Control method for cleaning device

Abstract

The present specification provides a control method of a cleaning apparatus. The cleaning equipment comprises a machine body and a cleaning component movably arranged on the machine body, and the method comprises the steps that in the process that the cleaning component swings outwards to conduct edge cleaning, whether the cleaning component is separated from the cleaning equipment or not is detected; when it is detected that the cleaning component is separated from the cleaning equipment, whether the cleaning component is separated from the cleaning equipment or not is determined; under the condition that it is determined that the cleaning component is separated from the cleaning equipment, the cleaning equipment is controlled to walk so as to find the cleaning component, and after the cleaning component is found, the cleaning component is installed; and under the condition that the cleaning component is not separated from the cleaning equipment, the cleaning component is controlled to enter a cleaning state, and after the cleaning component enters the cleaning state, the cleaning component is controlled to swing out of the cleaning equipment so as to continue edge cleaning. Therefore, the problem that edge cleaning cannot be carried out due to the fact that the cleaning component is collided by obstacles and falls off is solved, and the reliability of edge cleaning is improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511821610.2 (22) Application Date 2024.06.14 (66) Domestic Priority Data PCT / CN2023 / 100199 2023.06.14 CN (62) Divisional Application Data 202410772686.X 2024.06.14 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Yang Donghao, Wang Yuanchao, Huo Jianghao, Sun Jiajia, Qiu Weinan, Yu Hao (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Zhao Xiaoyu (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 24 (2006.01) A47L 11 / 282 (2006.01) (54) Invention Title: Control Method for Cleaning Equipment (57) Abstract: This specification provides a control method for a cleaning equipment. The cleaning equipment includes a body and a cleaning component movably mounted on the body. The method includes: detecting whether the cleaning component is separated from the cleaning equipment during the process of the cleaning component swinging outward to perform edge cleaning; confirming whether the cleaning component is separated from the cleaning equipment when separation is detected; controlling the cleaning equipment to move to find the cleaning component when separation is confirmed, and installing the cleaning component after finding it; controlling the cleaning component to enter a cleaning state when separation is confirmed, and controlling the cleaning component to swing outward to continue edge cleaning after entering the cleaning state. This avoids the problem of the cleaning component falling due to collision with an obstacle and being unable to perform edge cleaning, thus improving the reliability of edge cleaning. Claims 2 pages, Description 46 pages, Drawings 27 pages, CN 121421410 A 2026.01.30 CN 1 21 42 14 10 A 1. A control method for a cleaning device, characterized in that the cleaning device includes a body and a cleaning component movably disposed on the body, wherein the cleaning component is controlled to swing to perform edge cleaning, the swinging including swinging outward and / or retracting inward; when the cleaning component is in a cleaning state, the cleaning component contacts the cleaning surface to achieve cleaning; when the cleaning component is in a disengaged state, the cleaning component separates from the cleaning device, realizing automatic disassembly of the cleaning component; the method includes:During the process of the cleaning component swinging outward to perform edge cleaning, it is detected whether the cleaning component is separated from the cleaning device; if separation is detected, it is confirmed whether the cleaning component is separated from the cleaning device; if separation is confirmed, the cleaning device is controlled to move to find the cleaning component, and after finding the cleaning component, it is installed; if separation is confirmed, the cleaning component is controlled to enter the cleaning state, and after entering the cleaning state, the cleaning component is controlled to swing outward to continue edge cleaning. 2. The method according to claim 1, characterized in that the cleaning device further includes a first driving component, the first driving component being connected to the cleaning component, and controlling the rotation direction of the first driving component to control the cleaning component to swing outward or retract inward; when the cleaning component is in a raised state, the cleaning component detaches from the cleaning surface, so that the cleaning device can overcome obstacles; the step of confirming whether the cleaning component is separated from the cleaning device when separation is detected includes: when separation is detected, controlling the rotation direction of the first driving component to a first direction, the first direction being the direction for controlling the cleaning component to retract inward; after controlling the rotation direction of the first driving component to the first direction, controlling the cleaning component to enter a raised state, and detecting whether the cleaning component is separated from the cleaning device again to confirm whether the cleaning component is separated from the cleaning device. 3. The method according to claim 1, wherein the cleaning device further comprises a second driving component and a lifting mechanism, the lifting mechanism being connected to the second driving component and the cleaning component, the lifting mechanism being used to convert the rotational motion of the second driving component into the lifting motion of the cleaning component, and the step of controlling the cleaning device to move to find the cleaning component, and installing the cleaning component after finding the cleaning component, comprises: controlling the cleaning device to move to find the cleaning component; and controlling the lifting mechanism to align and install the cleaning component after finding the cleaning component. 4. The method according to claim 3, wherein the method further comprises: after successful installation, controlling the cleaning component to swing outwards from the cleaning device to continue edge cleaning. 5. The method according to claim 3, wherein the lifting mechanism is provided with a magnetic component, the magnetic component being used for magnetic connection between the cleaning component and the lifting mechanism. 6. The method according to claim 3, wherein the cleaning device is further provided with a blocking component, the blocking component being used for magnetic connection between the cleaning component and the lifting mechanism.The stop is used to disconnect the magnetic connection between the cleaning component and the lifting mechanism and cause the cleaning component to fall after the cleaning component is in the raised state and if the cleaning component continues to rise. Claims 1 / 2 page 2 CN 121421410 A 7. The method according to claim 1, characterized in that the machine body is further provided with a drive assembly, the drive assembly includes a motor and a transmission mechanism connected to the motor, a sensor is provided on the transmission mechanism, and a corresponding sensing element is provided on the cleaning component; the detection of whether the cleaning component is separated from the cleaning device includes: detecting whether the cleaning component is disengaged from the transmission mechanism based on the sensor and the sensing element. 8. The method according to claim 1, characterized in that it further includes: controlling the cleaning device to perform edge cleaning against a first side obstacle; wherein, during edge cleaning, the cleaning component swings outward a certain swing distance, and the outwardly swinging cleaning component faces the first side obstacle, the swing distance is the range of movement of the center of the cleaning component in the width direction of the machine body, the swing distance is infinitely adjustable or the swing distance is multi-level adjustable. 9. The method according to claim 8, wherein controlling the cleaning device to perform edge cleaning on a first side obstacle comprises: controlling the machine body to perform edge movement on the first side obstacle based on a planned edge path to perform edge cleaning on the first side obstacle; wherein the edge path is determined by: selecting a reference point on a protrusion of the first side obstacle, determining a tangent at the reference point, and planning an edge path based on the tangent at the reference point; or, selecting multiple reference points according to the shape of the obstacle, determining tangents at the multiple reference points, and planning a polygonal edge path. 10. The method according to claim 9, wherein when the first side obstacle is a circular obstacle, edge cleaning is performed on the circular obstacle based on a polygonal edge path; wherein the larger the size of the circular obstacle, the more sides the polygonal edge path has; the smaller the size of the circular obstacle, the fewer sides the polygonal edge path has. Claims 2 / 2 Page 3 CN 121421410 A Control Method for Cleaning Equipment

[0001] This application is a divisional application of the invention patent with application number 202410772686.X, application date 2024.06.14, and invention title "Control Method for Cleaning Equipment". Technical Field

[0002] This specification relates to the field of smart home, and more specifically, to a control method for cleaning equipment. Background Art

[0003] A cleaning equipment is a device that can automatically clean while moving. The cleaning equipment can, to a certain extent, replace manual cleaning, reducing the intensity of manual labor and achieving high cleaning efficiency.

[0004] In related technologies, the cleaning equipment uses fixed cleaning components. During the edge cleaning process, the cleaning components swing outwards, and there is a possibility that the cleaning components may fall off due to collisions with obstacles, making edge cleaning impossible.

[0005] The purpose of this specification is to provide a control method for a cleaning equipment to reduce the scope of missed cleaning. The purpose of this specification is achieved through the following technical solution: According to one aspect of the embodiments of this specification, a cleaning control method is provided for a cleaning device, the cleaning device including a body and a cleaning component movably disposed on the body, the cleaning component having an outward swing state and an inward retraction state, wherein when the cleaning component is in the outward swing state, the portion of the cleaning component outside the periphery of the body is larger than the portion of the cleaning component outside the periphery of the body when the cleaning component is in the inward retraction state; the method includes: when the cleaning component is in the outward swing state, acquiring obstacle information in the direction of travel of the cleaning device; when determining that the cleaning device is performing a preset cleaning task based on the obstacle information, determining whether the cleaning device meets a preset condition according to the obstacle information; when the cleaning device meets the preset condition, controlling the movement of the body according to the obstacle information to complete the preset cleaning task.

[0006] According to another aspect of the embodiments of this specification, a cleaning control method for a cleaning robot is provided, the method comprising: acquiring obstacle information in the forward direction of the cleaning robot; wherein the cleaning robot includes a body and a cleaning component movably disposed on the body, the cleaning component having a retracted position close to the body and an extended position away from the body, wherein when the cleaning component is in the extended position, the portion of the cleaning component outside the periphery of the body is larger than the portion of the cleaning component outside the periphery of the body when the cleaning component is in the retracted position; determining whether the obstacle information contains obstacle data that satisfies preset obstacle conditions; if the obstacle information contains obstacle data that satisfies preset obstacle conditions, controlling the cleaning component to move to the retracted position. Specification 1 / 46 Page 4 CN 121421410 A

[0007] According to another aspect of the embodiments of this specification, a control method for a cleaning device is provided. The cleaning device includes a body and a cleaning component movably disposed on the body. The cleaning component has an outward swing state and an inward retraction state. When the cleaning component is in the outward swing state, the portion of the cleaning component located outside the periphery of the body is larger than the portion of the cleaning component located outside the periphery of the body when the cleaning component is in the inward retraction state. The method includes: detecting whether the cleaning device meets the base station return condition; if so, controlling the cleaning component to move to the inward retraction state when the cleaning component is in the outward swing state.When the cleaning component is in a retracted state, the cleaning device is controlled to move to the base station.

[0008] According to another aspect of the embodiments of this specification, a control method for a cleaning device is provided, the cleaning device including a body and a cleaning component movably disposed on the body, the cleaning component having a retracted state; the method includes: when the cleaning component is in a retracted state, controlling the cleaning device to clean along a first cleaning path, wherein a first side obstacle exists in front of the direction of travel of the cleaning device; when the cleaning component is in a retracted state, controlling the body to clean along the first cleaning path, the first cleaning path being parallel to a second cleaning path and intersecting with the obstacle; when the distance between the body and the obstacle satisfies a rotation condition, controlling the body to rotate so that the direction of travel of the body is parallel to the obstacle, and controlling the body to move forward; controlling the body to rotate so that the direction of travel of the body is parallel to the second cleaning path; when the cleaning component is in a retracted state, controlling the body to clean along the second cleaning path.

[0009] According to another aspect of the embodiments of this specification, a method for controlling the movement of a cleaning device is provided, comprising: responding to a received rotation command, driving a rotating component of the cleaning device to rotate via a rotation drive component to control a swing component of the cleaning device to swing, wherein one end of the swing component is connected to the cleaning component, and during the swinging process, the cleaning component switches between an outward swing state and an inward retraction state, wherein the outward swing state is a state in which at least a portion of the cleaning component swings outward from the cleaning device, and the inward retraction state is a state in which at least a portion of the cleaning component retracts inward from the cleaning device; detecting a detection trigger element on the rotating component via a detection component on the rotation drive component to determine the operating state of the cleaning component, wherein the detection trigger element is used to identify the rotation position reached by the rotating component; and, if it is determined that the operating state of the cleaning component is abnormal, controlling the cleaning device to perform a specified operation to restore the operating state of the cleaning component to normal.

[0010] According to another aspect of the embodiments of this specification, a cleaning device is provided, including: a body, a cleaning component movably disposed on the body, a sensor disposed on the body, and a controller disposed on the body; the cleaning component has an outward swing state and an inward retraction state, wherein when the cleaning component is in the outward swing state, the portion of the cleaning component outside the periphery of the body is larger than the portion of the cleaning component outside the periphery of the body when the cleaning component is in the inward retraction state; the sensor is used to acquire obstacle information in the direction of travel of the cleaning device; the controller is used to control the sensor to acquire the obstacle information when the cleaning component is in the outward swing state; and when determining that the cleaning device is performing a preset cleaning task based on the obstacle information, according to the...The obstacle information determines whether the cleaning device meets the preset conditions; when the cleaning device meets the preset conditions, the movement of the machine body is controlled according to the obstacle information to complete the preset cleaning task.

[0011] According to another aspect of the embodiments of this specification, a computer-readable storage medium is also provided, which stores a computer program, wherein the computer program is configured to execute the above control method when running.

[0012] In the embodiments of this specification, the cleaning component on the cleaning device is configured to be able to swing. This can provide higher coverage, reduce the range of missed cleaning, and also avoid rubbing against obstacles. Brief Description of the Drawings

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0014] In order to more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 is a bottom view of the cleaning equipment provided in the embodiment of this specification; Figures 2a and 2b are bottom views of the rotation direction of the cleaning component provided in the embodiment of this specification; Figure 3 is a flowchart of a control method for a cleaning equipment provided in the embodiment of this specification; Figure 4 is a top view of the edge route planning provided in the embodiment of this specification; Figure 5 is a top view of the edge route planning provided in the embodiment of this specification; Figures 6a and 6b are schematic diagrams of the edge route planning provided in the embodiment of this specification; Figure 7 is a flowchart of a control method for a cleaning equipment provided in the embodiment of this specification; Figure 8 is a top view of the rotation angle provided in the embodiment of this specification; Figures 9a and 9c are top views of the edge route planning provided in the embodiment of this specification; Figures 10a and 10b are top views of the edge route planning provided in the embodiment of this specification; Figures 11a and 11b are top views of the edge route planning provided in the embodiment of this specification; Figure 12 is a top view of an inner corner edge cleaning process provided in the embodiment of this specification; Figure 13 is a top view of an inner corner edge cleaning process provided in the embodiment of this specification. Figure 14 is a top view of an inner corner edge cleaning process provided in an embodiment of this specification; Figures 15a and 15b are top views of an outer corner edge cleaning process provided in an embodiment of this specification; Figure 16 is a flowchart of a control method for a cleaning device provided in an embodiment of this specification; Figure 17 is a top view of a bow-shaped cleaning route provided in an embodiment of this specification.Figure 18 is a top view of a bow-shaped cleaning route provided in an embodiment of this specification; Figure 19 is a top view of a bow-shaped cleaning route provided in an embodiment of this specification; Figure 20 is a flowchart of a movement control method for a cleaning device provided in an embodiment of this specification; Figure 21 is a schematic diagram of a movement control method for a cleaning device provided in an embodiment of this specification; Figure 22 is a schematic diagram of a movement control method for a cleaning device provided in an embodiment of this specification; Figure 23 is a flowchart of a movement control method for a cleaning device provided in an embodiment of this specification; Figure 24 is a flowchart of a cleaning control method for a cleaning robot provided in an embodiment of this specification; Figure 25 is a simple bottom view of a cleaning robot provided in an embodiment of this specification; Figure 26 is a bottom view of a cleaning robot with its cleaning components in the retracted position provided in an embodiment of this specification; Figure 27 is a flowchart of an edge cleaning method provided in an embodiment of this specification; (Page 3 / 46, CN 121421410 A) Figure 28 is a top view of an obstacle scene provided in an embodiment of this specification; Figure 29 is a top view of an obstacle scene provided in an embodiment of this specification; Figures 30a-30j are top-view model diagrams of obstacle avoidance in an obstacle scenario provided by an embodiment of this specification; Figures 31a-31j are top-view model diagrams of obstacle avoidance in an obstacle scenario provided by an embodiment of this specification; Figure 32 is a structural block diagram of an electronic device provided by an embodiment of this specification; Figure 33 is a bottom-view schematic diagram of a cleaning device provided by an embodiment of this specification. Detailed Description

[0016] This specification will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this specification can be combined with each other.

[0017] It should be noted that the terms "first," "second," etc., in this specification are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0018] This specification provides a cleaning device.

[0019] The cleaning device can be an autonomous robot that can move autonomously within a work area and complete cleaning tasks autonomously without external human information input and control. The work area can include indoor and outdoor areas. The indoor area can include family rooms, offices, shopping malls, factory workshops, etc. The outdoor area may include lawns, gardens, roads, etc. The cleaning tasks may include sweeping (e.g., floor washing, mopping, sweeping), lawn mowing, snow removal, etc.

[0020] The cleaning equipment includes, but is not limited to: sweeping robots, floor washing robots, robots that combine sweeping and mopping, cleaning robots, lawn mowing robots, snow removal robots, etc. The cleaning equipment can be used by sweeping in front and mopping behind, or sweeping and mopping.Cleaning is performed using a separation method. The front-sweeping-then-mopping method allows sweeping and mopping to be done simultaneously, improving cleaning efficiency. The separate sweeping-mopping method allows sweeping first, followed by mopping, improving cleaning effectiveness.

[0021] The cleaning device may include a body, a controller, one or more cleaning components, one or more sensors, etc. The body may be circular, square, or other shapes. For example, part of the body may be circular, and another part may be square. The controller may include a microcontroller unit (MCU). Of course, the controller may also include other devices capable of control functions. The cleaning components may be circular, square, or other shapes (e.g., semi-circular, arc-shaped, triangular, etc.). A circular shape facilitates rotating cleaning. An irregular shape facilitates cleaning corner areas. The cleaning components may include side brushes, roller brushes (also known as floor brushes), and mop trays (also known as mop trays). Side brushes can gather foreign objects, causing them to move towards the center of the bottom of the cleaning device. Roller brushes can sweep up foreign objects from the bottom of the cleaning device, allowing them to enter the dust collection box through the suction port. A mop tray is used for wiping or mopping the floor. A mop is provided on the mop tray. A water tank is provided on the cleaning device. Water in the water tank flows through holes to the mop, wetting it. The wet mop is used for mopping. Foreign objects cleaned by the cleaning device include, but are not limited to, dust, hair, pet feces, etc. The sensors may include lidar sensors (e.g., triangulation sensors, TOF sensors, etc.), infrared sensors, line laser sensors, edge sensors, and vision sensors (e.g., cameras, etc.). The sensors are used to acquire obstacle information around the cleaning device. The obstacle information is used to represent one or more obstacles. The controller can control the cleaning device based on the obstacle information.

[0022] In an exemplary embodiment, the controller can control at least one cleaning component to swing. The swing may include swinging outwards from the cleaning device and / or retracting inwards from the cleaning device. Thus, during edge cleaning, the cleaning component can be controlled to swing outwards from the cleaning device to provide higher coverage and reduce missed cleaning areas. Instruction manual, page 4 / 46, CN 121421410 A. Additionally, considering the increased risk of the cleaning equipment getting trapped or touching obstacles (being contaminated by or contaminating obstacles) due to the cleaning components being extended outwards, the cleaning components can also be controlled to retract inwards into the cleaning equipment.

[0023] The edge cleaning may include the machine body cleaning along the contour boundary of an obstacle. The obstacle may include obstacles of any shape. For example, the obstacle may include a straight obstacle, the contour of which...The boundary can be a straight line, and the straight line obstacle can include a wall, which can include a real wall and a virtual wall, etc. For example, the obstacle can also include a circular obstacle, the outline of which can be an arc, and the circular obstacle can include a cylinder, table leg, chair leg, etc. For example, the obstacle can also include an irregular obstacle, which can include an obstacle with one or more protrusions.

[0024] All cleaning components of the cleaning device can be configured to swing. Alternatively, to reduce the structural complexity of the cleaning device and lower manufacturing costs, some cleaning components of the cleaning device can be configured to swing, while others can be configured not to swing.

[0025] The swing distance of the cleaning component can be fixed. Specifically, swinging outward from the cleaning device can include moving to an outward swing state, and retracting inward from the cleaning device can include moving to an inward retraction state. Thus, the cleaning component can switch between the outward swing state and the inward retraction state. The outward swing state can be a state in which at least a portion of the cleaning component swings outward from the cleaning device. The inward retraction state can be a state in which at least a portion of the cleaning component retracts inward from the cleaning device. In the outward-swinging state, the portion of the cleaning component located outside the periphery of the machine body is larger than the portion of the cleaning component located outside the periphery of the machine body in the inward-retracting state. Specifically, in the outward-swinging state, at least a portion of the cleaning component extends beyond the maximum width position of the machine body edge, or the cleaning component may extend beyond the machine body edge of the cleaning device, but not beyond the maximum width position of the machine body edge. In the inward-retracting state, the cleaning component does not extend beyond the machine body edge of the cleaning device, or the cleaning component may extend beyond the machine body edge of the cleaning device, but not beyond the maximum width position of the machine body edge.

[0026] It should be noted that a center point can be selected on the machine body. For example, if the shape of the cleaning device body is circular, the center point may include the center of the circle. For another example, if the shape of the cleaning device body is square, the center point may include the center point of the square. For another example, if the cleaning device may include two drive wheels, the center point may include the center point of the line connecting the two drive wheels; for example, the center point may be the center point of the line connecting the rotation centers of the two drive wheels. Then, the maximum width position of the machine body edge may include the position of the machine body edge furthest from the center point in the width direction of the machine body. Additionally, in subsequent embodiments, the rotation of the machine body may include the machine body rotating around the center point. Furthermore, in subsequent embodiments, the distance between the machine body and the obstacle may include the distance between the center point and the obstacle.

[0027] For example, the cleaning device may include at least one cleaning component; exemplarily, the cleaning device includes two cleaning components.The cleaning equipment is positioned with its forward direction as the front and its backward direction as the rear. The two cleaning components are located at the rear of the cleaning equipment. The left side of the forward direction is defined as the left side of the cleaning equipment, and the right side as the right side. A straight line passing through the center of the cleaning equipment and parallel to the forward / backward direction is used as the center line. The two cleaning components are symmetrically arranged on either side of the center line. With both cleaning components capable of swinging, they can swing in the same direction. This ensures a tight connection between the two cleaning components during swinging, preventing gaps and ensuring no areas are missed during cleaning. Alternatively, the cleaning component on the right side of the center line can be configured to swing, while the cleaning component on the left side can be configured not to swing. This allows for edge cleaning via the right-side cleaning component. See Figure 1. The cleaning component on the right side of the center line is in an outward swing state. In this outward swing state, at least a portion of the cleaning component extends beyond the maximum width of the machine body edge.

