WO2023098384A1

WO2023098384A1 - Sweeping control method and apparatus, robot, storage medium, and electronic apparatus

Info

Publication number: WO2023098384A1
Application number: PCT/CN2022/129454
Authority: WO
Inventors: 丘伟楠; 顾一休; 杨咚浩
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2021-12-02
Filing date: 2022-11-03
Publication date: 2023-06-08
Also published as: CN116211170A

Abstract

Disclosed are a sweeping control method and apparatus, a robot, a storage medium, and an electronic apparatus. The method comprises: if it is detected that there is a target obstacle in the current sweeping direction of a cleaning device, controlling the cleaning device to run towards a target position (S302); after it is determined that the cleaning device runs to the target position, controlling the cleaning device to steer towards a target direction in a target mode, and enabling a second distance between a cleaning range, which is covered by the cleaning device during the steering process of the cleaning device, and the target obstacle to be always less than a second preset threshold value (S304); and in response to detecting that the current sweeping direction of the cleaning device is the target direction, controlling the cleaning device to perform a sweeping operation in the target direction (S306). Therefore, the problem of missing sweeping of an area is effectively solved, thereby realizing comprehensive sweeping, and improving the sweeping efficiency of a cleaning device.

Description

Cleaning control method, device, robot, storage medium and electronic device

This disclosure claims the priority of the following patent application: a Chinese patent application submitted to the China Patent Office on December 2, 2021 with the application number 202111464894.6 and the title of the invention "cleaning control method, device, robot, storage medium and electronic device"; The entire contents of the aforementioned patent applications are incorporated by reference in this disclosure.

technical field

The present disclosure relates to the communication field, and in particular, to a cleaning control method, device, robot, storage medium and electronic device.

Background technique

With the rapid development of artificial intelligence, more and more intelligent robots have entered people's lives, making people's lives more and more convenient.

With the popularity of robots, people encounter more and more problems in the process of using robots. For example, when cleaning equipment is working, after encountering an obstacle (for example, there is an inner right-angle obstacle, including a wall corner, a right-angle area formed by a cabinet and a wall, etc.), there may be a leak near the inner right-angle area of the obstacle. scanning problem.

For example, the cleaning method of the current cleaning equipment for the inner right angle is mostly to rotate at a position far from the inner right angle, so that the innermost part of the inner right angle is usually unable to be cleaned, resulting in the problem of missed cleaning.

Aiming at the above-mentioned problems existing in related technologies, no effective solution has been proposed yet.

Contents of the invention

Embodiments of the present disclosure provide a cleaning control method, device, robot, storage medium, and electronic device, so as to at least solve the problem of missing areas in related technologies.

According to one aspect of the present disclosure, there is provided a cleaning control method, including: in the case of detecting that a target obstacle appears in the current cleaning direction of the cleaning device, controlling the cleaning device to drive toward a target position, wherein the target The first distance between the position and the target obstacle is less than a first preset threshold; after it is determined that the cleaning device travels to the target position, control the cleaning device to turn to the target direction in a target manner and make the The second distance between the cleaning range covered by the cleaning device and the target obstacle is always smaller than a second preset threshold during the turning process of the cleaning device, wherein the target direction and the target obstacle satisfy a target positional relationship; In response to detecting that the current cleaning direction of the cleaning device is the target direction, the cleaning device is controlled to perform a cleaning operation along the target direction.

In an exemplary embodiment, the cleaning device includes a first wheel body and a second wheel body, wherein the first wheel body is in front of the second wheel body along the target direction, and the After the cleaning device travels to the target position, control the cleaning device to turn to the target direction according to the target method and make the cleaning device between the cleaning range covered by the cleaning device and the target obstacle during the turning process The second distance is less than the second preset threshold, including: when the cleaning device turns, acquiring the second distance in real time; adjusting the advancing direction of the first wheel body in real time according to the second distance acquired in real time and/or the backward direction of the second wheel so that the second distance between the cleaning range covered by the cleaning device and the target obstacle is always smaller than a second preset threshold until the cleaning device reaches the The current cleaning direction is the target direction.

