions such as "sweep n meters to the left" or "sweep living room".

Through this embodiment, through the clean equipment of voice command control area cleaning, can improve the clear flexibility in area, improve user's use experience.

and S51, controlling the cleaning device to move to the base station matched with the cleaning device and executing the first action under the condition that the first voice instruction is used for instructing the cleaning device to return to the base station matched with the cleaning device to execute the first action.

In this embodiment, the cleaning device may be controlled by the voice control instruction to return to the base station matched with the cleaning device to perform operations of charging, self-cleaning, and the like, and correspondingly, the first action may include one of the following: charging operation, self-cleaning operation. If the first voice command is used to instruct the cleaning device to return to the base station matching the cleaning device to perform the first action, the cleaning device may be controlled to first move to the base station matching the cleaning device and perform the first action after moving to the base station matching the cleaning device.

For example, the user can control the sweeper to return to the base station for charging or self-cleaning through voice instructions such as "return to the base station for charging" or "return to the base station for self-cleaning".

According to the embodiment, the cleaning equipment is controlled to return to the matched base station to execute the corresponding action through the voice command, so that the control flexibility of the cleaning equipment can be improved.

In one exemplary embodiment, during the controlling of the cleaning device to perform the first action in accordance with the first voice command, the method further comprises:

And S61, under the condition that the obstacle exists in the current moving direction of the cleaning device, controlling the cleaning device to execute obstacle avoidance operation or controlling the cleaning device to stop moving, and sending out prompt information to prompt the detected obstacle.

In controlling the cleaning device to perform the first action, there may be an obstacle in the moving direction of the cleaning device, and the presence of the obstacle may affect the movement of the cleaning device. Based on the different action types, different treatments may be performed on the detected obstacle.

In this embodiment, if it is detected that there is an obstacle in the current moving direction of the cleaning apparatus, the cleaning apparatus may be controlled to perform the obstacle avoidance operation, and after the obstacle avoidance is successful, the first action is continued to be performed. Performing the obstacle avoidance operation described above may be applicable to a scenario in which the first action includes a specified movement action, for example, if the first action is the aforementioned region cleaning operation, the obstacle avoidance operation may be performed directly on an obstacle in the movement direction regardless of how it is moved to the first position.

Alternatively, if an obstacle is detected in the current moving direction of the cleaning device, the cleaning device may be controlled to stop moving, and a prompt message may be sent to prompt the detected obstacle. After receiving the further voice instruction, the action indicated by the new voice instruction is performed. Performing the above-described stopping movement and prompting operation may be applicable to a scenario in which the first action includes a specified movement action, for example, if the first action is a movement action that moves in a specified direction and there is an obstacle in the specified direction, the cleaning device may be controlled to stop moving, avoid collision with the obstacle, while prompting the presence of the obstacle in the forward direction and waiting for further instruction by the user.

Through the embodiment, when the obstacle exists in the current moving direction of the cleaning equipment, the cleaning equipment is controlled to execute obstacle avoidance operation or stop moving and carry out obstacle prompt, so that the method and the device are applicable to different control scenes and improve the control flexibility of the cleaning equipment.

In an exemplary embodiment, before the first voice data corresponding to the cleaning device is acquired, the method further includes:

s71, acquiring second voice data corresponding to the cleaning equipment, wherein the second voice data are acquired by a voice acquisition component;

s72, in the case that the wake-up instruction matched with the cleaning device is identified from the second voice data, performing voice wake-up operation on the cleaning device.

The control of the cleaning device to execute the corresponding action based on the voice data collected by the voice collection component may be directly executed without voice wake-up, that is, voice recognition may be directly performed on the voice data collected by the voice collection component, and if the corresponding voice command is recognized, the recognized voice command is directly used to control the cleaning device to execute the corresponding action. The control mode of the cleaning equipment has the possibility of misidentification of voice instructions, so that the control accuracy of the cleaning equipment is lower.