[0028] Alternatively, the swing distance of the cleaning component can also be adjustable. This allows the cleaning component to closely adhere to the outline boundary of the obstacle as described on page 5 / 46 of the instruction manual (8 CN 121421410 A). For example, during edge cleaning of irregular obstacles, adjusting the swing distance of the cleaning component allows it to closely adhere to the outline boundary of the obstacle, improving the cleaning effect. Specifically, swinging the cleaning component outward from the cleaning device can include swinging it outward a certain distance, and retracting the cleaning component inward from the cleaning device can include retracting it inward a certain distance. The swing distance of the cleaning component can be adjusted smoothly, allowing for stepless adjustment. Alternatively, the swing distance of the cleaning component can be adjusted in increments, allowing for multi-level adjustment. Each level corresponds to a swing distance outward. By controlling the cleaning component to be in different levels, different swing distances outward and inward swing distances can be achieved.

[0029] It should be noted that the retracted state can be considered as the cleaning component being in a retracted state, without swinging outward from the cleaning device. That is, in the retracted state, the distance the cleaning component swings outward can be considered zero. In the outward swing state, the distance the cleaning component swings outward can be considered MAX. Therefore, the controller can adjust the swing distance of the cleaning component within the range [0, MAX]. For example, using the center of the cleaning component as a reference point, the swing distance is the range of movement of the center of the cleaning component in the width direction of the machine body. When the cleaning component is in the retracted state, the swing distance of the center of the cleaning component is 0.

[0030] The cleaning device may include a first driving component. The first driving component may be connected to the cleaning component.The first driving component may include a rotary driving component. For example, the first driving component may include a motor, etc. The motor may include a brushed motor, a brushless motor, a stepper motor, a servo motor, etc. The controller may control the first driving component to rotate. By rotating, the first driving component can drive the cleaning component to swing. Specifically, the controller may control the cleaning component to rotate in one direction, thereby driving the cleaning component to swing outwards from the cleaning device. The controller may also control the cleaning component to rotate in another direction, thereby driving the cleaning component to retract inwards from the cleaning device. The controller may control the cleaning component to swing outwards or retract inwards by controlling the rotation direction of the first driving component. The controller may control the swing distance of the cleaning component by controlling the rotation time of the first driving component. For example, the controller may control the cleaning component to move from an outward swing state to an inward retraction state, from an inward retraction state to an outward swing state, swing outwards a certain swing distance, retract inwards a certain swing distance, etc.

[0031] In an exemplary embodiment, the cleaning device may also include a swing transmission mechanism. The swing transmission mechanism may be connected to the first driving component and the cleaning component. The swing transmission mechanism may include gears, racks, screw sleeves, worm gears, etc. The swing transmission mechanism can convert the rotational motion of the first driving component into the reciprocating motion of the cleaning component, thereby driving the cleaning component to swing. Of course, the cleaning device may further include an elastic element. The elastic element can deform under the action of external force to generate elastic force. For example, the elastic element may include a torsion spring, and the elastic force may include the torsion of the torsion spring. Of course, the elastic element may also include other components that can generate elastic force, such as tension springs, compression springs, etc. The swing transmission mechanism may be connected to the first driving component and the elastic element, and the elastic element may be connected to the cleaning component.

[0032] The cleaning component can be driven to swing outward by the elastic force of the elastic element alone.

[0033] Alternatively, the cleaning component can be driven to swing outward by the first driving component alone. Specifically, the controller can control the first driving component to rotate in a rotational direction. The swing transmission mechanism can convert the rotational motion of the first driving component into the motion of the cleaning component swinging outward. The position of the cleaning component or the swing transmission mechanism can be detected by a position sensor to determine whether the cleaning component has reached the required position. After reaching the required position, the position sensor can send a position signal to the controller. The controller can control the first driving component to stop rotating based on the position signal.

[0034] Alternatively, the cleaning component can be driven to swing outward by the cooperation of an elastic element and the first driving component. Specifically, the distance that the cleaning component needs to swing outward can be D, and the elastic element can drive the cleaning component to swing outward. (Page 6 / 46, 9 CN)121421410 A. The distance can be D1. The controller can then determine the distance D2 that the first driving component drives the cleaning component to swing outward, based on distances D and D1. D2 ≥ D - D1. The controller can control the first driving component to rotate. By rotating, the first driving component can drive the swing transmission mechanism and the cleaning component to swing outward from the cleaning equipment. The controller can detect the position of the cleaning component or the swing transmission mechanism using a position sensor to determine whether the cleaning component has reached the required position (corresponding to distance D2). After reaching the required position, the position sensor can send a position signal to the controller. The controller can control the first driving component to stop rotating based on the position signal. In this way, during edge cleaning, on the one hand, the cleaning component can be made to closely adhere to the contour boundary of the obstacle, thereby improving the cleaning effect on irregular obstacles; on the other hand, based on the force of the obstacle, the elastic element can drive the cleaning component to swing inward from the cleaning equipment to achieve a buffering or collision avoidance effect. Furthermore, during edge cleaning, the actual distance the cleaning component swings outward can also be varied through the elastic element. The actual distance the cleaning component swings outward can vary within the range [D2, D2+D1].

[0035] The cleaning component can be driven to retract inward using the first driving component. Specifically, the controller can control the first driving component to rotate in another rotation direction. The swing transmission mechanism can convert the rotational motion of the first driving component into the inward retraction motion of the cleaning component. The controller can detect the position of the cleaning component or the swing transmission mechanism using a position sensor to determine whether the cleaning component has reached the required position. After reaching the required position, the position sensor can send a position signal to the controller. The controller can control the first driving component to stop rotating based on the position signal.

[0036] After receiving the position signal, the controller directly controls the first driving component to stop rotating. Alternatively, considering the tolerance of gear transmission, after receiving the position signal, the controller can also control the first driving component to continue rotating for a set time to compensate for the gear transmission tolerance. This ensures that the cleaning component can swing outward and retract inward. The set time can be any length of time. For example, the set time can be selected from 0 to 10 seconds. Specifically, for example, the set duration can be 1 second, 2 seconds, 3 seconds, 4 seconds, 5 seconds, 9 seconds, 10 seconds, etc.

[0037] After the cleaning component reaches the required position (e.g., the position corresponding to the cleaning component in the outward swing state, the position corresponding to the cleaning component in the inward retraction state, the position corresponding to the cleaning component moving any swing distance), the cleaning component may not be limited, or it may be limited. By limiting, the cleaning component can be kept in the required position and cannot change. A self-locking structure can be used to limit the cleaning component. The self-locking...The structure may include a first drive mechanism. Specifically, the controller can send a self-locking signal to the first drive mechanism. The self-locking signal is used to self-lock the first drive mechanism, enabling the cleaning component to remain in the desired position. For example, a brushed motor can be used as the first drive component. Limiting is achieved by utilizing the braking function of the brushed motor. The controller short-circuits the positive and negative terminals of the brushed motor to achieve the braking function, thereby limiting the cleaning component. Short-circuiting the positive and negative terminals of the brushed motor can generate the self-locking signal. Alternatively, the self-locking structure may also include a mechanical self-locking structure. The mechanical self-locking structure, while limiting the cleaning component, can also adjust the swing distance of the cleaning component according to the gear position. For example, multiple retractable limiters can be set on the cleaning device, each retractable limiter corresponding to a tooth groove on the gear of the first drive component. After the cleaning component reaches the desired position, the retractable limiter can be driven to extend, so that the retractable limiter is inserted into the tooth groove, achieving mechanical self-locking according to the gear position. As another example, the swing transmission mechanism may include a rotating component and a swinging component. One end of the swinging component is connected to the cleaning component, and the other end is connected to the rotating component. The rotation of the rotating component is driven by the first driving component. The controller can issue a rotation command to the first driving component. After receiving the rotation command, the first driving component can drive the rotating component to rotate, thereby controlling the swing component to swing. The swing of the swing component can cause the cleaning component to swing outward or inward. The rotating component can be connected to the first driving component through gears. Multiple electromagnetic elements can be set on the rotating component. The electromagnetic elements can form an adsorption effect with the gears. When the rotating component rotates to a suitable position, the electromagnetic elements can be controlled to conduct electricity to have an adsorption force, thereby adsorbing the gears and keeping the gears in their current position.

[0038] It should be noted that the position sensor may include a signal receiver, a Hall sensor, an infrared sensor, a micro switch, etc. The following example illustrates the process of detecting position through a position sensor.

[0039] For example, the swing transmission mechanism may include a rotating component and a swing component. One end of the swing component is connected to the cleaning component, and the other end is connected to the rotating component. The rotation of the rotating component is driven by the first driving component. The controller can issue a rotation command to the first driving component. Upon receiving a rotation command, the first driving component can drive the rotating component to rotate, thereby controlling the swinging component to swing. The swinging of the swinging component can cause the cleaning component to swing outward or retract.

[0040] The position sensor includes a detection component disposed on the first driving component. A corresponding detection trigger element is disposed on the rotating component. The detection trigger element on the rotating component can be detected by the detection component on the first driving component to determine the operating state of the cleaning component, which may include a retracted state and an outward swing state. The detection trigger...The component is used to control the position to which the rotating part is allowed to rotate, such as the position of the rotating part when the cleaning part is in an outward swing state or the position of the rotating part when the cleaning part is in an inward retraction state. The detection component can be a sensor, which determines whether a detection trigger element is detected by sensing whether the detection trigger element is touched. Alternatively, the detection component can also be a signal receiver, which determines whether a detection trigger element is detected by receiving a signal sent by the detection trigger element and the signal strength. The rotating part can be connected to the first drive component by a gear, and the detection trigger element can include protruding teeth on the gear.

[0041] After the detection component detects that the detection trigger element has rotated to a certain position, it can send a position signal to the controller. The controller can control the first drive component to stop rotating according to the position signal.

[0042] For example, the position sensor can include a Hall sensor. When the cleaning part is in an outward swing state or an inward retraction state, the Hall sensor can detect the swing transmission mechanism or the metal on the cleaning part and sense its position, thereby sending a position signal to the controller. Alternatively, the position sensor can also include a micro switch, such as an optocoupler switch. When the cleaning component is in an outward swing or inward retraction state, the cleaning component or the swing transmission mechanism will contact the micro switch to trigger the micro switch. The triggered micro switch can send a position signal to the controller. Alternatively, the position sensor may also include an infrared sensor. The infrared sensor can use the principle of a downward-looking sensor to detect the cliff to detect the position of the cleaning component, thereby sending a position signal to the controller. After receiving the signal from the position sensor, the controller can control the first drive component to stop rotating.

[0043] In an exemplary embodiment, the controller can control the cleaning component to lift and lower. By controlling the lifting and lowering, the cleaning component can be in a cleaning state, a raised state, or a separated state. In the cleaning state, the cleaning component contacts the cleaning surface to achieve cleaning. In the raised state, the cleaning component can detach from the cleaning surface so that the cleaning device can smoothly cross some obstacles (such as carpets). In the separated state, the cleaning component can separate from the cleaning device to achieve automatic disassembly of the cleaning component.

[0044] The cleaning device may include a second drive component and a lifting mechanism. The second drive component may include a motor, etc. The lifting mechanism can be connected to the second driving component and the cleaning component, and can convert the rotational motion of the second driving component into the lifting motion of the cleaning component. The lifting mechanism can be of various types, such as a gear and rack mechanism, a threaded lifting mechanism, a cylinder, a lead screw, a worm gear, etc.

[0045] In an exemplary embodiment, the controller can control the cleaning component to rotate so that the cleaning component can perform rotational cleaning. Specifically, the cleaning device may include a third driving component. The third driving component may include a motor.The controller can control the third drive component to rotate along the central axis. The third drive component can drive the cleaning component to rotate by rotating. The controller can control the rotation direction of the cleaning component (page 8 / 46, CN 121421410 A) by controlling the rotation direction of the third drive component. The controller can control the rotation speed of the cleaning component by controlling the rotation speed of the third drive component.

[0046] The lifting and lowering process of the cleaning component is divided into two cases. The first case is that the second drive component drives the cleaning component to rotate to achieve lifting and lowering movements. Correspondingly, the cleaning component does not rotate during the outward swing and inward retraction processes. The second case is that the cleaning component does not rotate during the lifting and lowering process driven by the second drive component. Correspondingly, the cleaning component can rotate or not rotate during the outward swing and inward retraction processes.

[0047] In the first case, the third drive component and the second drive component can be the same component. This allows the same component to drive the lifting and rotating of the cleaning component, reducing the manufacturing cost of the cleaning equipment.

[0048] At this time, the controller can control the cleaning component to rotate along a rotation direction. The lifting mechanism can convert the rotational motion of the second drive component into the lifting motion of the cleaning component. The controller can control the cleaning component to rotate in another rotational direction. The lifting mechanism can convert the rotational motion of the second drive component into the lowering motion of the cleaning component.

[0049] For example, if the cleaning component is in a raised state, when it is determined that the cleaning component needs to be lowered, the controller can control the second drive component to rotate in a second rotational direction. By rotating in the second rotational direction, the second drive component can drive the cleaning component to lower, so that the cleaning component enters the cleaning state.

[0050] It should be noted that the rotational direction when performing rotational cleaning can be different for cleaning components located in different positions. For example, taking the forward direction of the cleaning device as forward and the backward direction as backward, the left side of the forward direction is the left side of the cleaning device, and the right side of the forward direction is the right side of the cleaning device. Then, for the cleaning component located on the left, the rotational direction when performing rotational cleaning can be the first rotational direction. For the cleaning component located on the right, the rotational direction when performing rotational cleaning can be the second rotational direction.

[0051] In the second case, the third drive component and the second drive component can be different drive components. This allows for the use of different components to drive the lifting and rotation of the cleaning component. The cleaning component may or may not rotate during the lifting process.

[0052] Considering that when the cleaning component is swung outwards from the cleaning equipment, directly lifting the cleaning component may cause it to rub against obstacles during the lifting process, affecting its service life. Furthermore, it may also...Scratches are left on the obstacle. Therefore, if the cleaning component is detected to be in a cleaning state and the cleaning component is detected to be swinging outwards from the cleaning equipment, when it is necessary to lift the cleaning component, the controller can first control the cleaning component to retract into the cleaning equipment; after reaching the retracted state, the controller can then control the cleaning component to lift, so that the cleaning component enters the lifted state from the cleaning state.

[0053] For example, the third driving component and the second driving component can be the same component. Then the controller can control the second driving component (or the third driving component) to rotate along the first rotation direction. The second driving component (or the third driving component) can drive the cleaning component to lift by rotating along the first rotation direction, and at the same time drive the cleaning component to rotate along the first rotation direction, and the cleaning component rotates during the lifting and lowering process.

[0054] If the cleaning component is in a cleaning state, when it is determined that the cleaning component needs to be lifted, the controller can control the second driving component to rotate along the first rotation direction. The second driving component can drive the cleaning component to lift by rotating along the first rotation direction, so that the cleaning component enters the lifted state. After entering the lifted state, the controller can continue to control the second driving component to continue to rotate along the first rotation direction. The second driving component can drive the cleaning component to lift by rotating along the first rotation direction, thereby separating the cleaning component from the lifting mechanism and disassembling the cleaning component. For example, a magnetic component can be provided on the lifting mechanism. The magnetic component is used for magnetic connection between the cleaning component and the lifting mechanism. A blocking component is provided on the cleaning device to restrict further lifting of the cleaning component after it is in the lifted state. After the cleaning component is in the lifted state, if the cleaning component is driven to continue lifting, the magnetic connection between the cleaning component and the lifting mechanism is broken, and the cleaning component falls (disconnected state, page 9 / 46 of the specification, 12 CN 121421410 A).

[0055] For another example, the third driving component and the second driving component can also be different components. The lifting motion of the cleaning component and its rotational motion (self-rotation) along the central axis of the third driving component are independent of each other. In this case, depending on the implementation of the lifting mechanism connected to the second driving component, the cleaning component may or may not rotate during the lifting process.

[0056] The controller can control the second driving component to rotate along the first rotation direction. The second driving component can drive the cleaning component to lift by rotating along the first rotation direction. During the lifting process, the controller can control the third driving component not to rotate, so that the cleaning component does not rotate during the lifting process.

[0057] If the cleaning component is detected to be in a lifted state, when the cleaning component needs to be swung out of the cleaning equipment, the controller can first control the cleaning component to descend, so that the cleaning component enters the cleaning state from the lifted state; after entering the cleaning state, the controller can then control the cleaning component to swing out of the cleaning equipment.

[0058] For example, the third driving component and the second driving component can be the same component. Then the controller can control the second driving component (or the third driving component) to rotate along the second rotation direction. By rotating along the second rotation direction, the second driving component (or the third driving component) can drive the cleaning component to descend, and simultaneously drive the cleaning component to rotate along the second rotation direction.

[0059] Alternatively, the third driving component and the second driving component can be different components. The controller can control the second driving component to rotate along the second rotation direction. By rotating along the second rotation direction, the second driving component can drive the cleaning component to descend. During the descent, the controller can control the third driving component not to rotate, so that the cleaning component does not rotate during the descent.

[0060] In an exemplary embodiment, the third driving component and the first driving component can be the same component. This allows the same component to drive the cleaning component to swing and rotate, reducing the manufacturing cost of the cleaning equipment. The swing and rotation of the cleaning component are correlated. Of course, the third driving component and the first driving component can be different driving components. This allows different components to drive the cleaning component to swing and rotate. The swing and rotation of the cleaning component are mutually opposed.

[0061] The cleaning component may not rotate during the outward swinging process. This prevents the cleaning component from tilting due to collisions with obstacles. Alternatively, the cleaning component may rotate during the outward swinging process to avoid missed areas. During the outward swinging process, the controller can control the rotation direction of the cleaning component. For example, the controller can control the cleaning component to rotate outward from the cleaning equipment. During the outward rotation, the cleaning component tends to move outward due to the friction between the cleaning component and the ground. Therefore, by rotating the cleaning component outward, the driving force required for the cleaning component to swing outward can be reduced. Taking the cleaning component on the right side of the machine body rotating outward as an example, when the cleaning component rotates outward, the friction between the left and right ends of the cleaning component and the ground can be the same. However, the right end of the cleaning component is farther away from the swing center when the cleaning component swings outward relative to the left end. The lever arm from the right end of the cleaning component to the swing center is greater than the lever arm from the left end of the cleaning component to the swing center. Therefore, the torque of the right end of the cleaning component is greater than the torque of the left end of the cleaning component. The torque of the right end of the cleaning component is the torque for outward movement, which helps to reduce the driving force of the cleaning component swinging outward when rotating outward.

[0062] Furthermore, during the outward swinging process, the controller can also control the rotation speed of the cleaning component. Specifically, the controller can control the cleaning component to rotate at a lower rotation speed; while the cleaning component is rotating, it can control the cleaning component to swing outward; after detecting that the cleaning component has reached the required position, it can control the cleaning component to...Another higher rotational speed is used for rotation. This reduces the rotational speed of the cleaning component during the outward swinging process, preventing the cleaning component from tilting due to collisions with obstacles. Specification 10 / 46 pages 13 CN 121421410 A

[0063] The cleaning component may not rotate during the inward retraction process. Alternatively, the cleaning component may rotate during the inward retraction process. During the inward retraction process, the controller can control the rotation direction of the cleaning component. For example, the controller can control the cleaning component to rotate inward into the cleaning device. Similar to the process of the cleaning component swinging outward, when the cleaning component is retracted inward, controlling the cleaning component to rotate inward, based on the frictional force between the cleaning component and the ground, the torque at the right end of the cleaning component is greater than the torque at the left end of the cleaning component. The torque at the right end of the cleaning component is the torque for inward movement. Therefore, when the cleaning component rotates inward, it is beneficial to reduce the driving force for the inward retraction of the cleaning component. Therefore, by rotating inward, the driving force required for the cleaning component to retract inward can be reduced. Furthermore, during the inward retraction process, the controller can also control the rotation speed of the cleaning component. Specifically, the controller can first reduce the rotation speed of the cleaning component, and then control the cleaning component to retract inward; after detecting that the cleaning component has reached the desired position, it can control the cleaning component to restore its original rotation speed, or reduce the rotation speed of the cleaning component to zero.

[0064] Please refer to Figures 2a and 2b. With the forward direction as forward and the backward direction as backward, the left side of the forward direction is the left side of the cleaning device, and the right side of the forward direction is the right side of the cleaning device. The cleaning component on the right side can rotate along the first rotation direction during the outward swinging process. The cleaning component on the left side can rotate along the second rotation direction during the outward swinging process. This can reduce the driving force required for the cleaning component to swing outward. The cleaning component on the right side can rotate along the second rotation direction during the inward retraction process. The cleaning component on the left side can rotate along the first rotation direction during the inward retraction process. This can reduce the driving force required for the cleaning component to retract inward.

[0065] In one exemplary embodiment, during the edge cleaning process, the controller can control the cleaning component to swing outward, causing it to fall due to a collision with an obstacle.

[0066] To this end, the controller can detect whether the cleaning component has separated from the cleaning device. When separation is detected, the controller can control the cleaning component to retract inward; after reaching the retracted state, the controller can control the cleaning component to rise, causing it to transition from a cleaning state to a raised state. After entering the raised state, the controller can again detect whether the cleaning component has separated from the cleaning device to reconfirm whether the cleaning component has separated from the cleaning device.

[0067] If it is confirmed that the cleaning component is not separated from the cleaning equipment, the controller can control the cleaning component to descend, so that the cleaning component enters the cleaning state from the raised state; after entering the cleaning state, the controller can control the cleaning component to swing outwards from the cleaning equipment to continue edge cleaning.

[0068] If it is confirmed that the cleaning component is separated from the cleaning equipment, the controller can control the cleaning equipment to move to find the cleaning component. After finding the cleaning component, the controller can control the lifting mechanism to descend so that the lifting mechanism and the cleaning component are aligned and installed. After successful installation, the controller can control the cleaning component to swing outwards from the cleaning equipment to continue edge cleaning.