In an exemplary embodiment, the cleaning device includes a cleaning element, and the obtaining the second distance in real time when the cleaning device turns includes: obtaining the cleaning element in real time when the cleaning device turns The second distance from the target obstacle.

In an exemplary embodiment, after determining that the cleaning device travels to the target position, controlling the cleaning device to turn in a target manner includes: detecting whether there is an obstacle other than the target obstacle around the cleaning device other obstacles outside; if the other obstacles are detected, determine the position information of the other obstacles; determine the target direction based on the position information of the other obstacles; control the cleaning equipment according to the The target mode is turned to the target direction.

In an exemplary embodiment, determining the target direction based on the position information of the other obstacle includes: determining a direction opposite to a direction where the other obstacle is located as the target direction.

In an exemplary embodiment, controlling the cleaning device to turn in the target direction includes: during the process of controlling the cleaning device to turn in the target direction, based on the target direction The angle between the target obstacle and the cleaning device applies a driving force at a certain angle to the target direction, so that the cleaning range covered by the cleaning device and the target obstacle The second distance is always smaller than the second preset threshold.

In an exemplary embodiment, in response to detecting that the current cleaning direction of the cleaning device is the target direction, controlling the cleaning device to perform a cleaning operation along the target direction includes: in response to detecting the The current cleaning direction of the cleaning device is to control the cleaning device to perform a cleaning operation along the target direction after it is determined that the cleaning device rotates to the target direction parallel to the target obstacle.

According to another aspect of the present disclosure, there is also provided a cleaning control device, including: a first control module, configured to control the cleaning device to move toward Traveling at a target position, wherein the first distance between the target position and the target obstacle is less than a first preset threshold; a second control module, configured to, after determining that the cleaning device travels to the target position, controlling the cleaning device to turn in a targeted manner so that the second distance between the cleaning range covered by the cleaning device and the target obstacle is always smaller than the second preset threshold during the turning process of the cleaning device, wherein , the target direction and the target obstacle satisfy a target positional relationship; a third control module, configured to control the cleaning device to move along the Perform sweeping operations in the target direction.

According to another aspect of the present disclosure, there is also provided a cleaning device, including the cleaning control device described in any one of the above device embodiments.

According to another embodiment of the present disclosure, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored program, wherein, when the program runs, the program described in any one of the above-mentioned embodiments is executed. described method.

According to another embodiment of the present disclosure, there is also provided an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to execute any one of the above implementations through the computer program. method described in the example.

Through the present disclosure, when an obstacle appears in the cleaning direction of the cleaning device, the distance between the cleaning range covered by the cleaning device and the target obstacle can be achieved by controlling the cleaning device to turn according to a specific steering method. The distance is always less than a certain threshold, thereby ensuring that all areas close to obstacles are cleaned, realizing comprehensive cleaning, effectively solving the problem of missing areas in related technologies, and improving the cleaning efficiency of cleaning equipment.

Description of drawings

The drawings described here are used to provide a further understanding of the present disclosure, and constitute a part of the present application. The schematic embodiments of the present disclosure and their descriptions are used to explain the present disclosure, and do not constitute improper limitations to the present disclosure. In the attached picture:

Fig. 1 is a hardware structural block diagram of a cleaning control method according to an embodiment of the disclosure;

Fig. 2 is a schematic diagram of a cleaning path of a cleaning device in the related art;

3 is a flowchart of a cleaning control method according to an embodiment of the present disclosure;

4 is a schematic diagram of a cleaning path of a cleaning device according to an embodiment of the disclosure;

Fig. 5 is a structural block diagram of a cleaning control device according to an embodiment of the present disclosure.

Detailed ways

Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

It should be noted that the terms "first" and "second" in the specification and claims of the present disclosure and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

The method embodiments provided in the embodiments of the present application may be executed in a mobile robot or a similar computing device. Taking running on a mobile robot as an example, FIG. 1 is a block diagram of a hardware structure of a cleaning control method according to an embodiment of the present disclosure. As shown in Figure 1, the mobile robot can include one or more (only one is shown in Figure 1) processor 102 (processor 102 can include but not limited to processing devices such as microprocessor MCU or programmable logic device FPGA, etc.) and a memory 104 for storing data. In an exemplary embodiment, the above-mentioned mobile robot may also include a transmission device 106 and an input and output device 108 for communication functions. Those skilled in the art can understand that the structure shown in FIG. 1 is only for illustration, and it does not limit the structure of the above-mentioned mobile robot. For example, the mobile robot may also include more or fewer components than those shown in FIG. 1 , or have a different configuration that is functionally equivalent to or more functionally than that shown in FIG. 1 .