In this embodiment, controlling the cleaning device to perform the corresponding action based on the voice data collected by the voice collecting part may be performed when the cleaning device is in a voice wake state, where the voice wake state refers to that a voice interaction function of the cleaning device is in a wake state. The cleaning device may have a matched wake-up instruction (e.g., wake-up word), and when the cleaning device needs to be controlled by the voice control instruction to perform a corresponding action, the voice interaction function of the cleaning device may be first wake-up by the wake-up instruction, and after the voice interaction function is wake-up, the cleaning device may be controlled by the voice control instruction to perform the corresponding action.

Under the condition that the cleaning equipment is in a voice dormant state (namely, the voice interaction function is in the dormant state), voice data acquisition can be carried out through a voice acquisition component of the cleaning equipment to obtain second voice data, voice recognition is carried out on the obtained second voice data, whether a wake-up instruction matched with the cleaning equipment is recognized or not is determined, and if the wake-up instruction is recognized, voice wake-up operation is carried out on the cleaning equipment, namely, the voice interaction function of the cleaning equipment is awakened.

After the voice interactive function of the cleaning device is awakened, voice instructions (e.g., first voice instructions) can be recognized for the subsequently collected voice data, and the cleaning device can be controlled to perform a corresponding action (e.g., first action) based on the recognized voice instructions.

According to the embodiment, the cleaning equipment is firstly subjected to voice awakening, and then the collected voice data is subjected to voice instruction recognition, so that the control accuracy of the cleaning equipment can be improved.

In an exemplary embodiment, after acquiring the first voice data corresponding to the cleaning device, the method further includes:

S81, acquiring third voice data corresponding to the cleaning equipment in a preset time period, wherein the third voice data are voice data acquired by a voice acquisition component;

s82, performing voice recognition on the third voice data to obtain a second voice instruction, wherein the second voice instruction is used for controlling the cleaning equipment to execute a second action;

s83, controlling the cleaning device to execute a second action according to the second voice command.

Alternatively, the voice command recognition of the collected voice data may be performed within a preset time period after the voice interaction function of the cleaning device is awakened, or within a preset time period after the last voice data containing the voice command is collected, the last voice command is recognized, or after the last voice command is performed.

If the new voice data acquired by the voice acquisition component, that is, the third voice data, is acquired within a preset time period after the first voice data is acquired, voice recognition can be performed on the third voice data to obtain a second voice command, and the second voice command is used for controlling the cleaning device to execute the second action. The preset time period may be a time period of a preset duration starting from an acquisition time of the first voice data, a generation time of the first voice instruction, or an execution completion time of the first voice instruction.

After the first voice command is obtained, the cleaning device may be controlled to execute a second action according to the second voice command, where the second action may be similar to the first action, or may be different from the first action, and a manner of controlling the cleaning device to execute the second action is similar to a manner of controlling the cleaning device to execute the first action, which is described herein and will not be repeated.

Through this embodiment, through setting up the time quantum that carries out voice command recognition to the voice data that gathers, can improve cleaning equipment voice control's continuity, avoid simultaneously after the pronunciation awaken up because the condition of voice command misidentification that carries out the discernment that voice command leads to continuously, improve voice command discernment's accuracy.

In one exemplary embodiment, after controlling the cleaning device to perform the first action in accordance with the first voice command, the method further comprises:

S91, when voice data corresponding to the cleaning device is not acquired within a preset time period and the cleaning device is executing a target task before executing a first action, controlling the cleaning device to return to a second position where the cleaning device is located before executing the first action, and continuing to execute the target task.

If no new voice command is recognized within the preset time period, the voice sleep operation is performed on the cleaning device, that is, the voice interaction function of the cleaning device is switched to the sleep state, where the preset time period is similar to that in the foregoing embodiment, and details are not repeated here.

The cleaning device may be performing other tasks, e.g., cleaning tasks, navigation tasks, before performing the first action. If the cleaning device is performing the target task before the first action is performed and voice data corresponding to the cleaning device (i.e., voice data in which a voice instruction can be recognized) is not acquired for a preset period of time, the cleaning device may be controlled to continue to perform the target task. The target task may be executed in the following manner: starting from the current location of the cleaning device, the target task is re-executed. However, in the task execution mode, since the current position of the cleaning device is not necessarily on the execution path of the target task, and the target task is executed directly from the current position of the cleaning device, part of the execution path is easily missed, which affects the execution integrity of the target task, for example, the cleaning task has a partial unclean area.