[0069] The lifting mechanism can be connected to the second drive component for transmission, and can convert the rotation of the second drive component into the lifting of the cleaning component. A sensor can be provided on the transmission mechanism, and a corresponding sensing element can be provided on the cleaning component. The controller can detect whether the cleaning component is separated from the transmission mechanism based on the sensor and the sensing element. The sensor may include a Hall sensor, and the controller can detect whether the cleaning component is separated from the transmission mechanism based on the magnitude of the Hall value. For example, a magnetic element can be provided on the lifting mechanism. The magnetic element is used for magnetic connection between the cleaning component and the lifting mechanism. After detecting that the cleaning component has detached, the controller can locate and install the cleaning component. The controller can control the cleaning device to trace back its historical path to find the cleaning component, or it can control the cleaning device to move in the direction of increasing Hall effect value to find the cleaning component. After finding the cleaning component, the controller can control the lifting mechanism to descend, so that the cleaning component is magnetically connected and installed on the lifting mechanism. For example, other types of sensors can also be used, such as magnetic proximity sensors, which move in the direction of increasing sensor signal strength during the search for the cleaning component. Specification 11 / 46 pages 14 CN 121421410 A

[0070] In an exemplary embodiment, the cleaning component swings outward, which may cause the cleaning device to become trapped. For this reason, the controller can determine whether the cleaning device is trapped; if the cleaning device is trapped, the operating status of the cleaning component can be determined; if the cleaning component is in the outward swing state, the cleaning component can be controlled to move to the inward retraction state, and then the cleaning device can be controlled to perform an obstacle-crossing action; if the cleaning component is in the inward retraction state, the cleaning device can be controlled to perform an obstacle-crossing action. The operating status of the cleaning component can be detected by a position sensor, and the specific process will not be described here. Of course, if the cleaning equipment is stuck, it can also be directly controlled to perform an obstacle-crossing action. This could potentially allow the obstacle-crossing action to be performed while the cleaning components are in an outward-swinging state. This makes the cleaning components more susceptible to external influences, potentially causing them to fall.

[0071] One or more stuck conditions can be set. The stuck conditions may include: a slip coefficient greater than or equal to a set...The following conditions are considered: a set value, the tilt angle of the cleaning device is greater than or equal to the set value, the current of the driving components (first driving component, second driving component, third driving component) is greater than or equal to the set value, and the continuous triggering duration of the lidar sensor (LDS) is greater than or equal to the set value. The controller can determine that the cleaning device is trapped when any one of the trapped conditions is detected. Alternatively, the controller can determine that the cleaning device is trapped when the number of trapped conditions detected is greater than or equal to a threshold. The process of the controller performing the obstacle-crossing action can be found in the following embodiments.

[0072] In an exemplary embodiment, when the cleaning component is in the outward swing state, the controller can control the cleaning component to move to the outward swing state at a first set time interval. By forcing the outward swing at a set time interval, the cleaning component can be prevented from shrinking inward due to collision, resulting in incomplete outward swing and reduced coverage during edge cleaning. Specifically, the controller can control the first driving component to rotate at a set time interval, thereby driving the cleaning component to move to the outward swing state.

[0073] The controller can directly control the cleaning component to move to the outward swing state at a first set time interval. Alternatively, the controller can detect the operating status of the cleaning component through a position sensor at first set intervals; if the cleaning component is not in the outward swing state (e.g., the cleaning component is in the inward retraction state, or the cleaning component swings outward a certain distance), it can control the cleaning component to move to the outward swing state.

[0074] When the cleaning component is in the inward retraction state, the controller can also control the cleaning component to move to the inward retraction state at second set intervals. By forcibly retracting at set intervals, the cleaning component can be prevented from swinging outward to some extent due to the vibration of the cleaning equipment, resulting in incomplete retraction and gaps between the cleaning components (e.g., between two mop trays). These gaps can cause omissions during cleaning. Specifically, the controller can control the first drive component to rotate at set intervals, thereby driving the cleaning component to move to the inward retraction state.

[0075] The controller can directly control the cleaning component to move to the inward retraction state at second set intervals. Alternatively, the controller can also detect the operating status of the cleaning component via a position sensor at second set intervals; if the cleaning component is not in the retracted state (e.g., the cleaning component is in the outward swing state, or the cleaning component has swung outward a certain distance), it can control the cleaning component to move to the retracted state.

[0076] The first set interval and the second set interval can be the same or different.

[0077] The first set interval and the second set interval can be any time length. For example, the first set interval and the second set interval can be 5 minutes, 10 minutes, etc.

[0078] In an exemplary embodiment, a control method for a cleaning device is provided.

[0079] Please refer to Figure 3. The control method may include the following steps.

[0080] Step S31: Select a reference point on the protrusion of the obstacle; Step S32: Plan the edge-following route of the cleaning equipment according to the reference point; Step S33: Control the cleaning equipment to walk according to the edge-following route to perform edge cleaning. Specification 12 / 46 pages 15 CN 121421410 A

[0081] The obstacle may be irregular and have one or more protrusions. The protrusion may include arc-shaped protrusions, rectangular protrusions, and other protrusions of arbitrary shapes. The controller can obtain obstacle information of the cleaning equipment in the direction of travel through sensors; it can identify the protrusions on the obstacle according to the obstacle information; it can select a reference point on the protrusion of the obstacle according to the obstacle information. For example, the vertex of the protrusion or any other point can be selected as the reference point.

[0082] The controller can determine whether the reference points on multiple adjacent protrusions can form a straight line. Specifically, it can determine whether the reference points of multiple protrusions can form a straight line according to the tangent at the reference point. If the tangents at the reference points have the same slope, it can be determined that the reference points of multiple protrusions can form a straight line. If the tangents at the reference points have different slopes, it can be determined that the reference points of multiple protrusions cannot form a straight line.

[0083] Please refer to Figure 4. If the reference points on multiple adjacent protrusions can form a straight line, the controller can use the straight line formed by the reference points as the reference straight line; the edge path of the cleaning equipment can be determined based on the reference straight line. The edge path can include a straight line passing through the center point of the machine body. The reference straight line can include the tangent at the reference point. The distance between the edge path and the reference straight line can be the radius of the cleaning equipment body or other values. Please refer to Figure 5. If the reference points on multiple adjacent protrusions cannot form a straight line, the controller can determine the corresponding reference line segment based on the reference point on each protrusion; the controller can determine the corresponding edge path segment based on each reference line segment. The reference line segment can include a straight line, specifically including the tangent at the reference point. The distance between the edge path segment and the reference line segment can be the radius of the cleaning equipment body or other values. The edge path segment can include a straight line passing through the center point of the machine body. A reference line can be obtained by splicing one or more reference line segments. The edge path of the cleaning device can be obtained by splicing one or more edge path segments.

[0084] During the movement along the edge path, the controller can control the cleaning component to be in an outward swing state. Alternatively, during the movement along the edge path, the controller can detect the distance between the cleaning device's body and obstacles using a sensor (e.g., an edge sensor); based on this distance, the controller can control the outward swing distance of the cleaning component. This allows for real-time adjustment of the cleaning component's swing distance. This avoids the cleaning component rubbing against protrusions and improves the coverage of edge cleaning.

[0085] In an exemplary embodiment, the controller can acquire obstacle information of the cleaning device in the direction of travel through sensors; based on the obstacle information, it can identify the shape of the obstacle and plan the edge-tracing route of the cleaning device by extracting the outline boundary of the obstacle. For example, the controller selects multiple reference points based on the shape of the obstacle; it can determine the tangents at the multiple reference points; it can plan a polygonal edge-tracing route based on the tangents at the multiple reference points; and it can control the cleaning device to travel along the polygonal edge-tracing route.

[0086] For example, the obstacle is a circular obstacle, and the tangents at the multiple reference points can constitute the circumscribed polygon of the circular obstacle. The number of sides of the circumscribed polygon can be equal to the number of sides of the polygonal edge-tracing route. The distance between each side of the circumscribed polygon and the corresponding side of the polygonal edge-tracing route can be the radius of the cleaning device body or other values. For example, when the cleaning device extracts the tangents of the obstacle's outline based on the reference points, the edge-tracing route of the cleaning device differs for obstacles of different sizes due to the controller's processing capabilities. Specifically, the controller can determine the number of reference points based on the size of the circular obstacle, thereby determining the number of sides of the polygonal edge-tracing route. The larger the size of the circular obstacle, the more sides the polygonal edge path has. The smaller the size of the circular obstacle, the fewer sides the polygonal edge path has. For example, for a small circular obstacle, fewer edges can be extracted along the edge path, while for a large circular obstacle, more edges can be extracted. For example, the size can include the radius or diameter of the circular obstacle. When the size of the obstacle is less than or equal to a size threshold, the edge path of the cleaning device is a rectangular edge path, where the size threshold can be 8mm, 9mm, 8.5mm, etc. For example, referring to Figure 6a, for a small circular obstacle, the polygonal edge path can have 4 sides, thus the polygonal edge path is a rectangular edge path. Referring to Figure 6b, when the size of the obstacle is greater than the size threshold, for example, for a large circular obstacle, the polygonal edge path has more sides. When the size is large enough, the polygonal edge path can approach a circular path.

[0087] In an exemplary embodiment, with the cleaning component extended outwards, the controller can control the machine body to perform edge cleaning of the obstacle. During edge cleaning, the controller can obtain the distance between the machine body and the obstacle through sensors. The sensors may include lidar sensors (e.g., triangulation sensors, TOF sensors, etc.), infrared sensors, line laser sensors, edge sensors, and vision sensors (e.g., cameras, etc.). However, in some scenarios,The obstacle has a low-lying protrusion (e.g., a baseboard on a wall). Some sensors on the device (e.g., lidar sensors) are positioned high. This makes it possible that these sensors cannot determine the distance between the device and the protrusion, thus hindering the control of the cleaning equipment. For example, the obstacle may include a wall with a low-lying baseboard. These sensors can determine the distance between the device and the wall, but not the distance between the device and the baseboard.

[0088] To address this, the distance between the device and the obstacle can be determined by the cooperation of multiple sensors. Specifically, the multiple sensors may include a first sensor and a second sensor. The first sensor can determine a first distance between the device and the obstacle, and the second sensor can determine a second distance between the device and the obstacle. The controller can calculate the difference between the first distance and the second distance; when the difference is less than a threshold, it can be assumed that the obstacle does not have a low-lying protrusion, and either the first distance or the second distance can be used as the distance between the device and the obstacle. When the difference is greater than or equal to the threshold, it can be assumed that the obstacle has a low-lying protrusion, and the smaller of the first distance and the second distance can be used as the distance between the device and the obstacle. The smaller of the first distance and the second distance can represent the distance between the fuselage and the protrusion.

[0089] For example, the first sensor can be a collision detection sensor, and the second sensor can be a lidar sensor. When the fuselage travels along the obstacle and collides with it, the collision detection sensor and the lidar sensor determine that the obstacle has a low-lying protrusion (e.g., a baseboard). At this time, the distance between the cleaning device and the obstacle is increased to continue the cleaning task.

[0090] Further, after determining that the obstacle has a low-lying protrusion, the cleaning device increases the distance between the cleaning device and the obstacle to continue the cleaning task, and stores each instance of detecting a protrusion, for example, it can be stored in the cleaning device's map. The distance between the cleaning device and the obstacle when the protrusion is not detected is set to D3. After the cleaning device detects a protrusion on the obstacle, it adjusts the distance between itself and the obstacle to D4, where D4 > D3. When the cleaning device performs the cleaning task for the next N times, the cleaning device maintains an adjusted distance D4 between itself and the obstacle based on stored information (e.g., based on a map); when the cleaning device performs the cleaning task for the N+1th time, it performs the cleaning task based on the original distance D3. For example, the N times can be set to 3, 4, 5, etc. In this way, collisions between the cleaning device and obstacles can be reduced during the cleaning task, and when obstacles change, edge cleaning can be performed to avoid omissions.

[0091] In an exemplary embodiment, a control method for a cleaning device is provided.

[0092] Please refer to Figure 7. The control method may include the following steps.

[0093] Step S71: Obtain obstacle information of the cleaning device in the direction of travel; Step S72: Determine whether the cleaning device meets the preset conditions based on the obstacle information; Step S73: When the cleaning device meets the preset conditions, control the action of the cleaning device.

[0094] In an exemplary embodiment, during the execution of a preset cleaning task, the controller can control the cleaning component to swing outward. Specifically, the controller can control the distance the cleaning component swings outward or control the cleaning component to swing outward to the swing state. Under the condition that the cleaning component swings outward, the controller can obtain obstacle information of the cleaning device in the direction of travel through a sensor; it can determine whether the cleaning device meets the preset conditions based on the obstacle information; when the cleaning device meets the preset conditions, it can control the action of the cleaning device to complete the preset cleaning task.

[0095] In an exemplary embodiment, the preset conditions may include obstacle avoidance conditions. The obstacle avoidance conditions may include obstacle distance conditions. The obstacle distance condition may include the distance between the machine body and the obstacle being less than or equal to a distance threshold. Specifically, the controller can obtain the distance between the machine body and the obstacle based on obstacle information; when the distance is less than or equal to the distance threshold, it can be determined that the cleaning equipment meets the obstacle avoidance condition; when the distance is greater than the distance threshold, it can be determined that the cleaning equipment does not meet the obstacle avoidance condition. Of course, the obstacle avoidance condition may also include an obstacle type condition. The obstacle type condition may include the obstacle being a preset type of obstacle. Specifically, the controller can obtain the distance between the machine body and the obstacle and the type of obstacle based on obstacle information; when the distance is less than or equal to the distance threshold and the type of obstacle is a preset type, it can be determined that the cleaning equipment meets the obstacle avoidance condition; otherwise, it can be determined that the cleaning equipment does not meet the obstacle avoidance condition. For information on identifying the type of obstacle based on obstacle information, please refer to the following embodiments. It will not be repeated here.

[0096] The action of controlling the cleaning equipment may include: controlling the machine body to perform an obstacle avoidance action.

[0097] Controlling the machine body to perform an obstacle avoidance action may include: reducing the rotation speed of the cleaning component. By reducing the rotation speed of the cleaning component, it's possible to prevent excessive rotation speed, which could lead to greater forces from obstacles and cause the cleaning equipment to deviate from its planned edge-following path. Specifically, the controller can reduce the cleaning component's rotation speed from its current speed. This reduction speed can be preset. Alternatively, the controller can obtain the distance between the obstacle and the machine body based on obstacle information; the reduction speed can then be determined based on this distance. The smaller the distance between the obstacle and the machine body, the greater the reduction in rotation speed.The device can subtract the reduced rotational speed from the current rotational speed of the cleaning component to obtain the reduced rotational speed of the cleaning component. Specifically, the controller can reduce the rotational speed of the cleaning component by reducing the rotational speed of the third drive component.

[0098] Controlling the body to perform obstacle avoidance actions may also include: controlling the cleaning component to retract inward to avoid collisions between the cleaning component and obstacles. Specifically, the controller can control the cleaning component to move to the retracted state, or it can control the cleaning component to retract inward by a certain swing distance. The retraction swing distance can be preset. Alternatively, the controller can obtain the distance between the obstacle and the body based on obstacle information; it can determine the retraction swing distance based on the distance between the obstacle and the body. The smaller the distance between the obstacle and the body, the larger the retraction swing distance.

[0099] When the cleaning device cleans the first side obstacle along the edge, the cleaning component can swing outward. The controller can identify the second side obstacle based on obstacle information. The first side obstacle can be located on the left or right side of the body's travel direction, and the second side obstacle can be located in front of the body's travel direction. The controller can determine whether to control the machine to perform an obstacle avoidance maneuver to avoid the second obstacle based on the positional relationship between the first and second obstacles. For example, the controller may determine that the first and second obstacles are in contact, preventing the cleaning equipment from passing between them, thus requiring the machine to perform an obstacle avoidance maneuver. Alternatively, the controller may determine that the first and second obstacles are not in contact, but the distance between them is small, preventing the cleaning equipment from passing between them, thus requiring the machine to perform an obstacle avoidance maneuver. For example, the first obstacle can be a straight obstacle, such as a wall. The second obstacle can be furniture such as a table or chair, or it can be shoes, toys, pets, etc. The control mechanism for obstacle avoidance may further include: controlling the cleaning component to move to an inward position to provide space for the body's turning; determining the rotation angle based on the orientation of the second obstacle; and controlling the body to rotate the rotation angle by 15 / 46 degrees away from the first obstacle to avoid it. The controller can control the cleaning component to swing outward during the body's movement. This ensures that the cleaning component is in position when the body reaches the second obstacle, preventing lag in the outward swing. See Figure 8 for details. For example, the controller can obtain the angle between the straight line formed by the second obstacle and the body and the outline boundary of the first obstacle as the rotation angle. The magnitude of the rotation angle is related to the second obstacle and the...The distance between the outline boundaries of the first obstacle is related. The greater the distance between the outline boundaries of the second obstacle and the first obstacle, the greater the rotation angle.

[0100] Regarding controlling the cleaning component to move to the retracted state, at least the following two situations can be included. One situation is that the controller obtains the distance between the body and the second obstacle based on the obstacle information; when the distance is less than or equal to the distance threshold, the traveling speed of the body can be controlled to be zero, and then the cleaning component can be controlled to move to the retracted state. Another situation is that the controller can control the cleaning component to move to the retracted state during the movement of the body.

[0101] In an exemplary embodiment, the preset cleaning task can include a preset edge cleaning task. During the edge cleaning process, the controller can obtain obstacle information of the cleaning device in the direction of travel. The obstacle information can include point cloud data. The point cloud data is used to represent one or more obstacles. Each obstacle can be represented by one or more points. The controller can obtain the distance between the cleaning device body and the points in the point cloud data; it can determine whether the point cloud data contains one or more target points with a distance less than or equal to a distance threshold; if so, it can be considered that the cleaning device meets the preset conditions and the movement of the body can be controlled. Specifically, the sensors on the cleaning device (e.g., line laser detection) may have errors, resulting in some discrete points in the point cloud data. The discrete points do not represent obstacles. In order to maintain the continuity of cleaning along the edge, when the point cloud data contains target points, the controller can obtain the neighboring points of the target points. The neighboring points include points in the point cloud data whose distance from the target point is less than or equal to a certain threshold.

[0102] For example, the cleaning device needs to identify whether the target point represents an obstacle. For example, the target point and its neighboring points can be fitted. If the target point and its neighboring points can be fitted into a line segment or curve, it is considered that the target point and its neighboring points form a dense point cloud, and the body needs to perform obstacle avoidance action; otherwise, if the target point and its neighboring points cannot be fitted into a line segment or curve, it is considered that the target point and its neighboring points are discrete points, and the body does not need to perform obstacle avoidance action.

[0103] For example, the number of neighboring points of a target point can be used to determine whether the target point is a discrete point or an obstacle (dense point cloud), as shown in Figures 10a and 10b. When the number of neighboring points is less than a threshold, the controller can consider the target point to be a discrete point and maintain the current action of the fuselage. For example, the controller can keep the fuselage cleaning along the edge of the obstacle without performing obstacle avoidance.

[0104] Please refer to Figures 11a and 11b. When the number of neighboring points is greater than or equal to a threshold, the controller can consider the target point to represent an obstacle and control the fuselage to perform obstacle avoidance. For example, the controller can control the cleaning component to move inward.The cleaning component can be retracted and / or its rotation speed reduced. The controller can also control the machine body to perform the following obstacle avoidance actions.

[0105] The controller can select a reference point on an obstacle represented by one or more target points; it can plan the edge-following route of the cleaning device based on the reference point; it can control the cleaning device to walk along the edge-following route for edge cleaning. For example, the controller can obtain the tangent at the reference point as a reference straight line; it can determine the edge-following route based on the reference straight line. The edge-following route can include a straight line passing through the center point of the machine body. The distance between the edge-following route and the reference straight line can be the radius of the cleaning device body or other values. The reference point can include the apex of a protrusion on the obstacle. Of course, the reference point can also include other points (e.g., target points). During the movement along the edge-following route, the controller can detect the distance between the cleaning device body and the obstacle using a sensor (e.g., an edge sensor); it can control the outward swing distance of the cleaning component based on the distance. This allows for real-time adjustment of the swing distance of the cleaning component. (See page 16 / 46 of the specification, 19 CN 121421410 A). To avoid scratches.

[0106] In an exemplary embodiment, the obstacles may include a first side obstacle and a second side obstacle, depending on the direction of travel of the cleaning device. The first side obstacle is located on the left or right side of the direction of travel. The second side obstacle is located on the front or rear side of the direction of travel. The first side obstacle and the second side obstacle may intersect. The angle formed by the intersection includes 30°, 60°, 90°, etc. In a specific implementation scenario, the first side obstacle includes a horizontal side obstacle, and the second side obstacle includes a vertical side obstacle. The angle formed by the intersection of the horizontal side obstacle and the vertical side obstacle is 90°. The vertical direction may include a direction perpendicular to the direction of travel of the cleaning device. The horizontal direction may include a direction parallel to the direction of travel of the cleaning device.

[0107] The cleaning device can perform edge cleaning on the first side obstacle and the second side obstacle. If, while cleaning along the edge of an obstacle on one side (e.g., the first obstacle), an obstacle on the other side (e.g., the second obstacle) could potentially become an obstacle for the cleaning equipment in the direction of travel, then cleaning along the edge of the first and second obstacles can be referred to as interior angle edge cleaning. If, while cleaning along the edge of an obstacle on one side (e.g., the first obstacle), an obstacle on the other side (e.g., the second obstacle) will not become an obstacle for the cleaning equipment in the direction of travel, then cleaning along the edge of the first and second obstacles can be referred to as exterior angle edge cleaning. For example, the first obstacle may include a horizontal obstacle, and the second obstacle may include a vertical obstacle. Therefore, interior angle cleaning can include interior right angle edge cleaning, and exterior angle cleaning can include exterior right angle edge cleaning.

[0108] In an exemplary embodiment, when the machine body is cleaning along the contour of the first side obstacle, the controller can obtain a first distance between the machine body and the second side obstacle; based on the first distance, it can determine whether the cleaning device meets the preset obstacle avoidance conditions. Specifically, it can determine whether the first distance is less than or equal to a first preset threshold. If so, the controller can consider that the cleaning device is approaching the angle between the first side obstacle and the second side obstacle, thus meeting the obstacle avoidance conditions.

[0109] When the cleaning device meets the preset obstacle avoidance conditions, the controller can control the machine body's travel speed to be zero. Specifically, the controller can reduce the travel speed of the cleaning device. Reducing the travel speed can reduce the inertia of the cleaning device. After reducing the travel speed, the controller can continue to obtain the first distance between the machine body of the cleaning device and the second side obstacle; it can determine whether the obtained first distance is less than or equal to a second preset threshold; if so, it can be considered that the cleaning device has reached the angle between the first side obstacle and the second side obstacle, and the travel speed can be reduced to zero.