The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as computer programs corresponding to the cleaning control method in the embodiments of the present disclosure, and the processor 102 executes various tasks by running the computer programs stored in the memory 104. A functional application and data processing, that is, to realize the above-mentioned method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, and these remote memories may be connected to the mobile robot through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used to receive or transmit data via a network. A specific example of the above-mentioned network may include a wireless network provided by a mobile robot's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC for short), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet in a wireless manner.

First, the application scenario of the present disclosure is described:

During the working process of the cleaning equipment, it will perform cleaning operations according to the pre-established area map. If the cleaning equipment detects an obstacle lying ahead during the travel process, it will avoid the obstacle according to the predetermined obstacle avoidance method The conventional obstacle avoidance method will cause the cleaning equipment to rotate at a position far away from the obstacle, as shown in Figure 2, the dotted line direction is the path of the conventional cleaning equipment, which will lead to the area close to the obstacle For the problem of missed cleaning, a cleaning control method is proposed in the embodiments of the present disclosure, which can ensure the comprehensiveness of the cleaned area and avoid the situation of missed cleaning. The cleaning device involved in the embodiments of the present disclosure may be a sweeping robot, or other devices capable of cleaning and driving automatically.

The present disclosure is described below in conjunction with embodiment:

A cleaning control method is provided in this embodiment, as shown in Figure 3, the method includes the following steps:

S302. When detecting that a target obstacle appears in the current cleaning direction of the cleaning device, control the cleaning device to drive toward a target position, wherein the first distance between the target position and the target obstacle is smaller than the first distance between the target position and the target obstacle a preset threshold;

S304. After it is determined that the cleaning device travels to the target position, control the cleaning device to turn to the target direction in a target manner and make the cleaning range covered by the cleaning device during the turning process consistent with the target A second distance between obstacles is always smaller than a second preset threshold, wherein the target direction and the target obstacle satisfy a target positional relationship;

S306. In response to detecting that the current cleaning direction of the cleaning device is the target direction, control the cleaning device to perform a cleaning operation along the target direction.

In the above embodiment, the target obstacle includes at least a connected first part and a second part, wherein the first part is a part located in the current driving direction of the cleaning device, and the second part is a part set at an angle with the current driving direction, For example, walls, cabinets, refrigerators, sofas, etc. In the case that a target obstacle is detected in front of the cleaning device, the distance between the cleaning device and the obstacle can be calculated first (for example, the cleaning device can determine the distance between the cleaning device and the target obstacle based on the distance sensor configured by itself , or determine the distance between the cleaning equipment and the target obstacle based on its current position coordinates and the position information of the target obstacle marked in the pre-built area map), and then control the cleaning equipment to decelerate towards the target position (the deceleration There are many ways, for example, it can decelerate uniformly; it can also reduce the speed of the cleaning equipment to a predetermined speed value, and then drive according to the predetermined speed value; it can also decelerate non-uniformly, for example, the deceleration rate can be reduced over time become larger and larger, or the deceleration range becomes smaller and smaller over time, etc.), after reaching the target position, you can temporarily stop driving, and then perform the above-mentioned rotation driving operation. In the above-mentioned embodiment, the target direction and the target obstacle The target position relationship between them may be that the target direction is parallel to, or approximately parallel to, the target obstacle. In addition, the target obstacle may not exist within a range of not less than a preset distance from the cleaning device after the cleaning device rotates to the target direction.

The distance between the target position and the target obstacle does not exceed the first preset threshold, which can make the cleaning equipment as close as possible to the target obstacle when turning, thereby reducing the uncovered cleaning area; the cleaning range covered by the cleaning equipment is the same as the described The distance between the target obstacles is smaller than the second preset threshold, so that the cleaning range of the side brush of the cleaning device can be close to the target obstacles when turning, thereby avoiding the occurrence of missed scanning areas.