To ensure the integrity of the execution of the target task, the cleaning device is controlled to return to the position where the first action was performed, i.e. the second position, and to continue to execute the target task starting from the second position. There are various ways of returning to the second position, for example, a reverse operation to the first operation or the first operation and other operations (for example, the second operation) after the first operation may be performed to return to the second position, and other returning ways are also possible, which is not limited in this embodiment.

For example, after the control is performed, the sweeper waits for further operation. After a certain period of time without a new operation, the sweeper returns to a remote control remote point (i.e. the execution starting point of the first operation) to continue working.

By the embodiment, after the voice control instruction is executed, the execution of the interrupted task is continued by returning to the starting point for starting to execute the voice control instruction, so that the execution integrity of the task can be improved.

In one exemplary embodiment, the method further comprises, prior to controlling the cleaning device to perform the first action in accordance with the first voice command:

S101, storing a second position where the cleaning device is located.

If the reverse motion of the motion performed by the control unit according to the voice control command is controlled to return to the start point of starting to perform the voice control command, the cleaning unit is liable to perform excessive redundant motions, for example, the user controls the sweeper to move forward by two meters and then to move backward by one meter through the voice control command, and if the reverse motion of the motion is performed, it is necessary to move forward by one meter and then backward by two meters (here, forward and backward are in terms of the initial traveling direction of the sweeper). In practice, however, the sweeper only needs to be moved back one meter more to return to the original position, and the cleaning device performs excessive redundant actions.

In this embodiment, in order to improve the flexibility and efficiency of the movement control of the cleaning device, the current position of the cleaning device, i.e. the second position, may be first saved before the cleaning device is controlled to start performing the first action. When the target task needs to be continuously executed, the cleaning device can be directly controlled to return to the stored second position, and the target task is continuously executed.

It should be noted that, if the task does not need to be performed, the cleaning device may also return to the second location, or return to a designated location, for example, return to a base station matched with the cleaning device, which is not limited in this embodiment.

By the embodiment, the flexibility and efficiency of the movement control of the cleaning device can be improved by storing the position of the cleaning device before the cleaning device starts to respond to the voice control instruction to execute the corresponding action so as to return to the position to continue executing the task.

S111, a first voice command is issued to the cleaning device to control the cleaning device to execute a first action according to the first voice command.

In this embodiment, the server may perform the recognition operation of the voice data and the generation operation of the voice command, so as to reduce the requirement for hardware resources of the cleaning device, thereby reducing the cost of the cleaning device. Correspondingly, after generating the first voice command, the server may issue the first voice command to the cleaning device.

The cleaning equipment can receive the issued first voice instruction; in response to the received first voice command, a first action is performed according to the first voice command, for example, the first action is performed according to a target motion parameter indicated by the first voice command, the first action is performed, the first position is moved and the region cleaning operation is performed, the first action is performed, the base station matched with the cleaning device is moved, and the like, which are described herein, and details are omitted.

According to the embodiment, the server executes the generation and issuing operation of the voice command to instruct the cleaning device to execute the corresponding action, so that the requirement on hardware resources of the cleaning device can be reduced, and the cost of the cleaning device is reduced.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM (Read-Only Memory)/RAM (Random Access Memory), magnetic disk, optical disk) and including instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.

According to another aspect of the embodiment of the present application, there is also provided a control device of a cleaning apparatus for implementing the control method of the cleaning apparatus. Fig. 3 is a block diagram of a control device of an alternative cleaning apparatus according to an embodiment of the present application, and as shown in fig. 3, the device may include:

a first obtaining unit 302, configured to obtain first voice data corresponding to the cleaning device, where the first voice data is voice data collected by a voice collecting component on the cleaning device;

The first recognition unit 304 is connected to the first acquisition unit 302, and is configured to perform voice recognition on the first voice data to obtain a first voice command, where the first voice command is used to control the cleaning device to perform a first action;

a first control unit 306, coupled to the first recognition unit 304, is configured to control the cleaning device to perform a first action in accordance with a first voice command.