[0110] Please refer to FIG12. After reducing the travel speed to zero, the controller can control the cleaning component to retract inward; it can control the cleaning device to rotate towards the first obstacle so that the travel direction of the machine body is parallel to the second obstacle; after the travel direction is parallel to the second obstacle, the controller can control the cleaning component to swing outward; under the condition that the cleaning component swings outward, the controller can control the machine body to perform edge cleaning on the second obstacle at a set travel speed. In this way, when cleaning along the inner corner, by controlling the retraction of the cleaning component, the obstacle avoidance action of the cleaning device is reduced.

[0111] The rotation towards the first obstacle may include: the side with the cleaning component (the cleaning component for edge cleaning) rotates towards the first obstacle. The rotation may be centered on the center point of the machine body, or it may be centered on other points of the machine body. Controlling the cleaning component to swing outward may include: controlling the cleaning component to move to the outward swing state, and controlling the cleaning component to swing outward a certain swing distance. The swing distance can be preset. Alternatively, the controller can calculate the distance between the second-side obstacle and the fuselage; the swing distance can be determined based on the distance between the second-side obstacle and the fuselage. The smaller the distance between the second-side obstacle and the fuselage, the greater the swing distance.

[0112] Of course, after the travel speed drops to zero, the controller can control the side of the fuselage with the cleaning component to rotate away from the first-side obstacle, so that the cleaning component deviates from the first-side obstacle; it can control the side of the fuselage with the cleaning component to rotate closer to the second-side obstacle, so that the travel direction of the fuselage is parallel to the second-side obstacle; it can control...The machine body performs edge cleaning along the contour of the second-side obstacle. This allows the cleaning components to be swung outwards during inner corner edge cleaning. This reduces noise from the swaying of the cleaning components and avoids increasing the number of swaying cycles, thus affecting the lifespan of the cleaning equipment. Several specific implementations are described below.

[0113] Implementation Method 1: Please refer to Figure 13. After reducing the travel speed to zero, the controller can control the cleaning equipment to rotate a set angle away from the first-side obstacle; after rotating the set angle, the controller can control the cleaning equipment to retreat until the first distance between the machine body and the first-side obstacle meets the rotation condition. This simultaneously increases the distance between the cleaning equipment and both the first and second-side obstacles, providing sufficient space for rotation. After meeting the rotation condition, the controller can control the cleaning equipment to rotate towards the first-side obstacle until the travel direction of the cleaning equipment is parallel to the second-side obstacle. The controller can control the cleaning equipment to retreat until the machine body is close to the first-side obstacle to minimize the missed cleaning area at the included angle. After approaching the first obstacle, the controller can control the cleaning device to clean the second obstacle along its edge at a set travel speed. This allows the cleaning component to be kept facing outwards during inner corner edge cleaning. This reduces noise caused by the swinging of the cleaning component and also prevents the increased number of swings from affecting the lifespan of the cleaning device.

[0114] The rotation away from the first obstacle can include: the side with the cleaning component (for edge cleaning) rotating away from the first obstacle. The rotation towards the first obstacle can include: the side with the cleaning component rotating towards the first obstacle. The rotation can be centered on the center point of the machine body, or it can be centered on other points on the machine body. The set angle can include 90°, 60°, 100°, etc. For example, in the scenario of inner right-angle cleaning, the set angle can be any angle selected from [0, 90°]. The rotation conditions may include: a distance from the obstacle greater than or equal to the sum of R and H, where R represents the radius of the cleaning device body (see Figure 33), and H represents the distance beyond the maximum width of the device body edge when the cleaning component is in its outward-swinging state. When this distance condition is met, the cleaning component will not rub against the first or second side obstacle when the cleaning device rotates. A distance greater than or equal to the sum of R and H ensures that the cleaning device will not rub against the first side obstacle when rotating. The cleaning device body being close to the first side obstacle may include: a first distance between the device body and the first side obstacle being zero, or a first distance between the device body and the first side obstacle being a small value greater than zero.The distance condition may include the distance from the center point of the machine body to the obstacle, such as the shortest distance from the center point of the machine body to the outline of the obstacle.

[0115] For the second implementation method, please refer to Figure 14. After the travel speed is reduced to zero, the controller can control the cleaning equipment to retreat until the second distance between the body of the cleaning equipment and the second obstacle on the second side meets the rotation condition; after the rotation condition is met, the controller can control the cleaning equipment to rotate a set angle away from the first obstacle on the first side until the first distance between the body of the cleaning equipment and the first obstacle on the first side meets the rotation condition; after the rotation condition is met, the controller can control the cleaning equipment to continue rotating in the same rotation direction until the travel direction of the cleaning equipment is parallel to the second obstacle on the second side. The controller can control the cleaning equipment to retreat until the body of the cleaning equipment is close to the first obstacle on the first side, so as to minimize the cleaning range at the included angle position. After being close to the first obstacle on the first side, the controller can control the cleaning equipment to perform edge cleaning on the second obstacle on the second side. In this way, when performing edge cleaning at the inner corner, the cleaning component can be kept swinging outward. On the one hand, the noise generated by the swing of the cleaning component can be reduced, and on the other hand, the service life of the cleaning equipment can be avoided due to the increase in the number of swings. Instruction manual, pages 18 / 46, 21 CN 121421410 A

[0116] The rotation in the direction away from the first obstacle may include: the side with the cleaning component (the cleaning component for edge cleaning) rotating in the direction away from the first obstacle. The rotation may be centered on the center point of the machine body, or it may be centered on other points of the machine body. The set angle may include 100°, 180°, etc. For example, in the scenario of inner right-angle cleaning, the set angle may be 180°, and the angle at which the cleaning device continues to rotate may be 90°. The rotation condition may include: the distance from the obstacle is greater than or equal to the sum of R and H, where R represents the radius of the cleaning device body, and H represents the distance beyond the maximum width of the edge of the machine body when the cleaning component is in the outward swing state. Please refer to Figure 33. When this distance condition is met, the cleaning component will not scrape against the first or second obstacle when the cleaning device performs rotation. The proximity of the fuselage to the first obstacle can include: the first distance between the fuselage and the first obstacle being zero, or the first distance between the fuselage and the first obstacle being a value greater than zero.

[0117] For implementation method three, please refer to Figures 30a to 30j. After reducing the travel speed to zero, the controller can control the movement of the cleaning equipment according to the first action strategy, causing the cleaning component to deviate from the second obstacle. Specifically, the controller can obtain the second distance between the cleaning equipment and the second obstacle based on the obstacle information; it can control the cleaning equipment to rotate away from the second obstacle, and simultaneously control the cleaning equipment to move away from the first obstacle, until the first distance is greater than or equal to the first obstacle.The third preset threshold and the second distance are greater than or equal to the fourth preset threshold; the second action strategy can be used to control the movement of the cleaning equipment, allowing the cleaning component to bypass the first side obstacle. Specifically, the controller can obtain the third distance between the cleaning equipment and the first side obstacle based on obstacle information; it can control the cleaning equipment to rotate towards the first side obstacle, and simultaneously control the cleaning equipment to move towards the first side obstacle until the first distance is less than or equal to the fifth preset threshold and the third distance is less than or equal to the sixth preset threshold; the third action strategy can be used to control the movement of the cleaning equipment to perform edge cleaning on the second side obstacle. Specifically, the controller can control the cleaning equipment to move towards the first side obstacle until the third distance is less than or equal to the seventh preset threshold, and then control the cleaning equipment to perform edge cleaning on the second side obstacle at a preset travel speed. In this way, when cleaning along the inner corner edge, the cleaning component can be kept swinging outwards. On the one hand, this can reduce the noise generated by the swinging of the cleaning component, and on the other hand, it can avoid affecting the service life of the cleaning equipment due to the increase in the number of swings. The specific details of the first, second, and third action strategies can be explained with reference to the following embodiments, and will not be repeated here.

[0118] In an exemplary embodiment, when the cleaning component is swung outward, the controller can control the cleaning device to move forward to clean the first side obstacle along its edge. When the device body cleans along the contour of the first side obstacle, the controller can acquire obstacle information in the direction of travel of the cleaning device; it can determine whether the cleaning device has reached the decision position based on the obstacle information; after reaching the decision position, while maintaining the cleaning component swung outward, the controller can control the device body to rotate so that the direction of travel of the device body is parallel to the second side obstacle. This is to control the device body to clean along the contour of the second side obstacle.

[0119] Swinging the cleaning component outward may include: the cleaning component being in an outward swing state, or the cleaning component swinging outward a certain swing distance. When the cleaning component is swung outward, the cleaning component may exceed the maximum width position of the edge of the device body, or it may not exceed the maximum width position of the edge of the device body.

[0120] Please refer to FIG15a. When the cleaning component is within the maximum width of the machine body edge, if the center point of the cleaning component is located inside the cleaning device, the decision position can include the position where the entire machine body reaches or exceeds the boundary of the second-side obstacle contour. After reaching the decision position, the controller can control the cleaning device to rotate. Alternatively, please refer to Figure 15b. When the cleaning component is within the maximum width of the machine body edge, if the center point of the cleaning component is located outside the cleaning device, the decision position can include the position where the center point of the cleaning component reaches or exceeds the boundary of the second-side obstacle contour. (Specification 19 / 46, page 22, CN)121421410 A. After reaching the decision position, the controller can control the cleaning device to rotate.

[0121] When the cleaning component exceeds the maximum width of the machine body edge, if the center point of the cleaning component is located inside the cleaning device, the decision position can include the position where the entire machine body reaches or exceeds the outline boundary of the second side obstacle. After reaching the decision position, the controller can control the cleaning device to continue moving forward a set distance; after moving the set distance, the controller controls the cleaning device to rotate. Alternatively, when the cleaning component exceeds the maximum width of the machine body edge, if the center point of the cleaning component is located outside the cleaning device, the decision position can include the position where the center point of the cleaning component reaches or exceeds the outline boundary of the second side obstacle. After reaching the decision position, the controller can control the cleaning device to continue moving forward a set distance; after moving the set distance, the controller controls the cleaning device to rotate. The set distance can include the distance exceeding the maximum width of the machine body edge when the cleaning component is in the outward swing state. Of course, the set distance can also include other distances greater than the set distance. By setting the distance, space can be provided for the rotation of the cleaning device in the outward swing state of the cleaning component.

[0122] Controlling the rotation of the cleaning equipment may include: rotating the side of the machine body equipped with the cleaning component (a cleaning component for edge cleaning) towards the second obstacle until the machine body's travel direction is parallel to the second obstacle. The rotation may be centered on the center point of the machine body, or it may be centered on other points of the machine body. After rotation, the controller can control the cleaning equipment to perform edge cleaning on the second obstacle.

[0123] The decision position may be the position used to control the rotation of the cleaning equipment. The center point of the cleaning component may be different depending on its shape. For example, if the cleaning component is circular, the center point may be the center of the circle. Or, if the cleaning component is square, the center point may be the center of the square.

[0124] It should be noted that a corresponding coordinate system can be constructed based on the map of the work area. The outline boundary of the second obstacle may have coordinate parameters in the coordinate system. The machine body of the cleaning equipment may also have coordinate parameters in the coordinate system. Thus, based on the coordinate parameters, it can be determined whether the entire machine body has reached or exceeded the outline boundary of the second obstacle. The center point of the cleaning component can also have coordinate parameters in the coordinate system. Therefore, based on the coordinate parameters, it can be determined whether the center point of the cleaning component reaches or exceeds the outline boundary of the second-side obstacle. Alternatively, the distance between the fuselage and the second-side obstacle can be obtained; based on the distance between the fuselage and the second-side obstacle, it can be determined whether the entire fuselage reaches or exceeds the outline boundary of the second-side obstacle. The distance between the fuselage and the second-side obstacle, and the swing distance of the cleaning component, can be used to calculate...The distance between the center point of the cleaning component and the second-side obstacle is calculated; based on the distance between the center point of the cleaning component and the second-side obstacle, it can be determined whether the center point of the cleaning component reaches or exceeds the outline boundary of the second-side obstacle.

[0125] In this embodiment, when cleaning along the outer corner, the cleaning component can be kept swinging outward. On the one hand, this can reduce the noise generated by the swinging of the cleaning component, and on the other hand, it can avoid affecting the service life of the cleaning equipment due to the increase in the number of swings.

[0126] In an exemplary embodiment, during the execution of a preset cleaning task, the controller can control the cleaning component to swing outward. The obstacle represented by the acquired obstacle information may include the second-side obstacle, which is located in front of or behind the direction of travel of the fuselage. The preset conditions may include obstacle avoidance conditions. The obstacle avoidance conditions may include obstacle distance conditions and obstacle type conditions. The controller can obtain the type of the second obstacle and the second distance between the second obstacle and the machine body based on the obstacle information; it can determine whether the cleaning equipment meets the obstacle avoidance conditions based on the type and the second distance; when the second obstacle is a preset type of obstacle and the second distance between the second obstacle and the machine body is less than or equal to a distance threshold, it can be considered that the cleaning equipment has reached a relatively low obstacle (e.g., a carpet) and can perform an obstacle crossing action. Specifically, the controller can control the cleaning component to move to an inward state, and then control the cleaning component to rise so that the machine body can cross the second obstacle. After crossing the second obstacle, the controller can keep the cleaning component in the inward state, or it can control the cleaning component to move to an outward state.

[0127] In an exemplary embodiment, a cleaning control method for a cleaning equipment is provided.

[0128] Referring to FIG16, the control method may include the following steps.

[0129] Step S161: When the cleaning component is in the retracted state, control the machine body to clean along the first cleaning path. The first cleaning path is parallel to the second cleaning path and intersects with the obstacle. Step S162: When the distance between the machine body and the obstacle meets the rotation condition, control the machine body to rotate so that the machine body's direction of travel is parallel to the second cleaning path. Step S163: When the cleaning component is in the retracted state, control the machine body to clean along the second cleaning path.

[0130] The cleaning equipment can use a bow-shaped cleaning method for the working area. Bow-shaped cleaning can improve the cleaning efficiency of the cleaning equipment. The first cleaning path and the second cleaning path can be two adjacent long sides when using bow-shaped cleaning. The first cleaning path and the second cleaning path can be parallel. The first cleaning path and the second cleaning path can be straight lines. The distance between the first cleaning path and the second cleaning path can be determined according to the size of the cleaning component.Determined. For example, please refer to Figure 1. The cleaning device may include two cleaning components, and the distance between the first cleaning path and the second cleaning path may be less than or equal to the sum of the dimensions of the two cleaning components. Specifically, for example, the shape of the cleaning component may be circular, and the distance between the first cleaning path and the second cleaning path may be less than or equal to 4 times the radius of the cleaning component. In practical applications, the distance between the first cleaning path and the second cleaning path may be 3 times the radius, or, to ensure that the cleaning device has a better cleaning effect, the distance between the first cleaning path and the second cleaning path may also be 2 times the radius.

[0131] Please continue to refer to Figure 1. The cleaning device may include two cleaning components. One cleaning component of the cleaning device may be configured to be able to swing, and the other cleaning component may be configured to be unable to swing. If one of the cleaning components swings outward, the two cleaning components cannot be tightly connected, thereby creating a gap and causing omissions during cleaning. Therefore, when the cleaning equipment body is cleaning along the first cleaning route and the second cleaning route, the controller can control the cleaning equipment to be in a retracted state so that the two cleaning components are tightly connected and gaps are avoided.

[0132] When the body is cleaning along the first cleaning route, the controller can obtain obstacle information in the direction of travel of the cleaning equipment; the positional relationship between the obstacle and the cleaning route can be determined based on the obstacle information. The positional relationship may include: the obstacle intersects with the cleaning route. For example, the obstacle may be perpendicular to the cleaning route. The positional relationship may also include: the obstacle is parallel to the cleaning route.

[0133] When the obstacle intersects with the cleaning route, the following cleaning control method can be adopted.

[0134] When the body is cleaning along the first cleaning route, the controller can obtain obstacle information in the direction of travel of the cleaning equipment; the distance between the body and the obstacle in front of the direction of travel can be obtained based on the obstacle information. When the distance between the body and the obstacle meets the rotation condition, the controller can control the body to rotate so that the direction of travel of the body is parallel to the obstacle. The rotation condition may include: the distance between the machine body and the obstacle is less than or equal to a distance threshold.

[0135] Please refer to Figure 17. The cleaning device can rotate by right-angle turning. Specifically, when the distance between the machine body and the obstacle meets the rotation condition, the controller can reduce the traveling speed to zero; then the machine body can be controlled to rotate so that the traveling direction of the machine body is parallel to the obstacle; under the condition that the cleaning component is in the retracted state, the machine body can be controlled to move forward until the machine body reaches the second cleaning route; after the machine body reaches the second cleaning route, the traveling speed can be reduced to zero; then the machine body can be controlled to rotate so that the traveling direction of the machine body is parallel to the second cleaning route; the controller can controlThe machine body is controlled to clean along the second cleaning path. During right-angle turns, the cleaning components are in an inward-retracted state. (Instruction manual, page 21 / 46, 24 CN 121421410 A) This reduces noise from the oscillation of the cleaning components and prevents an increase in the number of oscillations, thus affecting the lifespan of the cleaning equipment. Alternatively, when the distance between the machine body and the obstacle meets the rotation conditions, the controller can reduce the travel speed to zero; then, it can control the machine body to rotate so that the machine body's travel direction is parallel to the obstacle; it can control the cleaning components to move to an outward-swinging state; with the cleaning components in the outward-swinging state, it can control the machine body to move forward to clean the obstacle along its edge until the machine body reaches the second cleaning path; after reaching the second cleaning path, the travel speed can be reduced to zero; then, the cleaning components can be moved to an inward-retracted state; it can control the machine body to rotate so that the machine body's travel direction is parallel to the second cleaning path; it can control the machine body to clean along the second cleaning path. This allows for edge cleaning of the obstacle during the turning process.

[0136] The arrival of the machine body on the second cleaning route may include: the center point of the machine body arriving at the second cleaning route. The distance threshold may include the radius of the cleaning equipment body or other values ​​greater than the radius.

[0137] Alternatively, please refer to Figure 18. The cleaning equipment may also rotate in an arc-shaped turning manner. Specifically, when the distance between the machine body and the obstacle meets the rotation condition, the controller can control the machine body to rotate according to the turning radius while maintaining the machine body's movement, so that the machine body's direction of travel is parallel to the second cleaning route, and the machine body arrives at the second cleaning route; the machine body can be controlled to clean along the second cleaning route. This eliminates the need to reduce the walking speed to zero, thus improving walking efficiency.

[0138] Specifically, the machine body can be controlled to rotate according to the turning radius while the cleaning component is in a retracted state, so that the machine body's direction of travel is parallel to the second cleaning route, and the machine body arrives at the second cleaning route. In this way, the cleaning component is in a retracted state during the arc-shaped turning process. On the one hand, this can reduce the noise generated by the swing of the cleaning component, and on the other hand, it can avoid the increase in the number of swings, thereby affecting the service life of the cleaning equipment. Alternatively, when the distance between the machine body and the obstacle meets the rotation conditions, the controller can control the cleaning component to move to an outward swing state; while the cleaning component is in the outward swing state, the controller can control the machine body to rotate according to the turning radius so that the machine body's direction of travel is parallel to the second cleaning path, and the machine body reaches the second cleaning path; after the machine body reaches the second cleaning path, the controller can control the cleaning component to move to an inward retraction state; the controller can control the machine body to clean along the second cleaning path. This allows for edge cleaning of the obstacle during the turning process.

[0139] The process of the machine body reaching the second cleaning route can include: the center point of the machine body reaching the second cleaning route. The turning radius can be half the distance between the first cleaning route and the second cleaning route. The distance threshold T1 ≥ turning radius R1 + radius R2 + H corresponding to the maximum width position of the machine body. H can represent the distance by which the cleaning component exceeds the maximum width of the machine body edge. In the inward state, the cleaning component does not exceed the maximum width position of the machine body edge, then H=0. In the outward state, the cleaning component can exceed the maximum width position of the machine body edge, then H>0. Optionally, the distance threshold T1 ≤ turning radius R1 + radius R2 corresponding to the maximum width position of the machine body + diameter of the cleaning component. In this case, the cleaning equipment does not perform re-cleaning of the edge cleaning area during the turning process.

[0140] It should be noted that during the rotation process using straight turning or arc turning, if the cleaning component always remains in the inward state, there will be edge-missing sweeping of obstacles on the boundary of the working area. Therefore, after the working area is cleaned in a bow shape, the controller can control the cleaning equipment to perform edge-sweeping of obstacles on the boundary of the working area. Of course, the controller can also control the cleaning equipment to first clean the obstacles on the boundary of the work area along the edge, and then clean the work area in a bow-shaped pattern. During the rotation process using a straight turn or an arc turn, if the cleaning component can move to the outward swing state, it is not necessary to clean the obstacles along the edge.

[0141] When the obstacle is parallel to the cleaning path, the following cleaning control method can be adopted.

[0142] At this time, when the cleaning equipment moves along the first cleaning path, the obstacle may be located on the side of the cleaning equipment. Referring to page 22 / 46 of the specification, 25 CN 121421410 A Figure 19, it is necessary to avoid the cleaning equipment from colliding with the obstacle. For example, when the cleaning equipment moves along the first or last path of the bow-shaped path, the cleaning path of the cleaning equipment is parallel to the obstacle. Taking the first cleaning route as either the first or last route as an example, when the cleaning device moves along the first cleaning route, the distance T2 between the center point of the cleaning device and the obstacle in the width direction is greater than or equal to the radius R2 corresponding to the maximum width position of the machine body + the machine body fine-tuning distance X + H. H can represent the distance by which the cleaning component exceeds the maximum width of the machine body edge. In the inward state, the cleaning component does not exceed the maximum width position of the machine body edge, then H = 0. In the outward state, the cleaning component can exceed the maximum width position of the machine body edge, then H > 0. Where 0 = < the machine body fine-tuning distance X <= the diameter of the cleaning component. By setting the machine body fine-tuning distance, it is avoided that the cleaning device rubs against the obstacle during movement, causing the cleaning component to separate from the machine body.