The above preset thresholds can be set flexibly. In the case of relatively high cleaning quality requirements, the above thresholds can be set smaller, for example, set to 1cm, 2cm, 5cm, etc., and the cleaning quality requirements are not too high. , the above threshold can be set larger, for example, set to 8cm, 10cm, 15cm and so on. In the above embodiment, the fact that the first distance between the target position and the target obstacle is less than the first preset threshold actually means that when the cleaning device is at the target position, the point on the cleaning device closest to the target obstacle is closer to the target obstacle. The distance of the target obstacle is smaller than the above-mentioned first preset threshold, and the first preset threshold can also be set to a sufficiently small value. The distance of the object is 0, so that the distance between the cleaning range covered by the cleaning equipment and the target obstacle is 0. However, in actual operation, in order to prevent the cleaning equipment from colliding with obstacles, a relatively small positive value is generally set.

Wherein, the executor who performs the above operations may be a cleaning device (for example, an intelligent robot, or other devices with cleaning capabilities and automatic driving capabilities, etc.), or a processor installed in the cleaning device, or other devices with similar processing capabilities device of.

Through the above-mentioned embodiments, when an obstacle appears in the cleaning direction of the cleaning device, the cleaning device can be controlled to turn according to a specific steering method so as to realize the distance between the cleaning range covered by the cleaning device and the target obstacle during the turning process. The distance between them is always less than a certain threshold, thereby ensuring that all areas close to obstacles are cleaned, realizing comprehensive cleaning, effectively solving the problem of missing areas in related technologies, and improving the cleaning efficiency of cleaning equipment.

In an exemplary embodiment, the cleaning device includes a first wheel body and a second wheel body, wherein the first wheel body is in front of the second wheel body along the target direction, and the After the cleaning device travels to the target position, control the cleaning device to turn to the target direction according to the target method and make the cleaning device between the cleaning range covered by the cleaning device and the target obstacle during the turning process The second distance is less than the second preset threshold, including: when the cleaning device turns, acquiring the second distance in real time; adjusting the advancing direction of the first wheel body in real time according to the second distance acquired in real time and/or the backward direction of the second wheel so that the second distance between the cleaning range covered by the cleaning device and the target obstacle is always smaller than a second preset threshold until the cleaning device reaches the The current cleaning direction is the target direction. In this embodiment, a plurality of wheels can be arranged on the cleaning device. Taking setting two wheels as an example, when the target direction is the left side of the cleaning device, the wheel set on the left side of the cleaning device is the first wheel described above. The wheel body, the wheel body on the right side is the above-mentioned second wheel body. During the rotation of the cleaning device, it is necessary to realize the side brush of the cleaning device by controlling the first wheel body to advance and/or the second wheel body to retreat. The cleaning range covered by the cleaning element is always close to the obstacle.

In an exemplary embodiment, the cleaning device includes a cleaning element, and the obtaining the second distance in real time when the cleaning device turns includes: obtaining the cleaning element in real time when the cleaning device turns The second distance from the target obstacle. In this embodiment, the cleaning parts can be arranged on the side of the cleaning equipment, or on the front and side of the cleaning equipment, or around the cleaning equipment. When controlling the turning of the cleaning equipment, the distance between the cleaning piece on the side closest to the target obstacle and the target obstacle can be obtained in real time.

In an exemplary embodiment, after determining that the cleaning device travels to the target position, controlling the cleaning device to turn in a target manner includes: detecting whether there is an obstacle other than the target obstacle around the cleaning device other obstacles outside; in the case of detecting the other obstacles, obtain the position information of the other obstacles; determine the direction of the target based on the position information of the other obstacles; control the cleaning equipment according to the target way to steer in the direction of the target. Optionally, a direction opposite to the direction of the other obstacle may be determined as the target direction. In this embodiment, the cleaning equipment may be running along the side. For example, when driving close to the wall toward the corner or the angle between the cabinet and the wall, there will be multiple orientations of the cleaning equipment. There are obstacles. In this case, it is necessary to control the robot to move away from the wall it is attached to, so as to avoid the cleaning equipment from hitting the obstacle. As shown in Figure 4, when there is an obstacle on the right side of the cleaning device, it needs to rotate to the left, that is, control the cleaning device to rotate counterclockwise. In addition, an additional layer of control is required to make the cleaner of the cleaning device, for example, The side brush is always attached to the obstacle (that is, the distance between the side brush and the obstacle is always less than a threshold, for example, 1cm, 2cm, 5cm, etc.), in this embodiment, the distance and position of the obstacle can be obtained through the sensor Information, the distance between the side brush and the obstacle is 0 (or other distances, such as 1cm, 2cm, etc.) as the target for control, so that the side brush is always close to the obstacle.

