Abstract: Described are an encoding method and system for ROAs. The encoding method includes the following steps: given a set of authorized IP prefixes an AS which are maintained with an IP address trie. By specifying a sequence of hanging levels on the IP address trie, it is divided into a set of non-overlapping sub-trees, each rooted at a hanging level. A node on a hanging level uniquely defines a sub-tree rooted at it, whose prefix can be encoded as the identifier of this sub-tree. All authorized prefixes covered by a sub-tree can be encoded into a bitmap of 2h bits, where h is the height of this sub-tree. Thus, the set of authorized IP prefixes of an AS is encoded into several tuples (identifier, bitmap).

Abstract: A floor brush assembly and cleaning equipment with the floor brush assembly for cleaning surfaces to be cleaned. The forward direction of the floor brush assembly is the front and the opposite direction is the back. The floor brush assembly comprises a floor brush base, a roller brush with a roller being arranged on the floor brush base, and a second scraping piece which is arranged on the bottom of the floor brush base and in front of the roller brush and is provided with at least two second bumps distributed at intervals along its length direction. At least the roller brush abuts on the surface to be cleaned when the roller brush abuts on the surface to be cleaned, with a second channel for dirt passing through being formed between the adjacent second bumps to make dirt reach the suction inlet of the floor brush base.

Abstract: A method and apparatus for identifying a ground feature by an automatic cleaning device. The method comprises: collecting a rolling-brush current and a side-brush current (S10); performing weighted calculation according to the rolling-brush current and the side-brush current, so as to obtain a ground identification coefficient (S20); and according to the ground identification coefficient, identifying a feature of whether the ground on which the automatic cleaning device is located is carpet or a non-carpet dielectric surface (S30). Software optimization is carried out on the basis of current detection technology, thus reducing the false identification rate without additional cost.

Abstract: The present disclosure discloses a control method and a controller for a cleaning robot including: obtaining a remaining power or a charging instruction of the cleaning robot; and controlling liquid discharge of a liquid container of the cleaning robot according to the remaining power or the charging instruction. When the liquid container stops discharging liquid, the cleaning robot is controlled to stop working or to charge after running for a preset time. The control method of controlling residual moisture of a rag of the cleaning robot when the cleaning robot is charged can effectively avoid damage to a ground caused by the residual moisture on the rag when the cleaning robot is charging.

Abstract: An obstacle identification method includes: acquiring an environmental image sent by an image acquisition component; determining contour information of an object acted on by a line laser by using pixel coordinates of reflected light in the environmental image; and when a contour indicated by the contour information is the contour of an obstacle, determining that the object acted on by the line laser is the obstacle. Since a first line laser emitter and the image acquisition component are jointly used to acquire environmental images, the image acquisition component may still collect an image of reflected light of the line laser even when there is relatively little ambient light. Therefore, it is ensured that obstacles may be identified even when there is relatively little ambient light. An obstacle identification apparatus, a self-moving device, and a storage medium are disclosed as well.