[0143] Wherein, when the cleaning device is parallel to the obstacle and moves along the first cleaning route, the cleaning device moves...During the process, the cleaning component can be in an outward swing state or an inward retraction state. When the cleaning component is in the outward swing state, it can simultaneously clean the obstacles along the edges, that is, it can clean the edges when the first or last route is in a bow-shaped pattern. When the cleaning component is in the inward retraction state, the cleaning device does not clean the obstacles along the edges, that is, it does not clean the edges when the first or last route is in a bow-shaped pattern.

[0144] The following examples illustrate the specific implementation of the control method in the embodiments of this specification.

[0145] Embodiment This embodiment of the specification provides a method for controlling the movement of a cleaning device. As shown in FIG20, the process of the method may include the following steps: Step S1402, in response to the obtained rotation command, the rotating component of the cleaning device is driven to rotate by the rotation drive component of the cleaning device to control the swing component of the cleaning device to swing. One end of the swing component is connected to the cleaning component. During the swing of the swing component, the cleaning component switches between an outward swing state and an inward retraction state. The outward swing state is the state in which at least part of the cleaning component swings outward from the cleaning device, and the inward retraction state is the state in which at least part of the cleaning component retracts inward from the cleaning device.

[0146] The movement control method of the cleaning device in this embodiment can be applied to scenarios where the cleaning device is working in a target area. The target area can be an indoor area, such as a user's home room, office, factory workshop, etc. The cleaning device can be equipped with cleaning components for cleaning the target area. The cleaning components can include, but are not limited to, at least one of the following: a roller brush (also called a floor brush), a mop, etc., and their shape can be round, square, etc. The cleaning components can be rotatable structures.

[0147] Conventional cleaning components usually do not extend beyond the edge of the cleaning device. Even if the cleaning device reaches the corners, table legs, and other edges, its cleaning components cannot effectively clean the edge areas, resulting in poor cleaning performance along the edges. In order to improve the efficiency of edge cleaning, in this embodiment, the cleaning components can be set to extend beyond the edge of the cleaning device. At the same time, considering that the cleaning components extending beyond the edge of the device may hinder the movement of the cleaning device, the cleaning components can switch between an outward swing state and an inward retraction state. Here, the outward swing state can be a state in which at least part of the cleaning component swings outward from the cleaning device, and the inward retraction state can be a state in which at least part of the cleaning component retracts inward from the cleaning device.

[0148] In this embodiment, a rotary drive component, a rotary component, a swing component, and a cleaning component can be provided inside the cleaning device. One end of the swing component can be connected to the cleaning component, and the other end can be connected to the rotary module. The rotation of the rotary module can be driven by the rotary drive component.

[0149] In the specification on pages 23 / 46, 26, it is determined that the cleaning component of the cleaning device needs to extend beyond the edge of the machine body or not extend beyond the edge of the machine body.In the case of CN 121421410 A, a rotation command can be issued to the rotation drive component. In this embodiment, in response to the obtained rotation command, the rotation drive component of the cleaning device can drive the rotating component of the cleaning device to rotate, thereby controlling the swing component of the cleaning device to swing. During the swing of the swing component, the cleaning component switches between an outward swing state and an inward retraction state.

[0150] Step S1404, the detection trigger element on the rotating component is detected by the detection component on the rotation drive component to determine the operating state of the cleaning component, wherein the detection trigger element is used to control the position to which the rotating component is allowed to rotate.

[0151] In order to avoid the swing angle of the swing component being too large due to excessive rotation of the rotating component, which in turn leads to excessive outward swing or inward retraction of the cleaning component and affects the cleaning efficiency, in this embodiment, the detection trigger element on the rotating component can be detected by the detection component on the rotation drive component to determine the operating state of the cleaning component. Here, the detection trigger element can be used to control the position to which the rotating component is allowed to rotate. The operating state can be used to indicate the current state of the cleaning component, including the inward retraction state and the outward swing state.

[0152] Optionally, the detection component on the rotary drive component can be fixed, and the position of the detection trigger element on the rotary component relative to the rotary component is fixed. During the rotation of the rotary component, the detection trigger element can rotate with the rotary component.

[0153] Optionally, the detection component on the rotary drive component detects the detection trigger element on the rotary component. This can mean that the detection component detects whether the detection trigger element appears. Under normal rotation, the detection trigger element can rotate from a position far away from the detection component to a position close to the detection component. The detection component can be a sensor, which determines whether the detection trigger element is detected by sensing whether it is touched. The detection component can also be a signal receiver, which determines whether the detection trigger element is detected by receiving the signal sent by the detection trigger element and the signal strength. The detection component can also be other types of components, which are not limited in this embodiment.

[0154] Optionally, after the detection component detects that the detection trigger element has rotated to a certain position, it can issue a command to rotate to the correct position to control the rotary drive component to stop driving the rotary component to rotate, thereby realizing the maximum range of control of the cleaning component's inward or outward swing and avoiding affecting the cleaning efficiency of the cleaning equipment.

[0155] Step S1406: If it is determined that the operating state of the cleaning component is abnormal, the cleaning equipment is controlled to perform a specified operation to restore the operating state of the cleaning component to normal.

[0156] Based on the detection result of the detection component on the detection trigger element, it can be determined whether the operating state of the cleaning component is inward or outward. In addition, it can also be determined whether the operating state of the cleaning component is normal. For example, when the rotary drive component is working...If, after a period of time, the detection component still fails to detect the detection trigger element, or if the detection trigger element is still far from the detection component, it can be determined that the operating state of the cleaning component is abnormal. Furthermore, the above-mentioned abnormality may be caused by the rotating or swinging components of the cleaning equipment becoming stuck or jammed, or by the cleaning component being blocked by an obstacle and unable to move.

[0157] In this embodiment, when it is determined that the operating state of the cleaning component is abnormal, the cleaning equipment can be controlled to perform a specified operation to restore the operating state of the cleaning component to normal.

[0158] Optionally, the specified operation may include, but is not limited to, controlling the rotating drive component to drive the rotating component to rotate in the opposite direction to the previous rotation, or controlling the body of the cleaning equipment to move in another direction.

[0159] Through the above steps S1402 to S1406, in response to the obtained rotation command, the rotating component of the cleaning equipment is driven to rotate by the rotation drive component of the cleaning equipment to control the swing component of the cleaning equipment to swing. One end of the swing component is connected to the cleaning component. During the swinging process, the cleaning component switches between an outward swing state and an inward retraction state. The outward swing state is the state in which at least part of the cleaning component swings outward from the cleaning equipment, and the inward retraction state is the state in which at least part of the cleaning component retracts inward from the cleaning equipment. The detection trigger element on the rotating component is detected by the detection component on the rotation drive component to determine the operating state of the cleaning component. The detection trigger element is used to control the position to which the rotating component is allowed to rotate. If it is determined that the operating state of the cleaning component is abnormal, the cleaning equipment is controlled to perform a specified operation to restore the operating state of the cleaning component to normal. This solves the problem of low accuracy in the existing method of judging the operating state of the cleaning equipment based on the dwell time, and improves the accuracy of the state judgment.

[0160] In an exemplary embodiment, the detection of a detection trigger element on a rotating component by a detection component on a rotating drive component to determine the operating state of a cleaning component includes: S11, if a first detection trigger element on a rotating component is detected by a first detection component on a rotating drive component, determining that the rotating component has rotated to a first preset position along a first rotation direction, wherein, in the first preset position, the cleaning component is in an outward swing state and has swinged out to the outermost position to which it is allowed to swing outward; S12, if a second detection trigger element on a rotating component is detected by a second detection component on a rotating drive component, determining that the rotating component has rotated to a second preset position along a second rotation direction, wherein, in the second preset position, the cleaning component is in an inward retraction state and has retracted to the innermost position to which it is allowed to retract inward.

[0161] To facilitate the detection of the rotating trigger element by the detection component, in this embodiment, the detection component may include a first detection trigger element.A detection component and a second detection component are provided. The detection trigger element may include a first detection trigger element and a second detection trigger element. Correspondingly, the first detection component can be used to detect the first detection trigger element, and the second detection component can be used to detect the second detection trigger element.

[0162] For example, as shown in FIG21, the rotating component 1 can be connected to the swing component 2 through the rotation center 6. The first detection component 4 and the second detection component 5 can be installed on the rotating drive component 3. The rotating component 1 can have a first rotation trigger element 7 and a second rotation trigger element 8 (as shown in FIG22).

[0163] In this embodiment, when the first detection trigger element on the rotating component is detected by the first detection component on the rotating drive component, it can be determined that the rotating component rotates to a first preset position along the first rotation direction. When the second detection trigger element on the rotating component is detected by the second detection component on the rotating drive component, it is determined that the rotating component rotates to a second preset position along the second rotation direction. Here, in the first preset position, the cleaning component is in an outward swing state and swings out to the outermost position that is allowed to swing out. In the second preset position, the cleaning component is in an inward retraction state and retracts to the innermost position that is allowed to retract in.

[0164] The first rotation direction can be counterclockwise as shown in FIG21, and the second rotation direction can be clockwise as shown in FIG21. The outermost position and the innermost position can be positions defined by the limitations of the first preset position and the second preset position, respectively. It should be noted that the cleaning component can swing in an arc. Then the first rotation direction and the second rotation direction here can be the rotation direction when swinging in an arc. Of course, in this embodiment and other embodiments in this specification, in addition to swinging in an arc, the cleaning component can also swing in a straight line.

[0165] For example, as shown in FIG22, the second rotation trigger element rotates to a position adjacent to the second detection component, that is, the second preset position, and the cleaning component is in a retracted state and retracted to the innermost position that is allowed to be retracted. As shown in FIG22, the first rotation trigger element rotates to a position adjacent to the first detection component, that is, the first preset position, and the cleaning component is in an outward swing state and outward swings to the outermost position that is allowed to be outward swings.

[0166] In this embodiment, the operating state of the cleaning component is determined by detecting the position of the two detection trigger elements by the two detection components, which can improve the limiting efficiency of the cleaning component's movement range and thus improve the cleaning efficiency of the cleaning equipment.

[0167] For example, as shown in Figures 21 and 22, the rotary drive component 3 is connected to the rotary component 1 by gears. The rotary drive component has a first detection component 4 and a second detection component 5 on both sides. The gears of the rotary component 1 have a first rotary trigger element 7 and a second rotary trigger element 8 that are more prominent than other gears at both ends. Specification 25 / 46 pages 28 CN 121421410 A

[0168] In an exemplary embodiment, after determining that the rotating component has rotated to the first preset position along the first rotation direction, the method further includes: S21, sending an outward swing-in command to the rotating drive component through the first detection component, so as to instruct the rotating drive component to stop driving the rotating component to continue rotating along the first rotation direction.

[0169] Optionally, the outward swing-in command can be sent directly from the first detection component to the rotating drive component, or it can be sent from the platform or cleaning device to the rotating drive component after the first detection component feeds back the detection result to the platform or cleaning device. This embodiment does not limit this.

[0170] Through this embodiment, by sending an outward swing-in command to the rotating drive component through the first detection component to stop the rotation of the rotating component, the efficiency of stopping the rotation of the rotating component can be improved, and the movement range of the cleaning component can be avoided as large as possible.

[0171] In an exemplary embodiment, after determining that the rotating component has rotated to the first preset position along the first rotation direction, the method further includes: S31, in response to the obtained first state switching command, driving the rotating component to rotate along the second rotation direction through the rotating drive component, so as to control the working state of the cleaning component to switch from the outward swing state to the inward retraction state.

[0172] After determining that the rotating component has rotated to the first preset position along the first rotation direction, if the cleaning component needs to switch to the retracted state, the cleaning component can be controlled to switch from the outward swing state to the retracted state by sending a first state switching command.

[0173] Optionally, the above-mentioned first state switching command can be sent by the cleaning device to the rotating drive component, or it can be sent to the rotating drive component through the platform or the client of the cleaning device. This embodiment does not limit this. In addition, the first state switching command can be automatically generated by the cleaning device based on the information of the current environment combined with the position and state of the cleaning device (e.g., the cleaning device is not in the area that needs to be cleaned along the edge, the cleaning work is completed, or there are obstacles that require the cleaning component to retract to complete the avoidance, etc.), or it can be issued by the user of the cleaning device through the client.

[0174] In this embodiment, in response to the obtained first state switching command, the rotating component can be driven to rotate along the second rotation direction by the rotating drive component to control the working state of the cleaning component to switch from the outward swing state to the retracted state.

[0175] Through this embodiment, by triggering the switching of the cleaning component from outward to inward according to the state switching command, the efficiency of the working state switching of the cleaning component can be improved, thereby improving the flexibility of the cleaning equipment.

[0176] In an exemplary embodiment, after determining that the rotating component has rotated to the second preset position along the second rotation direction, the above method further includes: S41, sending an inward retraction command to the rotating drive component through the second detection component, so as to instruct the rotating drive component to stop driving the rotating component to continue rotating along the second rotation direction.

[0177] The method of sending the above-mentioned retracted position command can be similar to the description of the above-mentioned outward swing position command, and will not be repeated here in this embodiment.

[0178] Through this embodiment, by sending the retracted position command to the rotation drive component through the second detection component to stop the rotation of the rotating component, the efficiency of stopping the rotation of the rotating component can be improved, and the movement range of the cleaning component can be avoided as large as possible.

[0179] In an exemplary embodiment, after determining that the rotating component has rotated to the second preset position along the second rotation direction, the above method further includes: S51, in response to the obtained second state switching command, driving the rotating component to rotate along the first rotation direction through the rotation drive component to control the working state of the cleaning component to switch from the retracted state to the outward swing state.

[0180] After determining that the rotating component has rotated to the second preset position along the second rotation direction, if it is necessary for the cleaning component to switch to the outward swing state, the cleaning component can be controlled to switch from the retracted state to the outward swing state by sending the second state switching command.

[0181] The above-mentioned second state switching instruction can be similar to the description of the aforementioned first state switching instruction, and will not be repeated here in this embodiment.

[0182] In this embodiment, in response to the obtained second state switching instruction, the rotating component can be driven by the rotating drive component to rotate along the first rotation direction to control the working state of the cleaning component to switch from the retracted state to the outward swing state.

[0183] Through this embodiment, the switching of the cleaning component from retracted to outward swing according to the state switching instruction can improve the efficiency of the working state switching of the cleaning component, thereby improving the flexibility of the cleaning equipment.

[0184] In an exemplary embodiment, the detection trigger element on the rotating component is detected by the detection component on the rotating drive component to determine the operating state of the cleaning component, and further includes: S61, in the process of driving the rotating component to rotate along the first rotation direction by the rotating drive component, if the first detection component does not detect the first detection trigger element within the first time range, it is determined that the outward swing state of the cleaning equipment is abnormal; S62, in the process of driving the rotating component to rotate along the second rotation direction by the rotating drive component, if the second detection module does not detect the second detection trigger element within the second time range, it is determined that the retracted state of the cleaning equipment is abnormal.

[0185] When detecting the trigger element through the detection component, a first time range and a second time range can be preset based on the rotation time corresponding to the inward and outward swing states of the cleaning component under normal conditions, so as to determine whether there is an abnormality in the operating state of the cleaning component of the cleaning equipment.

[0186] In this embodiment, during the process of driving the rotating component to rotate along the first rotation direction through the rotation drive component, if the first detection component does not detect the first trigger element within the first time range, it can be determined that...The outward swing state of the cleaning equipment is abnormal.

[0187] Correspondingly, during the process of driving the rotating component to rotate along the second rotation direction by the rotating drive component, if the second detection module does not detect the second detection trigger element within the second time range, it can be determined that the inward retraction state of the cleaning equipment is abnormal. The first time range and the second time range mentioned above can be the same or different, and this embodiment does not limit this.

[0188] For example, taking the cleaning equipment as a machine, the inward retraction state as the inward retraction condition, the outward retraction state as the outward retraction condition, the rotating drive component as the rotating drive module, the first detection trigger element as the detection element 1, the second detection trigger element as the detection element 2, and the first time range and the second time range being the same as time T, as shown in Figure 23: Step S501, the machine starts.

[0189] Step S502, analyze whether the cleaning component of the machine needs to be in the inward retraction condition. If yes, execute step S503; otherwise, execute step S510.

[0190] Step S503, when the cleaning component of the machine needs to be in the inward retraction condition, determine whether the detection element 2 is working (i.e., rotating). If yes, proceed to step S509; otherwise, proceed to step S504.

[0191] Step S504: If the detection element 2 is not working, control the rotation drive module to rotate forward (i.e., clockwise).

[0192] Step S505: Determine whether the detection element 2 has completed its work within time T, i.e., whether the detection element 2 has rotated to a position that can trigger the detection module within time T. If yes, proceed to step S509; otherwise, proceed to step S506. Manual 27 / 46 pages 30 CN 121421410 A

[0193] Step S506: If the machine cannot rotate to a position that can trigger the detection module within time T, determine that the machine may be stuck, jammed, or otherwise malfunctioning, and perform an escape operation.

[0194] Step S507: Determine whether the machine has successfully escaped within time T1. If yes, proceed to step S509; otherwise, proceed to step S508.

[0195] Step S508: Issue an abnormal warning and stop working.

[0196] Step S509: Determine that the machine is operating normally and stop the work.

[0197] Step S510: If the cleaning component of the machine does not need to be in the retracted state, determine whether the cleaning component needs to be in the outward swing state. If yes, proceed to step S511; otherwise, proceed to step S513.

[0198] Step S511: If the cleaning component of the machine needs to be in the outward swing state, determine whether the detection element 1 is working, that is, whether the detection element 1 has rotated to a position that can trigger the detection module. If yes, proceed to step S512; otherwise, proceed to step S514.

[0199] Step S512: Determine that the machine is operating normally and stop the work.

[0200] Step S513: Issue an abnormal warning and stop the work.

[0201] Step S514: If the detection element 1 is not working, control the rotation drive module to reverse (i.e., rotate counterclockwise) until the detection element 1 stops working.

[0202] Step S515: Determine whether the detection element 1 has completed its work within time T. If yes, execute step S512; otherwise, execute step S516.

[0203] Step S516: If the machine cannot rotate to a position that can trigger the detection module within time T, determine that the machine may be stuck, jammed, or otherwise malfunctioning, and perform an escape operation.

[0204] Step S517: Determine whether the machine has successfully escaped within time T1. If yes, execute step S512; otherwise, execute step S518.

[0205] Step S518: Issue an abnormality warning and stop working.

[0206] Through this embodiment, determining whether the cleaning equipment is malfunctioning based on the rotation time can improve the efficiency and accuracy of judging the malfunctioning of the cleaning equipment.

[0207] In an exemplary embodiment, when it is determined that the operating state of the cleaning component is abnormal, the cleaning device is controlled to perform a specified operation to restore the operating state of the cleaning component to normal, including: S71, when it is determined that the outward swing state of the cleaning device is abnormal, the rotating component is driven to rotate along the second rotation direction by a rotation drive component; S72, when the second detection module detects the second detection trigger element within a third time range, it is determined that the operating state of the cleaning device has returned to normal.

[0208] When it is determined that the operating state of the cleaning component is abnormal, the specified operation performed by controlling the cleaning device may be to control the rotating component to reverse. In this embodiment, when it is determined that the outward swing state of the cleaning device is abnormal, the rotating component can be driven to rotate along the second rotation direction by a rotation drive component.

[0209] When the second detection module detects the second detection trigger element within a third time range, it can be determined that the abnormal outward swing state may be caused by obstacles or other reasons that prevent the outward swing from rotating to the correct position. When the inward retraction is completed normally, it can be determined that the operating state of the cleaning device has returned to normal. Here, the third time range may be the same as or different from the aforementioned first and second time ranges, and this embodiment does not limit this.

[0210] Optionally, if the outward swing state is abnormal in different positions while the inward retraction is completed normally, it can be determined that the abnormal outward swing state may be caused by the inability of internal components of the cleaning equipment to rotate normally. An abnormality alarm message can be directly issued to prompt the user to check the cleaning equipment.

[0211] Through this embodiment, when it is determined that the outward swing state of the cleaning component is abnormal, reversing the rotating component to restore the operating state of the cleaning equipment can improve the efficiency of the cleaning equipment in overcoming obstacles.

[0212] In an exemplary embodiment, the above method further includes:S81, if the second detection module does not detect the second detection trigger element within the third time range, the rotation drive component is controlled to stop driving the rotation component to rotate, and an abnormal alarm message is issued.

[0213] When it is determined that the outward swing state of the cleaning equipment is abnormal and the rotation drive component is driven to rotate along the second rotation direction, if the second detection module does not detect the second detection trigger element within the third time range, it indicates that both the outward swing state and the inward retraction state of the cleaning equipment are abnormal. The rotation drive component can be controlled to stop driving the rotation component to rotate, and an abnormal alarm message is issued.

[0214] Through this embodiment, when both the outward swing state and the inward retraction state are abnormal, an abnormal alarm message is directly issued, which can avoid the cleaning equipment wasting a long time in self-extrication and improve the intelligence of the cleaning equipment.

[0215] In an exemplary embodiment, when it is determined that the operating state of the cleaning component is abnormal, the cleaning device is controlled to perform a specified operation to restore the operating state of the cleaning component to normal, including: S91, when it is determined that the retraction state of the cleaning device is abnormal, the cleaning device is controlled to move a distance along a target direction, and a rotating component is driven to rotate along a second rotation direction by a rotation drive component; S92, when the second detection module detects the second detection trigger element within a fourth time range, it is determined that the operating state of the cleaning device has returned to normal.

[0216] Since the abnormality of the retraction state of the cleaning device may be due to external obstacles or other reasons preventing the cleaning component from retracting, in this embodiment, when it is determined that the retraction state of the cleaning device is abnormal, the cleaning device can be controlled to move a distance along a target direction. At the same time, after it is determined that the cleaning device may leave the obstacle, the cleaning component can be controlled to retract again, that is, the rotating component is driven to rotate along the second rotation direction by a rotation drive component. Here, the target direction may be a direction different from the direction of movement of the cleaning device before the abnormality of the retraction state.

[0217] Starting from the rotation of the driven rotating component along the second rotation direction, if the second detection module detects the second detection trigger element within the fourth time range, it can be determined that the operating state of the cleaning equipment has returned to normal. The fourth time range may be the same as, or different from, the aforementioned first time range, second time range, or third time range.