In an exemplary embodiment, controlling the cleaning device to turn to the target direction in the target manner includes: during the process of controlling the cleaning device to turn to the target direction, based on the target direction and The included angle between the target obstacles is that the cleaning device applies a driving force at a certain angle to the target direction, so that the cleaning range covered by the cleaning device and the second distance between the target obstacles The second distance is always smaller than the second preset threshold. In this embodiment, the certain angle can be set flexibly, as long as the cleaning range covered by the cleaning device is always close to the obstacle (that is, the offset in the driving direction before the cleaning device avoids the obstacle is compensated, so that the cleaning device The side brush can always stick to the target obstacle), where the cleaning device can determine the distance between the cleaning range covered by the cleaning device and the target obstacle based on its own configured distance sensor, or based on its current position coordinates and the distance between the The position information of the target obstacle marked in the pre-built area map determines the distance between the cleaning range covered by the cleaning equipment and the target obstacle. In actual operation, it is also possible to control the cleaning range covered by the cleaning device to drive close to obstacles in other ways, for example, to control the cleaning device to travel a certain distance in the direction opposite to the direction of rotation every time it rotates at a certain angle (the distance can be based on The actual vertical distance between the cleaning range covered by the cleaning equipment and the obstacles).

In an exemplary embodiment, in response to detecting that the current cleaning direction of the cleaning device is the target direction, controlling the cleaning device to perform a cleaning operation along the target direction includes: in response to detecting the The current cleaning direction of the cleaning device is to control the cleaning device to perform a cleaning operation along the target direction after it is determined that the cleaning device rotates to the target direction parallel to the target obstacle. In this embodiment, when the cleaning device is adjusted to drive in a direction parallel to the target obstacle, the area close to the target obstacle can be fully cleaned, thereby avoiding missed cleaning. In practical applications, if the target obstacle encountered is a horizontal obstacle, the cleaning device can be controlled to rotate to the right side of the robot parallel to the obstacle, and the cleaning device is close to the horizontal obstacle, and then switch to normal forward action; If the obstacle encountered is a small obstacle such as a chair leg, you can first control the cleaning device to rotate to the position where the obstacle reaches the right front of the machine, that is, the machine will not be blocked from advancing, and then the cleaning device will switch to the normal forward movement.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present disclosure can be embodied in the form of a software product in essence or the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM, disk, CD) contains several instructions to make a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) execute the methods described in various embodiments of the present disclosure.

In this embodiment, a cleaning control device is also provided, which is used to implement the above embodiments and preferred implementation modes, and what has already been described will not be repeated. As used below, the term "module" may be a combination of software and/or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.

Fig. 5 is a structural block diagram of a cleaning control device according to an embodiment of the present disclosure. As shown in Fig. 5, the device includes:

The first control module 52 is configured to control the cleaning device to drive toward a target position when it is detected that a target obstacle appears in the current cleaning direction of the cleaning device, wherein the distance between the target position and the target obstacle is The first distance is less than the first preset threshold;

The second control module 54 is configured to, after determining that the cleaning device travels to the target position, control the cleaning device to turn in a target manner and make the cleaning range covered by the cleaning device during the turning process equal to the A second distance between the target obstacles is always smaller than a second preset threshold, wherein the target direction and the target obstacle satisfy a target positional relationship;

The third control module 56 is configured to control the cleaning device to perform a cleaning operation along the target direction in response to detecting that the current cleaning direction of the cleaning device is the target direction.