It should be noted that, the first obtaining unit 302 in this embodiment may be configured to perform the above-mentioned step S202, the first identifying unit 304 in this embodiment may be configured to perform the above-mentioned step S204, and the first controlling unit 304 in this embodiment may be configured to perform the above-mentioned step S206.

Acquiring first voice data corresponding to the cleaning equipment through the module, wherein the first voice data are voice data acquired by a voice acquisition component on the cleaning equipment; performing voice recognition on the first voice data to obtain a first voice command, wherein the first voice command is used for controlling the cleaning equipment to execute a first action; the cleaning equipment is controlled to execute the first action according to the first voice command, so that the problem that the control method of the cleaning equipment in the related technology has poor flexibility of equipment control due to the fact that the issuing of the control command depends on an application end can be solved, and the flexibility of equipment control is improved.

In one exemplary embodiment, the first control unit includes:

The first control module is used for controlling the cleaning equipment to execute a first action according to the target motion parameter indicated by the first voice instruction.

In one exemplary embodiment, the first control module includes:

The first control sub-module is used for controlling the cleaning equipment to execute a rotating action according to the first rotating parameter under the condition that the target motion parameter comprises the first rotating parameter;

The second control sub-module is used for controlling the cleaning equipment to execute the moving action according to the first moving distance under the condition that the target motion parameter comprises the first moving distance;

And the third control sub-module is used for controlling the cleaning equipment to execute the moving action according to the second moving distance after executing the rotating action according to the second rotating parameter or controlling the cleaning equipment to execute the rotating action according to the second rotating parameter after executing the moving action according to the second moving distance under the condition that the target motion parameter comprises the second rotating parameter and the second moving distance.

In one exemplary embodiment, the first control submodule includes:

and a first control subunit for controlling the cleaning device to perform a rotating action along the target rotation direction until the rotation angle reaches the target rotation angle, in the case that the target motion parameter includes the target rotation direction and the target rotation angle.

In one exemplary embodiment, the first control unit includes:

And the second control module is used for controlling the cleaning device to move to the first position and executing the region cleaning operation under the condition that the first voice command is used for indicating the cleaning device to move to the first position for region cleaning.

In one exemplary embodiment, the first control unit includes:

and the third control module is used for controlling the cleaning device to move to the base station matched with the cleaning device and executing the first action under the condition that the first voice instruction is used for instructing the cleaning device to return to the base station matched with the cleaning device to execute the first action.

In an exemplary embodiment, the above apparatus further includes:

The first execution unit is used for controlling the cleaning device to execute the obstacle avoidance operation or controlling the cleaning device to stop moving and sending prompt information to prompt the detected obstacle under the condition that the obstacle exists in the current moving direction of the cleaning device in the process of controlling the cleaning device to execute the first action according to the first voice command.

In an exemplary embodiment, the above apparatus further includes:

A second acquisition unit configured to acquire second voice data corresponding to the cleaning device before acquiring the first voice data corresponding to the cleaning device, wherein the second voice data is the voice data acquired by the voice acquisition unit;

and the second execution unit is used for executing voice awakening operation on the cleaning device under the condition that the awakening instruction matched with the cleaning device is identified from the second voice data.

In an exemplary embodiment, the above apparatus further includes:

A third acquiring unit, configured to acquire third voice data corresponding to the cleaning device within a preset period of time after acquiring the first voice data corresponding to the cleaning device, where the third voice data is the voice data acquired by the voice acquisition unit;

The second recognition unit is used for carrying out voice recognition on the third voice data to obtain a second voice instruction, wherein the second voice instruction is used for controlling the cleaning equipment to execute a second action;

And the second control unit is used for controlling the cleaning equipment to execute a second action according to a second voice instruction.

In an exemplary embodiment, the above apparatus further includes:

and the third control unit is used for controlling the cleaning device to return to the second position before the first action is executed and continuously executing the target task under the condition that the voice data corresponding to the cleaning device is not acquired within a preset time period after the first action is executed according to the first voice command and the cleaning device is executing the target task before the first action is executed.

In an exemplary embodiment, the above apparatus further includes:

and the storage unit is used for storing the second position where the cleaning device is positioned before the cleaning device is controlled to execute the first action according to the first voice instruction.