[0218] Optionally, if it is determined that the inward retraction state of the cleaning equipment is abnormal, the cleaning component may also be controlled to move in the opposite direction to the previous inward retraction state, that is, the rotating component is driven to rotate along the first rotation direction by the rotation drive component. And if the first detection module detects the first detection trigger element within the fifth time range, it is determined that the operating state of the cleaning equipment has returned to normal. Here, the fifth time range may be the same as, or different from, the aforementioned first time range, second time range, third time range, or fourth time range.

[0219] Through this embodiment, when it is determined that the retraction state of the cleaning component is abnormal, the cleaning device is controlled to leave the current area and retract again to restore the operating state of the cleaning device, which can improve the extrication efficiency of the cleaning device.

[0220] In an exemplary embodiment, the above method further includes: S101, when the second detection module does not detect the second detection trigger element within the fourth time range, the rotation drive component is controlled to stop driving the rotation component to rotate and an abnormal alarm message is issued.

[0221] From the start of the rotation of the driving rotation component along the second rotation direction, when the second detection module does not detect the second detection trigger element within the fourth time range, it can be determined that the operating state of the cleaning device cannot be restored to normal by changing the location of the device. In this embodiment, the rotation drive component can be controlled to stop driving the rotation component to rotate and an abnormal alarm message is issued.

[0222] Optionally, when the cleaning equipment is restored to normal operation by driving the rotating component to rotate along the first rotation direction as described above, if the first detection module does not detect the first detection trigger element within the fifth time range, the rotating drive component can also be controlled to stop driving the rotating component to rotate and issue an abnormal alarm message.

[0223] Through this embodiment, if the cleaning equipment still cannot be restored to normal operation after the specified operation is performed, an abnormal alarm message can be directly issued, which can avoid the cleaning equipment wasting a long time in self-extrication and improve the intelligence of the cleaning equipment.

[0224] In an exemplary embodiment, the above method further includes: S111, obtaining position information of the cleaning device, wherein the position information of the cleaning device is used to indicate the position of the cleaning device within the cleaning area; S112, generating a first rotation command when the distance between the cleaning device and the edge of the cleaning area is less than or equal to a preset distance threshold, based on the position information of the cleaning device, wherein the first rotation command is used to instruct the rotation drive component to drive the rotating component to rotate along a first rotation direction; S113, generating a second rotation command when the distance between the cleaning device and the edge of the cleaning area is greater than the preset distance threshold and the cleaning component is in an outward swing state, wherein the second rotation command is used to instruct the rotation drive component to drive the rotating component to rotate along a second rotation direction.

[0225] When the distance between the cleaning device and the edge of the cleaning area is less than or equal to the preset distance threshold, based on the position information of the cleaning device, it indicates that the distance between the cleaning device and the edge of the cleaning area is relatively close, and edge cleaning is required, so a first rotation command can be generated. Here, the preset distance threshold can be a pre-set distance threshold. The first rotation command can be used to instruct the rotation drive component to drive the rotating component to rotate along the first rotation direction.

[0226] When the distance between the cleaning device and the edge of the cleaning area is greater than a preset distance threshold and the cleaning component is in an outward swing state, a second rotation command can be generated. Here, the second rotation command is used to instruct the rotation drive component to drive the rotating component to rotate along the second rotation direction.

[0227] Through this embodiment, the distance between the position of the cleaning device and the edge of the cleaning area is used to determine whether to control the cleaning component to swing outward or retract inward, which can improve the flexibility of the cleaning device and improve the efficiency of edge cleaning.

[0228] The following describes the movement control method of the cleaning device in the embodiment of this specification with reference to optional examples. In this optional example, the cleaning device is a cleaning robot, and the first time range and the second time range are time T.

[0229] This optional example provides a swing-type cleaning module motion control method, as shown in Figures 21 and 22. The flow of the movement control method of the cleaning device in this optional example may include the following steps: Step 1, determine the running state (retract or swing outward) of the cleaning component according to the current position of the cleaning robot.

[0230] Step 2: When the cleaning component is in the retracted state and needs to be retracted, control the swinging component 2 to swing outward along the rotation center 6. When the rotating component 1 reaches a certain position within time T, the detection trigger element 7 on the rotating component 1 triggers the detection component 4, thereby giving a command to detect the rotation module to be rotated into position, and the rotation drive component 3 stops working.

[0231] Step 3: When the detection trigger element 7 does not trigger the detection component 4 within time T, it is determined that the cleaning equipment is abnormal, and an escape operation is performed.

[0232] Step 4: If the escape is not successful within time T1, an abnormal warning is issued.

[0233] Step 5: When the cleaning component is in the retracted state and needs to be retracted, control the swinging component 2 to swing back inward along the rotation center 6. When the rotating component 1 reaches a certain position within time T, the detection trigger element 8 on the rotating component 1 triggers the detection component 5, thereby giving a command to detect the rotation module to be rotated into position, and the rotation drive component 3 stops working. Instruction manual, pages 30 / 46, 33 CN 121421410 A

[0234] Step 6: When the detection element 8 fails to trigger the detection component 5 within time T, it is determined that the cleaning equipment is abnormal, and an escape operation is performed.

[0235] Step 7: If the escape is not successful within time T1, an abnormal warning is issued.

[0236] Through this optional example, the cleaning component can be determined to be outward based on its position in the cleaning area, which can improve the cleaning efficiency of the cleaning area. In addition, the accuracy of judging the operating status of the cleaning equipment can be improved by determining whether the cleaning equipment is trapped based on the rotation time of the outward or inward state.

[0237] Example 2: The cleaning robot can move autonomously on the floor of the room and perform cleaning tasks. Usually, the actual implementation of the cleaning robot...The actual working environment is a home environment, which often contains various types of obstacles, such as plush toys, pet feces, wires, narrow passages, etc. The cleaning parts that are extended outward are more likely to encounter these obstacles, contaminating or being contaminated by them. For example, if the cleaning parts encounter a plush toy, it will get the plush toy dirty; if it encounters pet feces, the cleaning parts will be covered in feces, and when cleaning continues, more of the floor will be contaminated with feces. There is also the possibility that the cleaning parts will get stuck between narrow obstacles, causing the cleaning robot to get trapped.

[0238] It can be seen that although extending the cleaning parts outward beyond the body of the cleaning robot can expand the cleaning range and improve the cleaning coverage of the floor along the edges, corners, small obstacles, etc., it also increases the risk of the cleaning robot getting stuck, touching obstacles and causing contamination and being contaminated.

[0239] To solve the above problems, this embodiment provides a cleaning control method for a cleaning robot. Please refer to Figure 24. In specific implementation, the cleaning control method provided in this specification may include the following steps: S181, acquiring obstacle information in the forward direction of the cleaning robot; S182, determining whether the obstacle information contains obstacle data that meets preset obstacle conditions; S183, if the obstacle information contains obstacle data that meets preset obstacle conditions, controlling the cleaning robot to drive the cleaning component to the retracted position.

[0240] The cleaning robot is equipped with an obstacle detection sensor to acquire obstacle information in the forward direction of the cleaning robot. The obstacle detection sensor may include various types, such as a lidar sensor, an infrared sensor, a line laser sensor, and an edge sensor. Among them, the lidar sensor includes, for example, a triangulation lidar sensor and a ToF lidar sensor.

[0241] In some embodiments, the obstacle detection sensor may also include a vision sensor, which acquires a visual image in the forward direction, and identifies and processes the visual image to acquire obstacle information.

[0242] After the cleaning robot acquires obstacle information in the forward direction, it analyzes and processes the obstacle information to facilitate identification of whether the acquired obstacle information contains obstacle data that meets preset obstacle conditions. These obstacle data that meet preset obstacle conditions are obstacles that may cause the cleaning component to get stuck and contaminated. It is necessary to control the cleaning component to move to the retracted position in advance to avoid them, so as to reduce the risk of getting stuck and contaminated.

[0243] In a specific implementation scenario, the drive component (not shown) is set on the body 210, including a motor and a transmission mechanism connected to the motor. The transmission mechanism is used to convert the rotational motion of the motor into the reciprocating motion of the cleaning component 220. The transmission mechanism can include various implementations. The following is an example. The transmission mechanism includes a drive gear and a linear rack. The linear rack is fixed on the body 210. The drive gear is connected to the cleaning component 220. The drive gear is rotatably connected to the linear rack and moves along the linear rack.The rack extends in a certain direction, thereby driving the gear to move the cleaning component 220, so that the cleaning component 220 can move between the retracted position B and the extended position A. The transmission mechanism can also adopt other transmission schemes, such as a screw-sleeve or worm gear combination drive, as long as the rotational motion of the motor can be converted into the positional movement of the cleaning component 220. Examples will not be given hereafter.

[0244] The above-mentioned "preset obstacle conditions" are preset. Specifically, the preset obstacle conditions include preset obstacle type conditions and preset distance conditions between the obstacle and the machine body. Only when both the preset type condition and the preset distance condition are met is the obstacle information considered to contain obstacle data that meets the preset obstacle conditions. In a specific embodiment, the step of determining whether the obstacle information contains obstacle data that meets the preset obstacle conditions includes: determining whether the obstacle information contains obstacle data that meets both the preset type condition and the preset distance condition.

[0245] In specific implementation, it is possible to first identify whether the obstacle information contains obstacle data that meets the preset type conditions, and then determine whether the obstacle data of the preset type meets the preset distance conditions. Alternatively, it is possible to determine whether there is obstacle data with the preset type conditions among the obstacle data that meets the preset distance conditions. Of course, the above-mentioned preset type conditions and preset distance conditions can be determined simultaneously.

[0246] The preset type conditions are understood as preset specific types of obstacles, such as linear obstacles that are easily tangled, such as wires and yarns, obstacles that are easily soiled, such as carpets and plush toys, and obstacles that are easily soiled by pet feces. When the obstacle data shows that the corresponding obstacle is of the above-mentioned preset type, it is considered that the preset type conditions are met.

[0247] In a specific embodiment, the step of determining whether the obstacle information contains obstacle data that meets the preset type conditions may include: determining whether the obstacle information includes an obstacle type to avoid; if so, determining that the obstacle information includes obstacle data that meets the preset type conditions.

[0248] In a specific embodiment, the preset type conditions are pre-set in the cleaning robot. For example, the preset type conditions include various obstacle types, such as slender obstacles, plush obstacles, etc. By identifying and extracting obstacle data in the obstacle information and performing feature comparison, obstacle type data can be obtained. The obstacle type data may include corners, sofas, tables and chairs, etc. Further, it is determined whether these obstacle type data are obstacle avoidance types. For example, some obstacle types are designated as obstacles that need to be avoided. If the obstacle type data is detected to include obstacle avoidance types, it is determined that the obstacle information includes obstacle data that meets the preset type conditions.

[0249] In a specific embodiment, the step of determining whether the obstacle information includes an obstacle avoidance type further includes: acquiring the contour data of the obstacle corresponding to the obstacle information; comparing the contour data with preset contour data, determining the matching degree between the contour data and the preset contour data, and determining that the obstacle information includes an obstacle avoidance type when the matching degree meets the preset matching condition.

[0250] Wherein, the above-mentioned "contour data" is obtained by extracting and fitting the point cloud data of the obstacle obtained by the obstacle detection sensor. The contour data represents the direction and shape of the outer contour of the obstacle. The cleaning robot has preset contour data stored in advance. The matching degree between the acquired contour data and the preset contour data is determined. When the matching degree meets the preset matching condition, it is determined that the obstacle information includes an obstacle avoidance type. For example, if the matching degree exceeds 80%, the obstacle is determined to be an obstacle avoidance type.

[0251] In specific implementation scenarios, the working environment of the cleaning robot may include various obstacle distribution situations, such as the distribution of obstacles causing narrow passages, which can easily cause cleaning components to get stuck, and some scenarios such as the cleaning area being a dead end, an inner right angle, or between table and chair legs.

[0252] To reduce the risk of cleaning components getting stuck due to these obstacle scenarios, in some embodiments, the step of determining whether the obstacle information contains obstacle data that meets the preset type conditions includes: (Page 32 / 46 of the specification, CN 121421410 A) Determining the distribution data of the obstacles based on the obstacle information; Comparing the distribution data with preset distribution data, and determining whether the obstacle distribution is a preset obstacle scenario based on the comparison result; If so, determining that the obstacle information contains obstacle data that meets the preset type conditions.

[0253] Wherein, the above-mentioned "preset obstacle scenario" is usually caused by a relatively dense distribution of obstacles, and the cleaning area within or between multiple obstacles is relatively narrow, which easily causes the cleaning components to get stuck.

[0254] In a specific embodiment, the preset obstacle scenario includes one or more of narrow alleys, dead ends, inner right angles, and table and chair legs, and the preset distribution data includes distribution data types corresponding to the preset obstacle scenario, which may include distribution data types corresponding to narrow alleys, dead ends, inner right angles, and table and chair legs. Determining whether the obstacle distribution is a preset obstacle scenario based on the comparison results includes: determining the distribution data type that matches the distribution data; and determining the corresponding preset obstacle scenario based on the matched distribution data type.

[0255] In a specific embodiment, determining the distribution data type that matches the distribution data includes: determining the matching degree between the distribution data and the distribution data type; and determining that the distribution data matches the distribution data type if the matching degree is greater than or equal to a preset distribution matching threshold.

[0256] Taking the narrow alleyway distribution data type as an example, if the matching degree between the distribution data and the narrow alleyway distribution data type is determined to be as high as 80%, exceeding the preset distribution matching threshold of 70%, then the corresponding obstacle distribution is determined to be a narrow alleyway. The cleaning robot 200 needs to control the cleaning component to move to the retracted position B under the condition of meeting the preset distance condition, so as to reduce the risk of the cleaning robot getting stuck.

[0257] In a specific embodiment, the step of determining whether the obstacle information contains obstacle data that meets the preset distance condition specifically includes: determining whether the distance between the obstacle corresponding to the obstacle information and the body is less than or equal to the preset distance threshold; when the distance between the obstacle and the body is detected to be less than or equal to the preset distance threshold for the first time, determining that the obstacle information contains obstacle data that meets the preset distance condition.

[0258] It can be understood that during the initial movement of the cleaning robot, the cleaning component protrudes outside the body, and the cleaning component contacts the obstacle first. By setting a preset distance threshold, when the cleaning component is about to contact an obstacle but has not yet made contact, if it is determined that the obstacle information contains obstacle data that meets the preset distance conditions, the cleaning component can be controlled to move to the retracted position in a timely manner to avoid contact with the obstacle. In specific implementation, if the obstacle information also includes obstacle data that meets the preset type conditions, when the distance between the obstacle and the machine body is first detected to be less than or equal to the preset distance threshold, it is determined that the preset distance conditions are met. The distance margin between the cleaning component and the obstacle can be adjusted through the preset distance threshold to ensure that the cleaning component completes the action of moving to the retracted position before touching the obstacle, thereby avoiding contact with the obstacle and reducing the risk of getting stuck, contaminating the obstacle, or being contaminated by the obstacle.

[0259] The cleaning component cannot move to the retracted position too early, as this will result in the area around the corresponding obstacle not being cleaned. The cleaning component also cannot move to the retracted position too late, as this will increase the risk of the cleaning component touching the obstacle. In order to balance cleaning coverage and reduce the risk of cleaning components hitting obstacles, in some embodiments, the cleaning control method further includes: obtaining the driving speed of the cleaning robot; and adjusting the preset distance threshold according to the driving speed.

[0260] That is, the cleaning robot adjusts the preset distance threshold according to the driving speed of the cleaning robot. When the driving speed is slow, the cleaning robot has enough time to move the cleaning components to the retracted position, so the preset distance threshold can be adjusted to be smaller, so as to clean the ground around the obstacle and improve the cleaning coverage around the obstacle. When the driving speed of the cleaning robot is fast, at the current speed, the cleaning robot will reach the area around the obstacle in a shorter time. At this time, according to the current speed, the preset distance threshold needs to be adjusted to be larger, so as to avoid the risk of the cleaning components hitting the obstacle.

[0261] In some embodiments, in order to improve the ground coverage around obstacles, when the cleaning robot detects an obstacle that meets preset type conditions, it controls the robot to reduce its travel speed and clean the area around the obstacle at a lower speed, thereby cleaning the ground around the obstacle more thoroughly while ensuring that the cleaning components do not come into contact with the obstacle.

[0262] When the obstacle information acquired by the cleaning robot does not contain obstacle data that meets preset obstacle conditions, the cleaning robot drives the cleaning components to move to the extended position A in order to maintain a high coverage rate.

[0263] Referring to Figures 25 and 26, it should be noted that when the cleaning robot 200 is configured with multiple cleaning components 220, taking two cleaning components 220 as an example, each cleaning component 220 can be driven independently to control whether it is in the extended position A or the retracted position B. When obstacle data that meets preset obstacle conditions is detected in front of the left cleaning component 220, the left cleaning component can be controlled to move to the retracted position B (shown by the dotted line in Figure 25), while the right cleaning component remains in the extended position. When obstacle data that meets the preset obstacle conditions is detected in front of the right cleaning component 220, the right cleaning component can be moved to the retracted position B independently, while the left cleaning component remains in the extended position. When obstacle data that meets the preset obstacle conditions is detected on both sides of the left, both cleaning components 220 can be moved to the retracted position B simultaneously, as shown in Figure 26. In this way, the independent driving of the two cleaning components can ensure a high coverage rate.

[0264] Example 3 Under normal circumstances, the working environment of the cleaning robot is an indoor home environment. When performing edge cleaning tasks in an indoor home environment, it mainly cleans the boundary of a certain cleaning area in the room. By extending the cleaning component outward from the robot body, the cleaning range can be expanded and the cleaning coverage rate can be increased, but the probability of scratching is increased, which affects the service life of the machine. In order to avoid scratching by obstacles, the extended cleaning component is retracted. On the one hand, the high coverage rate of the machine cannot be guaranteed, and on the other hand, the number of times the cleaning component is extended and retracted is increased, which also affects the service life of the machine. To solve the above-mentioned technical problems, this specification proposes an edge cleaning method that can ensure high coverage and reduce obstacle scratching problems caused by the outward-protruding cleaning component without retracting the cleaning component, thereby extending the service life of the machine.

[0265] In the following embodiments, the cleaning robot shown in Figures 25 and 26 is used as an example for illustration. Figure 25 shows a bottom view structural model of the cleaning robot in the retracted state. In this working state, a part of the cleaning component is located outside the periphery of the machine body, at position A; Figure 4 shows the cleaning robot in the outward-protruding state.The top view structural model diagram of the cleaning robot in this working state shows that a portion of the cleaning component is located outside the periphery of the robot body, at position B. However, the portion outside the periphery of the cleaning component is larger than the portion outside the periphery of the cleaning component when it is in the retracted state. This is the top view structural model diagram of the working state that the cleaning robot maintains in this embodiment.

[0266] Specifically, as shown in Figures 25 and 26, the cleaning robot 200 includes a body 210 and a cleaning component 220 movably disposed on the body 210. More specifically, the cleaning component 220 is disposed at the bottom of the body 210, and its quantity can be one or more. It can be any one of a side brush, a mop disc, and a roller brush. The specific quantity and specific form are not limited here.

[0267] For ease of explanation, the forward direction of the body 210 is taken as forward, and the backward direction is taken as backward. The front side of the forward direction is the front side of the body, and the rear side is the rear side of the body. The front side and the rear side of the body are collectively referred to as the vertical side of the body. The left side of the forward direction is the left side of the body, and the right side is the right side of the body. The left side and the right side of the body are collectively referred to as the horizontal side of the body. The horizontal side and the vertical side of the body are perpendicular to each other. When the forward direction of the cleaning robot is set to forward, the cleaning robot will move towards the front side of the body in accordance with its forward direction (of course, the forward direction of the cleaning robot can also be set to backward. When it is set to backward, the cleaning robot will move backward towards the rear side of the body in accordance with its forward direction). During the entire movement of the cleaning robot 200 while performing a preset edge cleaning task, as the robot body 210 rotates around its center O1, the horizontal and vertical sides of the robot body may interchange before and after the rotation. For example, when the robot body 210 rotates 90° or 270° around its center O1, the original horizontal side becomes the vertical side, and vice versa. Edge cleaning in this embodiment is a real-time control process; therefore, it should be understood that the specific directions of the horizontal and vertical sides of the robot body relative to the cleaning area are not fixed and will change according to the movement of the robot body 210. This is understandable to those skilled in the art.

[0268] As shown in Figure 27, this embodiment provides an edge cleaning method, which includes: S1: When the cleaning component is in an outward swing state, acquiring obstacle information in the direction of travel of the cleaning robot in real time; S2: When determining that the cleaning robot is performing a preset edge cleaning task based on the obstacle information, determining whether the cleaning robot meets the preset obstacle avoidance conditions based on the obstacle information; S3: When the cleaning robot meets the preset obstacle avoidance conditions, controlling the movement of the robot body according to the obstacle information to complete the preset edge cleaning task, so as to avoid the cleaning component in the outward swing state from being scratched.

[0269] In this embodiment, when it is determined based on obstacle information that the cleaning robot is performing a preset edge cleaning task, there is an obstacle on the vertical side of the robot body; wherein, the obstacle on the vertical side of the robot body is located on the front or rear side of the robot body in the direction of travel, and the second side obstacle includes the obstacle on the vertical side of the robot body.

[0270] In this embodiment, when it is determined based on obstacle information that the cleaning robot is performing a preset edge cleaning task, there is also an obstacle on the horizontal side of the robot body; wherein, the obstacle on the horizontal side of the robot body is located on the left or right side of the robot body in the direction of travel, and the first side obstacle includes the obstacle on the horizontal side of the robot body.

[0271] Only when there are obstacles on both the vertical and horizontal sides of the robot body can it be determined that the cleaning robot is in the obstacle scenario of the preset edge cleaning task. For the inner corner shown in Figure 28 and the table and chair legs shown in Figure 29, there are obstacles on both the vertical and horizontal sides of the robot body; of course, there are other obstacle scenarios that meet the requirements, such as outer corners and dead ends. When the cleaning robot is performing edge cleaning in the above-mentioned obstacle scenario, its corresponding preset edge cleaning tasks are inner corner edge cleaning (i.e., edge cleaning task in the obstacle scenario shown in Figure 28), table and chair leg edge cleaning (i.e., edge cleaning task in the obstacle scenario shown in Figure 29), outer corner edge cleaning (not shown), and dead end edge cleaning (not shown).