In an optional embodiment, the cleaning device includes a first wheel body and a second wheel body, wherein the first wheel body is in front of the second wheel body along the target direction, and the first wheel body is in front of the second wheel body. Two control modules 54 include:

a first acquiring unit, configured to acquire the second distance in real time when the cleaning device turns around;

An adjustment unit, configured to adjust in real time the advancing direction of the first wheel body and/or the retreating direction of the second wheel body according to the second distance obtained in real time, so that the cleaning range covered by the cleaning device is consistent with the The second distance between the target obstacles is always smaller than a second preset threshold until the current cleaning direction of the cleaning device is the target direction.

In an optional embodiment, the cleaning device includes a cleaning element, and the acquisition unit includes:

The acquisition subunit is configured to acquire the second distance between the cleaning piece and the target obstacle in real time when the cleaning device turns.

In an exemplary embodiment, the second control module 54 includes: a detection unit, configured to detect whether there are obstacles other than the target obstacle around the cleaning device; a second acquisition unit, configured to If the other obstacle is detected, acquire position information of the other obstacle; a determining unit, configured to determine the target direction based on the position information of the other obstacle; a control unit, configured to control the The cleaning device turns to the target direction according to the target manner.

In an exemplary embodiment, the determination unit may determine the target direction based on the position information of the other obstacles in the following manner: determine the direction opposite to the direction where the other obstacles are located as the target direction.

In an exemplary embodiment, the above control unit may control the cleaning device to turn in the target direction in the following manner: during the process of controlling the cleaning device to turn in the target direction , based on the included angle between the target direction and the target obstacle, apply a driving force at a certain angle to the target direction to the cleaning device, so that the cleaning range covered by the cleaning device is consistent with the target obstacle The second distance between objects is always smaller than the second preset threshold.

In an exemplary embodiment, the above-mentioned third control module 56 may control the cleaning device along the target direction in response to detecting that the current cleaning direction of the cleaning device is the target direction in the following manner: Executing a cleaning operation: in response to detecting that the current cleaning direction of the cleaning device is the target direction when it is determined that the cleaning device is rotated to be parallel to the target obstacle, controlling the cleaning device to move along the target direction to perform cleaning operations.

This embodiment also provides a cleaning device, which may include the cleaning control device described in any one of the above.

It should be noted that the above-mentioned modules can be realized by software or hardware. For the latter, it can be realized by the following methods, but not limited to this: the above-mentioned modules are all located in the same processor; or, the above-mentioned modules can be combined in any combination The forms of are located in different processors.

Embodiments of the present disclosure also provide a computer-readable storage medium, in which a computer program is stored, wherein the computer program is set to execute the steps in any one of the above method embodiments when running.

In this embodiment, the above-mentioned computer-readable storage medium may be configured to store a computer program for performing the following steps:

S1. When detecting that a target obstacle appears in front of the cleaning device, controlling the cleaning device to drive toward a target position, wherein the distance between the target position and the target obstacle is smaller than a preset threshold;

S2. After determining that the cleaning device travels to the target position, control the cleaning device to rotate in a target manner, so that the distance between the cleaning device and the target obstacle is always less than the preset threshold;

S3. After it is determined that the cleaning device rotates to a target direction that satisfies a target positional relationship with the target obstacle, control the cleaning device to perform a cleaning operation along the target direction.

In an exemplary embodiment, the above-mentioned computer-readable storage medium may include but not limited to: U disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM) , mobile hard disk, magnetic disk or optical disk and other media that can store computer programs.

Embodiments of the present disclosure also provide an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to perform the steps in any one of the above method embodiments.

In an exemplary embodiment, the electronic device may further include a transmission device and an input and output device, wherein the transmission device is connected to the processor, and the input and output device is connected to the processor.

In an exemplary embodiment, the above-mentioned processor may be configured to execute the following steps through a computer program:

Obviously, those skilled in the art should understand that each module or each step of the above-mentioned disclosure can be realized by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed in a network composed of multiple computing devices In fact, they can be implemented in program code executable by a computing device, and thus, they can be stored in a storage device to be executed by a computing device, and in some cases, can be executed in an order different from that shown here. Or described steps, or they are fabricated into individual integrated circuit modules, or multiple modules or steps among them are fabricated into a single integrated circuit module for implementation. As such, the present disclosure is not limited to any specific combination of hardware and software.