In one exemplary embodiment, the first control unit includes:

And the issuing module is used for issuing a first voice command to the cleaning equipment so as to control the cleaning equipment to execute a first action according to the first voice command.

It should be noted that the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to what is disclosed in the above embodiments. It should be noted that the above modules may be implemented in software or in hardware as part of the apparatus shown in fig. 1, where the hardware environment includes a network environment.

According to yet another aspect of an embodiment of the present application, there is also provided a storage medium. Alternatively, in this embodiment, the above-described storage medium may be used to execute the program code of the control method of the cleaning apparatus of any one of the above-described embodiments of the present application.

Alternatively, in this embodiment, the storage medium may be located on at least one network device of the plurality of network devices in the network shown in the above embodiment.

Alternatively, in the present embodiment, the storage medium is configured to store program code for performing the steps of:

s1, acquiring first voice data corresponding to cleaning equipment, wherein the first voice data are voice data acquired by a voice acquisition component on the cleaning equipment;

S2, performing voice recognition on the first voice data to obtain a first voice instruction, wherein the first voice instruction is used for controlling the cleaning equipment to execute a first action;

And S3, controlling the cleaning equipment to execute a first action according to the first voice command.

Alternatively, specific examples in the present embodiment may refer to examples described in the above embodiments, which are not described in detail in the present embodiment.

Alternatively, in the present embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, ROM, RAM, a mobile hard disk, a magnetic disk or an optical disk.

According to still another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the control method of the cleaning apparatus described above, which may be a server, a terminal, or a combination thereof.

Fig. 4 is a block diagram of an alternative electronic device, according to an embodiment of the present application, including a processor 402, a communication interface 404, a memory 406, and a communication bus 408, as shown in fig. 4, wherein the processor 402, the communication interface 404, and the memory 406 communicate with each other via the communication bus 408, wherein,

A memory 406 for storing a computer program;

Processor 402, when executing a computer program stored on memory 406, performs the following steps:

Alternatively, in the present embodiment, the communication bus may be a PCI (PERIPHERAL COMPONENT INTERCONNECT, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus. The communication interface is used for communication between the electronic device and other equipment.

The memory may include RAM or nonvolatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

As an example, the memory 406 may include, but is not limited to, the first acquisition unit 302, the first recognition unit 304, and the first control unit 306 in the control device including the cleaning apparatus. In addition, other module units in the control device of the cleaning apparatus may be included, but are not limited to, and are not described in detail in this example.

The processor may be a general purpose processor and may include, but is not limited to: CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but may also be a DSP (DIGITAL SIGNAL Processing), ASIC (Application SPECIFIC INTEGRATED Circuit), FPGA (Field-Programmable gate array) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.

Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.

It will be appreciated by those skilled in the art that the structure shown in fig. 4 is only illustrative, and the device implementing the control method of the cleaning device may be a terminal device, and the terminal device may be a smart phone (such as an Android Mobile phone, an iOS Mobile phone, etc.), a tablet computer, a palm computer, a Mobile internet device (Mobile INTERNET DEVICES, MID), a PAD, etc. Fig. 4 is not limited to the structure of the electronic device. For example, the electronic device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 4, or have a different configuration than shown in FIG. 4.

Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute in association with hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, ROM, RAM, magnetic or optical disk, etc.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the method described in the embodiments of the present application.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In several embodiments provided by the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in the present embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.

Claims

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

acquiring first voice data corresponding to the cleaning equipment, wherein the first voice data are voice data acquired by a voice acquisition component on the cleaning equipment;

performing voice recognition on the first voice data to obtain a first voice instruction, wherein the first voice instruction is used for controlling the cleaning equipment to execute a first action;

and controlling the cleaning equipment to execute the first action according to the first voice instruction.

2. The method of claim 1, wherein said controlling the cleaning device to perform the first action in accordance with the first voice command comprises:

And controlling the cleaning equipment to execute the first action according to the target motion parameter indicated by the first voice instruction.