[0272] In an optional embodiment, the edge cleaning method of this embodiment further includes: S4: When it is determined that the cleaning robot does not meet the preset obstacle avoidance conditions according to the obstacle information, the robot body is controlled to complete the preset edge cleaning task according to the fourth action strategy.

[0273] When performing the preset edge cleaning task, the movement of the cleaning robot is carried out in real time. If it is determined that it does not meet the preset obstacle avoidance conditions, it still needs to continue to perform the remaining edge cleaning and continue to judge in real time whether the subsequent movement process will meet the preset obstacle avoidance conditions. Therefore, this embodiment controls the movement of the robot body according to the fourth action strategy, which can ensure the smooth completion of the preset edge cleaning task.

[0274] In this embodiment, the fourth action strategy is a pre-set strategy, which can adopt a strategy of maintaining the current cleaning mode to control the movement of the robot body. For example, according to the current traveling speed and current traveling direction, the robot body is controlled to continue to move forward to continue cleaning along the edge. Of course, the current traveling speed can also be increased or decreased according to actual needs, and the robot body can be controlled to accelerate or decelerate in the current traveling direction to continue cleaning along the edge.

[0275] The preset obstacle avoidance condition is a pre-set obstacle avoidance condition. In an optional embodiment, the preset obstacle avoidance condition includes the condition that the first distance between the robot body and the obstacle on the vertical side of the robot body is satisfied.

[0276] In an optional embodiment, in S2, determining whether the cleaning robot meets the preset obstacle avoidance condition based on the obstacle information includes:S21: Based on obstacle information, obtain the first distance between the robot body and the obstacle on the vertical side of the robot body; S22: Determine whether the first distance is less than or equal to a first preset threshold; S23A: If yes, determine that the cleaning robot meets the preset obstacle avoidance conditions.

[0277] It should be understood that the first distance specifically refers to the distance between the center of the robot body (i.e., O1 in Figures 25 and 26) and the obstacle on the vertical side of the robot body. It can be obtained by analyzing the obstacle point cloud data obtained by sensors such as lidar sensors to obtain the distance between the sensor and the obstacle on the vertical side of the robot body, and then combining it with the inherent size of the cleaning robot; or by performing image analysis on the image obtained by the vision sensor to obtain the distance between the sensor and the obstacle on the vertical side, and then combining it with the inherent size of the cleaning robot (including the size of the robot body, the distance between the sensor and the outer perimeter of the robot body, etc.).

[0278] The center of the robot body can be the center point of the robot body, which is the geometric center of the robot body, or it can be something other than the geometric center of the robot body. For example, when the robot body is a standard circle, the center point of the robot body can be the geometric center of the robot body.

[0279] The first preset threshold in this embodiment can be preset and adjusted according to the actual situation. For example, when the distance between the center of the cleaning robot body and the outer perimeter of the body is 20cm, the first preset threshold is set to 28cm. Once the first distance reaches 28cm, it means that the distance between the outer perimeter of the body and the obstacle on the vertical side of the body is close (8cm), and subsequent motion control is performed.

[0280] In an optional embodiment, S3, when the cleaning robot meets the preset obstacle avoidance conditions, the robot body's movement is controlled according to the obstacle information to complete the preset edge cleaning task, so as to avoid the cleaning component maintaining the outward swing state from being scratched, including: S31: obtaining the current travel speed of the robot body and reducing the current travel speed; S32: determining whether the first distance obtained at the reduced current travel speed is less than or equal to a second preset threshold; wherein, the second preset threshold is less than the first preset threshold; S33A: if the first distance obtained is less than or equal to the second preset threshold, the current travel speed of the robot body is reduced to zero; and after a first preset time, the robot body's movement is controlled according to the first action strategy, so that the cleaning component deviates from the obstacle on the horizontal side of the robot body.

[0281] Similar to the first preset threshold, the second preset threshold and the first preset duration can be preset and adjusted according to the actual situation. For example, the second preset threshold can be set to 21cm (assuming the distance between the center of the cleaning robot and the outer perimeter of the robot is 20cm). Once the first distance reaches 21cm, it means that the distance between the outer perimeter of the robot and the obstacle on the vertical side of the robot is only 1cm, almost touching the obstacle on the vertical side of the robot, so the machine is stopped. The first preset duration is set to 1s, that is, 1s after stopping, the robot's movement is controlled according to the first action strategy.

[0282] For the obstacle scenario shown in Figure 28, the obstacle avoidance top-view model is shown in Figures 30a-30j. In Figure 30a, when the distance between the body of the cleaning robot (specifically the center of the body) and the room wall in front of the body reaches 28cm, the body begins to decelerate; in Figure 30b, when the distance between the body of the cleaning robot (specifically the center of the body) and the room wall in front of the body reaches 21cm (i.e., almost touching the room wall), the machine stops.

[0283] For the obstacle scenario shown in Figure 29, the obstacle avoidance top-view model is shown in Figures 31a-31j. In Figure 31a, when the distance between the body of the cleaning robot (specifically the center of the body) and the table and chair legs on the front side of the body reaches 28cm, the body begins to decelerate; in Figure 31b, when the distance between the body of the cleaning robot (specifically the center of the body) and the table and chair legs on the front side of the body reaches 21cm (i.e., almost touching the table and chair legs on pages 36 / 46 of the specification, CN 121421410 A), the machine stops.

[0284] In an optional embodiment, when the cleaning robot meets the preset obstacle avoidance conditions, the movement of the body is controlled according to the obstacle information to complete the preset edge cleaning task, so as to avoid the cleaning components that maintain the outward swing state from being scratched, and further includes: S33B: if the obtained first distance is greater than the second preset threshold, the current traveling speed of the body is further reduced until the obtained first distance is less than or equal to the second preset threshold at the reduced current traveling speed.

[0285] When the first distance obtained at the reduced current travel speed is greater than the second preset threshold, it means that the cleaning robot has not yet encountered the obstacle on the vertical side of the body. At this time, the current travel speed can be further reduced until the first distance is less than or equal to the second preset threshold. Under the premise of ensuring that the cleaning parts are not scratched, the position closest to the obstacle on the vertical side of the body can be found, so that the robot can maximize the coverage of the area near the obstacle and improve the edge cleaning effect as much as possible.

[0286] In an optional embodiment, in S33A, according to the first action strategy, the movement of the machine body is controlled so that the cleaning component deviates from the obstacle on the horizontal side of the machine body, including: S33A1: Based on obstacle information, a second distance between the cleaning component and the obstacle on the horizontal side of the machine body is obtained; S33A2: After a first preset time period, with the center of the machine body as the center, the side of the machine body with the cleaning component is controlled to rotate in a direction away from the obstacle on the horizontal side of the machine body; at the same time, the machine body is controlled to move in a direction away from the obstacle on the vertical side of the machine body until the first distance is greater than or equal to a third preset threshold and the second distance is greater than or equal to a fourth preset threshold; S33A3: After a second preset time period, according to the second action strategy, the movement of the machine body is controlled so that the cleaning component bypasses the obstacle on the vertical side of the machine body.

[0287] It should be understood that the second distance refers to the distance between the center of the cleaning component (i.e., O2 in Figures 3 and 4) and the obstacle on the horizontal side of the machine body, and its specific acquisition method is similar to that of the first distance.

[0288] For the obstacle scenario shown in Figure 28, when the machine stops for 1 second in Figure 30b, since the obstacle on the horizontal side of the machine body (i.e. the wall on the right side of the machine body) is located on the right side of the machine body and the cleaning component is located on the right rear side of the machine body, the machine body begins to rotate to its left rear side in Figure 30c and moves away from the obstacle on the vertical side of the machine body (i.e. the wall on the front side of the machine body), forming a rotating backward effect; when the first distance (the distance between the machine body and the wall on the front side of the machine body) reaches the third preset threshold (e.g., 27cm) and the second distance (the distance between the cleaning component and the wall on the right side of the machine body) reaches the fourth preset threshold (e.g., 7cm), that is, at the position in Figure 30d, the machine stops rotating and moving.

[0289] For the obstacle scenario shown in Figure 29, when the machine stops for 1 second in Figure 31b, for the same reason that the obstacle on the horizontal side of its body (i.e. the wall on the right side of the body) is located on the right side of the body and the cleaning component is located on the right rear side of the body, the body begins to rotate to its left rear side in Figure 31c and moves away from the obstacle on the vertical side of the body (i.e. the table and chair legs on the front side of the body), forming a rotating backward effect; when the first distance (the distance between the body and the table and chair legs on the front side of the body) reaches the third preset threshold (e.g., 27cm), and the second distance (the distance between the cleaning component and the wall on the right side of the body) reaches the fourth preset threshold (e.g., 7cm), that is, at the position in Figure 31d, the machine stops rotating and moving.

[0290] In an optional embodiment, S33A3: after a second preset duration, according to the second action strategy, the movement of the machine body is controlled so that the cleaning component bypasses the obstacle on the vertical side of the machine body, including: S33A31: obtaining the third distance between the cleaning component and the obstacle on the vertical side of the machine body according to the obstacle information; S33A32: after the second preset duration, with the center of the machine body as the center, the side of the machine body with the cleaning component is controlled to rotate towards the obstacle on the vertical side of the machine body; at the same time, the machine body is controlled to move towards the obstacle on the vertical side of the machine body until the first distance is less than or equal to the fifth preset threshold and the third distance is less than or equal to the sixth preset threshold; S33A33: after the third preset duration, according to the third action strategy, the movement of the machine body is controlled to complete the preset cleaning task along the edge of the machine body.

[0291] It should be understood that the third distance refers to the distance between the center of the cleaning component and the obstacle on the vertical side of the machine body, and its specific acquisition method is similar to that of the second distance.

[0292] In an optional embodiment, both the fifth preset threshold and the sixth preset threshold are preset and adjusted according to actual conditions. For example, the fifth preset threshold is set to 26cm (wherein, the dimension between the center of the machine body and the outer periphery of the machine body is 20cm, and the dimension between the center of the cleaning component and the outer periphery of the cleaning component is 5cm), and the sixth preset threshold is set to 6cm. Third preset durationIt is also a preset duration, for example, it can be set to 1s or 0.1s, which can be the same as or different from the first preset duration and the second preset duration.

[0293] For the obstacle scenario shown in Figure 28, when the machine stops rotating and moving for 1s in Figure 30d, since the obstacle on the horizontal side of its body (i.e. the wall on the right side of the body) is located on the right side of the body and the cleaning component is located on the right rear side of the body, in Figure 30e, the body begins to rotate to its left front side and moves towards the obstacle on the vertical side of the body (i.e. the wall on the front side of the body), as shown in Figure 30f, forming a rotating forward effect; when the first distance (the distance between the body and the wall on the front side of the body) reaches the fifth preset threshold (e.g., 26cm), and the third distance (the distance between the cleaning component and the wall on the right side of the body) reaches the sixth preset threshold (e.g., 6cm), that is, at the position in Figure 30g, the machine stops rotating and moving.

[0294] For the obstacle scenario shown in Figure 29, when the machine stops rotating and moving for 1 second in Figure 31d, since the obstacle on the horizontal side of the machine body (i.e., the wall on the right side of the machine body) is located on the right side of the machine body and the cleaning component is located on the right rear side of the machine body, in Figure 31e, the machine body begins to rotate to its left front side and moves towards the obstacle on the vertical side of the machine body (i.e., the table and chair legs on the front side of the machine body), as shown in Figure 31f, forming a rotating forward effect; when the first distance (the distance between the machine body and the table and chair legs on the front side of the machine body) reaches the fifth preset threshold (e.g., 26cm), and the third distance (the distance between the cleaning component and the wall on the right side of the machine body) reaches the sixth preset threshold (e.g., 6cm), that is, at the position in Figure 31g, the machine stops rotating and moving.

[0295] It should be understood that when the cleaning component bypasses the obstacle on the vertical side of the machine body in the above manner, the original horizontal and vertical directions of the machine body are interchanged, and thus the obstacles on the horizontal side of the machine body and the obstacles on the vertical side of the machine body are interchanged.

[0296] In an optional embodiment, S33A33 above: after a third preset duration, according to a third action strategy, control the movement of the machine body to complete the preset edge cleaning task, including: after a third preset duration, control the machine body to move towards the obstacle on the vertical side of the machine body until the third distance is less than or equal to the seventh preset threshold, and then control the machine body to perform edge cleaning along the outline of the obstacle on the horizontal side of the machine body according to a preset travel speed to complete the preset edge cleaning task.

[0297] In this embodiment, the third preset duration, the seventh preset threshold, and the preset travel speed are all preset parameters. For example, the third preset duration is set to 1s or 0.1s, the seventh preset threshold is set to 6cm (wherein, the distance between the center of the cleaning component and the outer periphery of the cleaning component is 5cm), and the speed of the machine when it starts to perform the edge cleaning task is used as the preset travel speed.

[0298] For the obstacle scenario shown in Figure 28, when the machine stops rotating and moving for 1 second in Figure 30g, the obstacle on the vertical side of the new machine body (i.e., the wall behind the machine) is located behind the machine, and the cleaning component is located on the right rear side of the machine body. Therefore, in Figure 30h, the machine body begins to move to the rear, achieving a backward effect. When the third distance (the distance between the cleaning component and the wall behind the machine) reaches the seventh preset threshold (e.g., 6cm), i.e., the position in Figure 30i, the machine stops backward. And after 1 second, it continues to clean along the edge of the obstacle on the horizontal side of the new machine body (i.e., the wall on the right side of the machine body), as shown in Figure 30j.

[0299] For the obstacle scenario shown in Figure 29, when the machine stops rotating and moving for 1 second in Figure 31g, since the obstacle on the vertical side of the new body (i.e., the wall on the rear side of the machine) is located on the rear side of the machine and the cleaning component is located on the right rear side of the body, the machine begins to move to the rear side in Figure 31h, achieving the effect of retreating; when the third distance (the distance between the cleaning component and the wall on the rear side of the machine) reaches the seventh preset threshold (e.g., 6cm), i.e., the position in Figure 31i, the machine stops retreating; and after 1 second, it continues to clean along the obstacle on the horizontal side of the new body (i.e., the table and chair legs on the right side of the body), as shown in Figure 31j.

[0300] In an optional embodiment, the edge cleaning method further includes: when it is determined based on obstacle information that the cleaning robot is performing a non-preset edge cleaning task, the machine's movement is controlled according to the fifth action strategy to complete the non-preset edge cleaning task.

[0301] In this embodiment, the fifth action strategy is a pre-set strategy, which can adopt a strategy of maintaining the current cleaning mode to control the movement of the machine body. For example, according to the current traveling speed and current traveling direction, the machine body is controlled to continue moving forward to continue cleaning. Of course, the current traveling speed can also be increased or decreased according to actual needs, and the machine body can be controlled to accelerate or decelerate in the current traveling direction to continue cleaning. That is, the fifth action strategy can be the same as or different from the fourth action strategy.

[0302] In an optional embodiment, the above-mentioned determination of whether the first distance acquired in real time meets the preset change condition includes: if the first distance acquired in real time gradually decreases, then it is determined that the first distance meets the preset change condition.

[0303] When the first distance between the robot body and the obstacle on the vertical side of the robot body gradually decreases, it indicates that the robot is performing edge cleaning in the obstacle scenario of the preset edge cleaning task. At the same time, there is still a risk of hitting the obstacle on the vertical side of the robot body. At this time, it is necessary to judge the preset obstacle avoidance conditions according to the method described above in this embodiment. When the cleaning robot meets the preset obstacle avoidance conditions, the robot body is controlled to ensure that the cleaning robot performs the preset edge cleaning task without retracting the outwardly swingable cleaning parts to ensure high coverage, thereby reducing the obstacle scratching problem caused by the outwardly swingable cleaning parts.Effectively extends the service life of the machine.

[0304] Embodiment 4 Based on the solution provided in the above embodiments, this embodiment also provides a cleaning device. The cleaning device may include a body, a first driving component, and a cleaning component movably disposed on the body. The first driving component can be used to drive the cleaning component to swing outward or retract inward relative to the body. The cleaning component has an outward swing state and an inward retraction state. When the cleaning component is in the outward swing state, the part of the cleaning component located outside the periphery of the body is greater than the part of the cleaning component located outside the periphery of the body when the cleaning component is in the inward retraction state. The swing distance of the cleaning component corresponding to the inward retraction state is zero, and the swing distance of the cleaning component corresponding to the outward swing state is the maximum value. The swing distance is the range of movement of the center of the cleaning component in the width direction of the body.

[0305] By allowing the cleaning component to swing outward relative to the machine body, at least during edge cleaning, the cleaning component can be controlled to swing outward, providing higher coverage of the cleaning equipment when cleaning along obstacles and reducing the area of ​​missed cleaning. By allowing the cleaning component to retract inward relative to the machine body, the risk of the cleaning equipment getting trapped or touching obstacles (being contaminated by or contaminating obstacles) due to the outward-swinging cleaning component can be reduced.

[0306] The swing distance of the cleaning component can be fixed. For example, the outward swing distance of the cleaning component can have only two values: the outward swing distance corresponding to the outward swing state and the inward swing distance corresponding to the inward swing state.

[0307] In some embodiments, the swing distance is steplessly adjustable, or the swing distance is multi-level adjustable. Stepless adjustment of the swing distance allows the cleaning component to stop at any desired position; multi-level adjustment of the swing distance allows the cleaning component to stop at multiple desired positions. Controlling the cleaning component to stay at multiple or arbitrary positions facilitates control over the cleaning component to closely adhere to the contour boundary of the obstacle, especially for cleaning along the edges of irregular obstacles, thus improving the cleaning effect.

[0308] The cleaning device may include a swing transmission mechanism, which is connected to the first driving component and the cleaning component described on pages 39 / 46 of the specification, CN 121421410 A. The swing transmission mechanism can convert the rotational motion of the first driving component into the reciprocating motion of the cleaning component, thereby realizing the swinging of the cleaning component. The cleaning device may also include an elastic element, which can drive the cleaning component to swing outward solely through the elastic force of the elastic element.

[0309] In some other embodiments, the swing transmission mechanism may be connected to the first driving component and the elastic element, and the elastic element is connected to the cleaning component; wherein, the cooperation of the elastic element with the first driving component drives the cleaning component to swing outward.The component swings outward; the first driving component drives the cleaning component to retract inward. By setting the elastic element to cooperate with the first driving component, the cleaning component is driven to swing outward, so that during the edge cleaning process, the cleaning component can adjust its position based on the drive, so that the cleaning component can actively adjust to fit the outline boundary of the obstacle, thereby improving the cleaning effect of irregular obstacles. On the other hand, the elastic element can also drive the cleaning component to swing inward based on the force of the obstacle, so as to achieve the effect of buffering or avoiding the collision of the obstacle.

[0310] In some other embodiments, the cleaning device may also include a position sensor, which detects the position of the cleaning component or the swing transmission mechanism to determine whether the cleaning component has reached the required position. After the cleaning component reaches the required position, the position sensor sends a position signal to the controller, so that the controller controls the first driving component to stop rotating according to the position signal. By detecting the position of the cleaning component or the swing transmission mechanism by the position sensor, the cleaning component can be more accurately controlled to reach the required position, thereby achieving precise control of the outward swing and inward retraction of the cleaning component during the cleaning process, improving the cleaning coverage of the cleaning component in complex environments, and reducing the probability of the cleaning component getting stuck.

[0311] In some other embodiments, the cleaning device may further include a self-locking structure, which is used to limit the cleaning component when it reaches the required position. After detecting that the cleaning component has moved to the required position, limiting the cleaning component can prevent it from deviating from the position it needs to stay in during the operation of the cleaning device, thereby affecting the cleaning coverage or causing the cleaning component to get stuck.

[0312] The specific implementation of the cleaning device provided in this embodiment can be referred to the foregoing embodiments, and will not be repeated here.

[0313] Embodiment 5 Based on the cleaning device provided in the embodiments of this specification, this embodiment also provides a control method for the cleaning device. The specific structure of the cleaning device can be referred to the foregoing embodiments, and will not be repeated here.

[0314] In some embodiments, the cleaning device may include a body, a first driving component, and a cleaning component movably disposed on the body. The first driving component is used to drive the cleaning component to swing outward or retract inward relative to the body. The cleaning component has an outward swing state and an inward retraction state. When the cleaning component is in the outward swing state, the portion of the cleaning component outside the periphery of the body is larger than the portion of the cleaning component outside the periphery of the body when the cleaning component is in the inward retraction state. The outward swing distance of the cleaning component corresponding to the inward retraction state is zero, and the outward swing distance of the cleaning component corresponding to the outward swing state is the maximum value. The swing distance is the range of movement of the center of the cleaning component in the width direction of the body.

[0315] The control method may include: controlling the cleaning device to perform edge cleaning of a first-side obstacle; wherein, during the edge cleaning process, the cleaning component swings outward a certain distance and faces the first-side obstacle with the outwardly swinging cleaning component facing it, and the swing distance is infinitely adjustable or has multiple adjustable levels.

[0316] In practical application scenarios, the shape of the obstacle that needs to be cleaned along the edge is usually irregular. If the edge cleaning is performed with only a fixed outward swing distance, the cleaning component may collide with the protrusion of the obstacle, or the cleaning component may miss cleaning the concave area. Of course, adjusting the edge path of the machine body can reduce collisions between cleaning components and obstacles, as well as reduce missed cleaning of recessed areas. However, due to the large size of the machine body, it is difficult to accurately control the accuracy of adjusting the machine's travel path for occasional small convex areas (pages 40 / 46, CN 121421410 A) or small recessed areas. This can easily lead to over-adjustment, where the actual movement of the machine body is much greater than the theoretically required adjustment, thus increasing the probability of collisions between the machine body and cleaning components and obstacles, or increasing missed areas. Collisions between cleaning components and obstacles increase the probability of the cleaning components falling off or being damaged. If cleaning components fall off during cleaning, automatic reinstallation is difficult to achieve and usually requires user intervention. If the user is not nearby, the cleaning process will be interrupted, affecting the cleaning progress and providing a poor user experience. Even if automatic reinstallation is possible, it will still affect cleaning efficiency.

[0317] In the embodiments of this specification, by controlling the stepless adjustment or multi-level adjustment of the swing distance of the cleaning component, when performing edge-following operation on obstacles with irregular contours, the probability of collision between the cleaning component and the obstacle can be reduced by flexibly adjusting the swing distance of the cleaning component, without the need for frequent adjustments to the machine's travel path.