The above descriptions are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

A cleaning control method, characterized in that, comprising:

When it is detected that a target obstacle appears in the current cleaning direction of the cleaning device, control the cleaning device to drive toward a target position, wherein the first distance between the target position and the target obstacle is smaller than a first preset set threshold;

After it is determined that the cleaning device travels to the target position, control the cleaning device to turn to the target direction in a targeted manner and make the cleaning range covered by the cleaning device coincide with the target obstacle during the turning process. The second distance between them is always smaller than a second preset threshold, wherein the target direction and the target obstacle satisfy a target position relationship;

In response to detecting that the current cleaning direction of the cleaning device is the target direction, the cleaning device is controlled to perform a cleaning operation along the target direction.
The cleaning control method according to claim 1, wherein the cleaning device comprises a first wheel body and a second wheel body, wherein the first wheel body is in front of the second wheel body along the target direction ,

After determining that the cleaning equipment travels to the target position, controlling the cleaning equipment to turn to the target direction in a target manner and making the cleaning range covered by the cleaning equipment during the turning process consistent with the target The second distance between obstacles is less than a second preset threshold, including:

acquiring the second distance in real time when the cleaning device turns around;

According to the second distance acquired in real time, adjust the advancing direction of the first wheel body and/or the retreating direction of the second wheel body in real time so that the distance between the cleaning range covered by the cleaning equipment and the target obstacle is adjusted in real time. The second distance between them is always smaller than a second preset threshold until the current cleaning direction of the cleaning device is the target direction.
The cleaning control method according to claim 2, wherein the cleaning equipment includes a cleaning element, and when the cleaning equipment turns, acquiring the second distance in real time includes:

The second distance between the cleaning piece and the target obstacle is obtained in real time when the cleaning device turns.
The cleaning control method according to claim 1, wherein after determining that the cleaning equipment travels to the target position, controlling the cleaning equipment to turn in a target manner comprises:

Detecting whether there are obstacles other than the target obstacle around the cleaning device;

If the other obstacle is detected, determine the location information of the other obstacle;

determining the target direction based on the position information of the other obstacles;

Controlling the cleaning device to turn in the target direction according to the target manner.
The cleaning control method according to claim 4, wherein determining the target direction based on the position information of the other obstacles comprises:

The direction opposite to the direction where the other obstacles are located is determined as the target direction.
The cleaning control method according to claim 4 or 5, wherein controlling the cleaning equipment to turn in the target direction according to the target mode comprises:

In the process of controlling the cleaning device to turn to the target direction, applying a driving force at a certain angle to the target direction to the cleaning device based on the included angle between the target direction and the target obstacle , so that the second distance between the cleaning range covered by the cleaning device and the target obstacle is always smaller than the second preset threshold.
The cleaning control method according to any one of claims 1-5, wherein in response to detecting that the current cleaning direction of the cleaning device is the target direction, controlling the cleaning device to follow the target direction Performing cleaning operations includes:

controlling the cleaning device to perform a cleaning operation along the target direction when it is determined that the cleaning device rotates to the target direction parallel to the target obstacle in response to detecting that the current cleaning direction of the cleaning device is .
A cleaning control device, comprising:

The first control module is configured to control the cleaning device to drive toward a target position when a target obstacle is detected in the current cleaning direction of the cleaning device, wherein the distance between the target position and the target obstacle is the first distance is less than a first preset threshold;

The second control module is configured to, after determining that the cleaning device travels to the target position, control the cleaning device to turn in a target manner and make the cleaning range covered by the cleaning device during the turning process always consistent with the A second distance between the target obstacles is less than a second preset threshold, wherein the target direction and the target obstacle satisfy a target positional relationship;

A third control module, configured to control the cleaning device to perform a cleaning operation along the target direction in response to detecting that the current cleaning direction of the cleaning device is the target direction.
A cleaning device, comprising the cleaning control device according to claim 8 .
A computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein the program executes the method described in any one of claims 1 to 7 when running.
An electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the method described in any one of claims 1 to 7 through the computer program .