3. The method of claim 2, wherein the controlling the cleaning device to perform the first action in accordance with the target motion parameter indicated by the first voice command comprises:

controlling the cleaning device to execute a rotating action according to a first rotating parameter under the condition that the target motion parameter comprises the first rotating parameter;

Controlling the cleaning device to execute a moving action according to a first moving distance under the condition that the target motion parameter comprises the first moving distance;

And under the condition that the target motion parameters comprise a second rotation parameter and a second moving distance, controlling the cleaning equipment to execute the rotation action according to the second rotation parameter and then execute the moving action according to the second moving distance, or controlling the cleaning equipment to execute the rotation action according to the second moving distance and then execute the rotation action according to the second rotation parameter.

4. A method according to claim 3, wherein, in case the target motion parameter comprises a first rotation parameter, controlling the cleaning device to perform a rotation action according to the first rotation parameter comprises:

And controlling the cleaning device to execute a rotating action along the target rotating direction until the rotating angle reaches the target rotating angle under the condition that the target motion parameters comprise the target rotating direction and the target rotating angle.

5. The method of claim 1, wherein said controlling the cleaning device to perform the first action in accordance with the first voice command comprises:

And under the condition that the first voice instruction is used for instructing the cleaning device to move to a first position for cleaning the area, controlling the cleaning device to move to the first position and executing the area cleaning operation.

6. The method of claim 1, wherein said controlling the cleaning device to perform the first action in accordance with the first voice command comprises:

and controlling the cleaning device to move to the base station matched with the cleaning device and executing the first action under the condition that the first voice instruction is used for instructing the cleaning device to return to the base station matched with the cleaning device to execute the first action.

7. The method of claim 1, wherein during the controlling the cleaning device to perform the first action in accordance with the first voice command, the method further comprises:

And under the condition that the obstacle exists in the current moving direction of the cleaning equipment, controlling the cleaning equipment to execute obstacle avoidance operation or controlling the cleaning equipment to stop moving, and sending out prompt information so as to prompt the detected obstacle.

8. The method of claim 1, wherein prior to the acquiring the first voice data corresponding to the cleaning device, the method further comprises:

Acquiring second voice data corresponding to the cleaning device, wherein the second voice data is the voice data acquired by the voice acquisition component;

And performing a voice wake-up operation on the cleaning device if a wake-up instruction matched with the cleaning device is recognized from the second voice data.

9. The method of claim 8, wherein after the acquiring the first voice data corresponding to the cleaning device, the method further comprises:

Acquiring third voice data corresponding to the cleaning equipment in a preset time period, wherein the third voice data are voice data acquired by the voice acquisition component;

Performing voice recognition on the third voice data to obtain a second voice instruction, wherein the second voice instruction is used for controlling the cleaning equipment to execute a second action;

And controlling the cleaning equipment to execute the second action according to the second voice instruction.

10. The method of claim 8, wherein after said controlling said cleaning device to perform said first action in accordance with said first voice command, said method further comprises:

And under the condition that voice data corresponding to the cleaning equipment is not acquired within a preset time period and the cleaning equipment is executing a target task before executing the first action, controlling the cleaning equipment to return to a second position where the cleaning equipment is located before executing the first action, and continuing to execute the target task.

11. The method of claim 10, wherein prior to said controlling said cleaning device to perform said first action in accordance with said first voice command, said method further comprises:

And saving the second position where the cleaning device is located.

12. The method of any of claims 1 to 11, wherein the controlling the cleaning device to perform the first action in accordance with the first voice command comprises:

and issuing the first voice command to the cleaning equipment so as to control the cleaning equipment to execute the first action according to the first voice command.

13. A control device of a cleaning apparatus, comprising:

a first acquiring unit, configured to acquire first voice data corresponding to the cleaning device, where the first voice data is voice data acquired by a voice acquisition component on the cleaning device;

the first recognition unit is used for carrying out voice recognition on the first voice data to obtain a first voice instruction, wherein the first voice instruction is used for controlling the cleaning equipment to execute a first action;

And the first control unit is used for controlling the cleaning equipment to execute the first action according to the first voice instruction.

14. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 12.

15. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, the processor being arranged to perform the method of any of claims 1 to 12 by means of the computer program.