[0318] When the cleaning component is about to contact the boundary of the obstacle, the cleaning component can be controlled to retract inward, and the retraction swing distance can be determined according to the distance between the cleaning component and the boundary of the obstacle. Alternatively, when the cleaning component is about to reach the recessed area, the cleaning component can be controlled to swing outward further, and the swing distance can be determined according to the distance between the cleaning component and the boundary of the obstacle.

[0319] The timing of adjusting the swing distance of the cleaning component can be determined as needed and is not limited. As shown in the example above, the swing distance of the cleaning component can be adjusted when it is about to contact the boundary of the obstacle; alternatively, it can be adjusted in advance, such as when the machine is moving to a protruding or recessed position at the foremost side of the fuselage. Since the machine has a certain edge-traveling speed, slightly pre-emptively controlling the cleaning component to perform the adjustment can further reduce the impact on the cleaning component.The probability of colliding with an obstacle.

[0320] In some embodiments, the swing distance of the cleaning component can be controlled according to the distance between the machine body and the obstacle. The distance between the cleaning component and the obstacle boundary can be determined according to the distance between the machine body and the obstacle and the swing distance of the cleaning component, and then the swing distance of the cleaning component can be adjusted. Sensors are usually not installed at the cleaning component, so it is difficult to detect the distance between the cleaning component and the obstacle boundary. However, the swing distance of the cleaning component is detectable, and the distance between the machine body and the obstacle is also detectable. The distance between the cleaning component and the obstacle boundary can be determined according to the distance between the machine body and the obstacle, making the determination of the distance between the cleaning component and the obstacle boundary simpler and more convenient.

[0321] Of course, the cleaning device can also control the swing distance of the cleaning component outward based on the signal generated after the cleaning component is squeezed or scraped by the obstacle. For example, if the cleaning component collides or scrapes with the obstacle, the cleaning device can reduce the swing distance of the cleaning component outward after receiving the signal, that is, control the cleaning component to retract inward until the above signal is no longer received. This avoids the cleaning component from continuously colliding or scraping with the obstacle when there is a deviation in the boundary recognition of the obstacle or when the timing of the adjustment of the swing distance of the cleaning component is not accurately controlled, which would increase the probability of the cleaning component falling or being damaged.

[0322] The cleaning device can also use other methods to control the swing distance of the cleaning component, which are not limited here. For example, the swing distance of the cleaning component can also be determined in combination with the type of obstacle. For example, for linear obstacles, when the cleaning component swings outward, the distance between the cleaning component and the machine body is large. When the cleaning component comes into contact with the linear obstacle, the probability of the linear obstacle getting tangled in the cleaning component will increase, causing the cleaning component to malfunction. For linear obstacles, the cleaning component can be directly controlled to retract to a retracted state to perform edge cleaning, reducing the probability of the linear obstacle being entangled in the cleaning component.

[0323] In other embodiments, controlling the cleaning device to perform edge cleaning for the first side obstacle includes: controlling the body to perform edge movement for the first side obstacle based on a planned edge path to perform edge cleaning on the first side obstacle; wherein the edge path is determined in the following manner: selecting a reference point on the protrusion of the first side obstacle, determining the tangent at the reference point, and planning the edge path according to the tangent at the reference point; or, selecting multiple reference points according to the shape of the obstacle, determining the tangent at the multiple reference points, and planning a polygonal edge path.

[0324] If the reference points on adjacent multiple protrusions can form a straight line, the controller can use the straight line formed by the reference points as a reference straight line; the edge path of the cleaning device can be determined according to the reference straight line. The edge path may include passing throughA straight line at the center point of the machine body. The reference straight line can include the tangent at the reference point. The distance between the edge path and the reference straight line can be the radius of the cleaning equipment body or other values. If reference points on multiple adjacent protrusions cannot form a straight line, the controller can determine the corresponding reference line segment based on the reference point on each protrusion; it can also determine the corresponding edge path segment based on each reference line segment. The reference line segment can include a straight line, specifically the tangent at the reference point. The distance between the edge path segment and the reference line segment can be the radius of the cleaning equipment body or other values. The edge path segment can include a straight line passing through the center point of the machine body. By splicing one or more reference line segments, a reference line can be obtained. By splicing one or more edge path segments, the edge path of the cleaning equipment can be obtained. Based on this solution, frequent adjustments to the edge path can be avoided, improving the smoothness of the machine's edge movement, and preventing over-adjustment of the machine body, which increases missed areas and the probability of collisions between the machine body, cleaning components, and obstacles.

[0325] For obstacles that do not extend along a straight line, the direction of travel of the machine body needs to be adjusted in a timely manner according to the change in the extension direction of the obstacle boundary. However, improper timing and / or improper setting of the adjustment direction of the machine body along the edge path will result in the distance between the machine body and the obstacle boundary being too far or too close. At the same time, due to the influence of the acquisition accuracy and acquisition range of the obstacle acquisition element on the cleaning equipment, the accuracy of obstacle boundary recognition cannot be guaranteed, which will also lead to improper timing and / or improper setting of the adjustment direction of the machine body along the edge path, resulting in the distance between the machine body and the obstacle boundary being too far or too close. If the machine body is too far from the obstacle boundary, it will affect the cleaning coverage rate. If the machine body is too close to the obstacle, it will cause problems such as the machine body scraping against the obstacle or the cleaning components scraping against the obstacle.

[0326] In this embodiment, multiple reference points on the obstacle boundary are selected based on the shape of the obstacle. A path along the edge is planned using the tangents at these reference points, and this path serves as the baseline for the cleaning equipment's edge movement. This allows the timing and / or direction of the machine's edge movement adjustment to better match the extension characteristics of the obstacle boundary. As shown in the above embodiment, for rectangular obstacles, the four vertices of the rectangular obstacle can be used as reference points, allowing the machine to adjust to be parallel to the edge of the rectangular obstacle at the vertices and perform edge movement. For circular obstacles, multiple points can be evenly selected on the boundary of the circular obstacle as reference points, and a polygonal path along the edge is planned using the tangents at these reference points. For irregular obstacles with protrusions, the vertices of the protrusions can be used as reference points to plan a polygonal path along the edge, thus allowing the timing and / or direction of the machine's edge movement adjustment to better match the specific extension characteristics of the circular obstacle. Simultaneously, by selecting multiple reference points, even subtle swaying of the obstacle can be addressed.In accurate cases, it will not significantly affect the timing and / or direction of the adjustment of the machine body along the edge. Therefore, based on the solution provided in this embodiment, the occurrence of scraping between the machine body and obstacles, or scraping between the cleaning component and obstacles, can be reduced, and the cleaning coverage rate can be guaranteed.

[0327] During the edge cleaning process, the cleaning component is controlled to swing outward by a fixed swing distance to avoid frequent adjustment of the swing distance affecting the life of the swing mechanism of the cleaning component. Moreover, the drive structure of the cleaning component is usually equipped with an elastic element. During the edge cleaning process, even if there is contact between the obstacle and the cleaning component, the scraping between the cleaning component and the obstacle can be alleviated by the elastic element while ensuring the coverage rate.

[0328] Alternatively, during the above edge cleaning process, the swing distance of the cleaning component can be adjusted in real time according to the distance between the obstacle and the machine body. During the process of the machine body along the edge of the polygonal edge-following path, the distance between the machine body and the obstacle is not always kept at a fixed value. The swing distance of the cleaning component is adjusted in real time based on the distance between the obstacle and the machine body, which can further ensure the coverage of the cleaning instruction manual 42 / 46 pages 45 CN 121421410 A and prevent the cleaning component from scratching the obstacle.

[0329] In some embodiments, when the first side obstacle is a circular obstacle, the larger the size of the circular obstacle, the more sides the polygonal edge-following path has; the smaller the size of the circular obstacle, the fewer sides the polygonal edge-following path has. When the circular obstacle is small, its size relative to the machine body means that if there are many polygonal paths along its edges, the machine may have to move only a short distance and move a relatively small distance before turning, resulting in noticeable jamming along the edges. However, when cleaning along the edges with the cleaning components swaying outwards, even if the distance between the machine body and the obstacle is large, the swaying distance of the cleaning components can compensate for missed areas. Therefore, when the circular obstacle is small, reducing the number of polygonal paths along its edges can improve cleaning smoothness while ensuring cleaning coverage. For larger circular obstacles, increasing the number of polygonal paths along their edges can prevent excessive distance between the machine body and the obstacle, which could lead to larger missed areas.

[0330] In some embodiments, the method further includes: determining whether the cleaning device meets obstacle avoidance conditions based on second-side obstacle information in the direction of travel of the cleaning device; when the cleaning device meets the obstacle avoidance conditions, controlling the machine body to perform an obstacle avoidance action based on the second-side obstacle information, wherein the obstacle avoidance action includes: reducing the rotational speed of the cleaning component, and / or controlling the cleaning component to retract inward by a certain swing distance.

[0331] During obstacle avoidance, by reducing the rotational speed of the cleaning component, it is possible to prevent the rotational speed of the cleaning component from being too high, thus...The cleaning component is subjected to a large force from the obstacle, causing the cleaning equipment to deviate from the planned edge-following route, or the cleaning component to fall off due to the large force. During obstacle avoidance, controlling the cleaning component to retract inward can prevent the cleaning component from colliding with or getting stuck on the obstacle, thereby preventing the cleaning component from falling off or being damaged due to a large force collision or getting stuck. After obstacle avoidance is completed, if it is determined that it is necessary to perform edge-following on the obstacle, the cleaning component can be controlled to swing outward again to perform edge-following on the obstacle.

[0332] In some embodiments, the obstacle avoidance action includes: controlling the cleaning component to retract inward; wherein, during the process of the cleaning component retracting inward, the rotation speed of the cleaning component is reduced, or the cleaning component is controlled to stop rotating. During obstacle avoidance, the timing of the internal retraction of the cleaning component is often difficult to control, and it is easy for the cleaning component to retract in time, resulting in the cleaning component coming into contact with the obstacle. During the internal retraction of the cleaning component, reducing the rotation speed of the cleaning component can prevent the cleaning component from being subjected to a large force from the obstacle, which would affect the internal retraction of the cleaning component, thereby causing the cleaning equipment to deviate from the planned edge route or the cleaning component to fall due to a large force.

[0333] In some embodiments, controlling the internal retraction of the cleaning component by a certain swing distance includes: determining the swing distance of the internal retraction of the cleaning component based on the distance between the second-side obstacle and the machine body, wherein the smaller the distance between the second-side obstacle and the machine body, the larger the swing distance of the retraction. Obstacle avoidance is only determined when the distance between the machine body and the obstacle is small. If the retraction distance is small, the probability of the cleaning component colliding with the obstacle increases. Therefore, when the distance between the machine body and the obstacle is small, a larger swing distance of retraction can further reduce the probability of the cleaning component colliding with the obstacle.

[0334] In some embodiments, the method further includes: when the machine body performs edge cleaning along the contour of the first side obstacle, obtaining a first distance between the machine body and the second side obstacle; wherein the second side obstacle is located in front of the machine body in the direction of travel, and the machine body cannot pass between the first side obstacle and the second side obstacle; when the first distance is determined to meet the preset obstacle avoidance conditions, controlling the movement of the machine body. When an angle is formed between the first side obstacle and the second side obstacle that the machine body cannot pass through, the machine body can be controlled to perform obstacle avoidance in a timely manner to avoid collision.

[0335] In some embodiments, controlling the movement of the machine body when the first distance is determined to meet the preset obstacle avoidance conditions includes: reducing the travel speed of the cleaning equipment when the first distance is less than or equal to a first preset threshold; reducing the travel speed of the cleaning equipment to zero when the first distance is less than or equal to a second preset threshold. By reducing the travel speed, the impact on the machine body can be reduced.The inertia of the cleaning equipment prevents the machine body from colliding with obstacles. When the distance between the machine body and the obstacle is very small, that is, the speed of the cleaning equipment is reduced to zero, and obstacle avoidance is performed while maintaining a certain distance between the machine body and the obstacle. This can further reduce the probability of collision and scraping between the machine body and the obstacle. When obstacle avoidance is performed while maintaining a very small distance between the machine body and the obstacle, the cleaning coverage rate can be guaranteed as much as possible. Then, the machine body can be controlled to perform a turn in place. During the turn, the outward swing distance of the cleaning component can be adjusted according to the distance between the machine body and the obstacle to further reduce the missed cleaning. Of course, the outward swing distance of the cleaning component can also be kept still during the turn.

[0336] In some embodiments, an inner angle is formed between the first obstacle and the second obstacle; the control of the machine body includes: controlling the machine body to rotate a certain rotation angle toward the direction closer to the first obstacle to avoid the second obstacle; wherein, the rotation angle is determined according to the orientation of the second obstacle. Based on the orientation of the second obstacle relative to the first obstacle, the rotation angle of the machine body is determined, which can prevent the machine body from colliding with the second obstacle while rotating to the correct position; in addition, it can also prevent the machine body from missing the cleaning due to incomplete rotation.

[0337] In some embodiments, the method further includes: when the machine body is cleaning along the contour of the first obstacle, obtaining a first distance between the machine body and the second obstacle; wherein the second obstacle is located in front of the machine body in the direction of travel, the first obstacle and the second obstacle form an external angle, and the machine body cannot pass between the first obstacle and the second obstacle; when the machine body is cleaning along the contour of the first obstacle, determining whether the cleaning equipment has reached the decision position; after reaching the decision position, while keeping the cleaning component swinging outward by a certain distance, controlling the machine body to rotate so that the direction of travel of the machine body is parallel to the second obstacle, and while keeping the cleaning component swinging outward by a certain distance, controlling the machine body to clean along the contour of the second obstacle.

[0338] When performing corner cleaning, the machine body has a large operating space. Therefore, the decision position can be determined based on the position where the machine body will not collide with the first or second side obstacles when turning, thus reducing the risk of collisions between the machine body and obstacles during turning. When the machine body turns, the cleaning component can be kept outwards by a certain distance to further clean the corner area during the turning process, reducing missed areas. To avoid the outward-swinging cleaning component scraping against obstacles during turning, the decision position can be further determined based on the outward swing distance of the cleaning component. Alternatively, the decision position can be based on the decision position determined to prevent collisions with the machine body.The system determines the forward movement distance of the machine body based on the swing distance of the cleaning component. After the machine body reaches the decision position, it is controlled to continue running for the set distance, thereby further reducing the probability of collision between the machine body and the cleaning component and obstacles while ensuring cleaning coverage.

[0339] This specification embodiment also provides a cleaning system.

[0340] The cleaning system may include multiple of the following: cleaning equipment, base station, cloud platform, and terminal equipment. The cleaning equipment, base station, cloud platform, and terminal equipment can communicate with each other. Specifically, the cleaning equipment, base station, cloud platform, and terminal equipment can communicate with each other through a communication network. The communication network may include wireless communication networks, such as 2G (second generation mobile communication technology) networks, 3G (third generation mobile communication technology) networks, 4G (fourth generation mobile communication technology) networks, 5G (fifth generation mobile communication technology), etc. The communication network may also include wired communication networks. In addition, the cleaning equipment and the base station, as well as the cleaning equipment and the terminal equipment, can also communicate through short-range wireless communication such as Bluetooth, infrared, and Wi-Fi.

[0341] The base station is used to disassemble and / or install cleaning components on the cleaning equipment, to charge the cleaning equipment, and to clean debris from the dust collection box of the cleaning equipment.

[0342] The controller can detect whether the cleaning equipment meets the base station return conditions. The base station return conditions may include at least one of the following: insufficient power of the cleaning equipment, excessive debris in the dust collection box of the cleaning equipment, dirty cleaning components that need to be replaced, or the need to clean the carpet without a mop tray, etc. If so, the controller can detect the operating status of the cleaning components through a position sensor; if the cleaning components are in an outward swing state, the controller can control the cleaning components to move to an inward retraction state; when the cleaning components are in an inward retraction state, the controller can control the body to move to the base station. If the cleaning components are in an inward retraction state, the controller can directly control the body to move to the base station. Upon arrival at the base station, when the cleaning component needs to be disassembled, the controller can detect whether the cleaning component is in a retracted state for confirmation; if so, the cleaning component can be disassembled; if not, the cleaning component can be moved to the retracted state first, and then disassembled. Upon arrival at the base station, when the cleaning component needs to be installed, the controller can detect whether the swing transmission mechanism is in a retracted state for confirmation; if so, the cleaning component installation action can be executed; if not, the swing transmission mechanism can be moved to the retracted state first, and then the cleaning component installation action can be executed. This ensures that the structure of the cleaning equipment used to install the cleaning component is aligned with the cleaning component to be installed on the base station, achieving smooth installation of the cleaning component.

[0343] In some implementation scenarios, the cleaning component needs to return to the base station for cleaning. Specifically, when cleaning of the cleaning component is required, the controller controls the cleaning device to return to the base station. Before the cleaning device returns to the base station, the cleaning component needs to be controlled to be in a retracted state so that it can be aligned with the cleaning mechanism of the base station's cleaning component after returning. Specifically, before the cleaning device returns to the base station, the cleaning component is controlled to retract; or, before the cleaning device returns to the base station, it is detected whether the cleaning component is in a retracted state. If not, the cleaning component is controlled to retract. When the cleaning component is in a retracted state, the cleaning device is controlled to return to the base station.

[0344] The cloud platform may include servers, etc. The cloud platform can communicate with the cleaning device and / or the base station. In this way, the cleaning device and / or the base station can download data from the cloud platform, or can also upload data to the cloud platform. For example, the cleaning device and the base station can download driver software from the cloud platform.

[0345] The terminal device may include smartphones, tablets, etc. The terminal device can communicate with multiple of the base station, cleaning device, and cloud platform. The terminal device can obtain the operating status of the cleaning component; it can display the operating status of the cleaning component. Alternatively, the user can operate the terminal device to send instructions to the cleaning device. After receiving the instructions from the terminal device, the cleaning device can control the cleaning components. For example, the instructions may include control instructions, which can control the cleaning components to move from an outward swing state to an inward retraction state, from an inward retraction state to an outward swing state, swing outward a certain distance, or retract inward a certain distance. In this way, the user can control the operating state of the cleaning components.

[0346] Figure 32 is a structural block diagram of an optional electronic device according to an embodiment of this specification. As shown in Figure 32, it includes a processor, a communication interface, a memory, and a communication bus. The processor, communication interface, and memory communicate with each other through the communication bus. The memory is used to store computer programs; the processor is used to execute the computer programs stored in the memory to implement the method steps in the embodiments of this specification.

[0347] Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in Figure 32, but this does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the above-mentioned electronic device and other devices.

[0348] The above-mentioned memory may include RAM, or it may include non-volatile memory.(non-volatile specification 45 / 46 pages 48 CN 121421410 A memory), for example, at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0349] As an example, the above-mentioned memory may include, but is not limited to, the first drive unit, detection unit, and first control unit in the above-mentioned mobile control device of the cleaning equipment. In addition, it may include, but is not limited to, other module units in the above-mentioned mobile control device of the cleaning equipment, which will not be described in detail in this example.

[0350] The above-mentioned processor may be a general-purpose processor, which may include, but is not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it may also be DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0351] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0352] Those skilled in the art will understand that the structure shown in FIG32 is merely illustrative. The device implementing the above-described mobile control method for cleaning equipment can be a terminal device, such as a smartphone (e.g., Android phone, iOS phone, etc.), tablet computer, handheld computer, mobile internet device (MID), PAD, etc. FIG32 does not limit the structure of the above-described electronic device. For example, the electronic device may also include more or fewer components (e.g., network interface, display device, etc.) than those shown in FIG32, or have a different configuration than those shown in FIG32.

[0353] In the above embodiments of this specification, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0354] In the several embodiments provided in this specification, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is merely a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is the mutual aspects shown or discussed.The coupling or direct coupling or communication connection between them can be through some interfaces, indirect coupling or communication connection of units or modules, and can be electrical or other forms.

[0355] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

[0356] In addition, the functional units in the various embodiments of this specification can be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated units described above can be implemented in hardware or in the form of software functional units.

[0357] The above description is only a preferred embodiment of this specification. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this specification, and these improvements and modifications should also be considered within the scope of protection of this specification. Instruction Manual 46 / 46 Page 49 CN 121421410 A Figure 1 Figure 2a Instruction Manual Drawing 1 / 27 Page 50 CN 121421410 A Figure 2b Figure 3 Figure 4 Instruction Manual Drawing 2 / 27 Page 51 CN 121421410 A Figure 5 Figure 6a Figure 6b Instruction Manual Drawing 3 / 27 Page 52 CN 121421410 A Figure 7 Figure 8 Instruction Manual Drawing 4 / 27 Page 53 CN 121421410 A Figure 9a Figure 9b Figure 9c Figure 10a Instruction Manual Drawing 5 / 27 Page 54 CN 121421410 A Figure 10b Figure 11a Figure 11b Instruction Manual Drawing 6 / 27 Page 55 CN 121421410 A Figure 12 Instruction Manual Drawing 7 / 27 Page 56 CN 121421410 A Figure 13 Figure 14 Instruction Manual Drawing 8 / 27 Page 57 CN 121421410 A Figure 15a Figure 15b Figure 16 Appendix to the Instruction Manual Page 9 / 27 58 CN 121421410 A Figure 17 Figure 18 Appendix to the Instruction Manual Page 10 / 27 59 CN 121421410 A Figure 19 Figure 20 Appendix to the Instruction Manual Page 11 / 27 60 CN 121421410 A Figure 21 Figure 22 Appendix to the Instruction Manual Page 12 / 27 61 CN 121421410 A Figure 23 Appendix to the Instruction Manual Page 13 / 27 62 CN121421410 A Figure 24 Figure 25 Appendix to the Instruction Manual Page 14 / 27 63 CN 121421410 A Figure 26 Figure 27 Appendix to the Instruction Manual Page 15 / 27 64 CN 121421410 A Figure 28 Figure 29 Appendix to the Instruction Manual Page 16 / 27 65 CN 121421410 A Figure 30a Figure 30b Appendix to the Instruction Manual Page 17 / 27 66 CN 121421410 A Figure 30c Figure 30d Appendix to the Instruction Manual Page 18 / 27 67 CN 121421410 A Figure 30e Figure 30f Appendix to the Instruction Manual Page 19 / 27 68 CN 121421410 A Figure 30g Figure 30h Appendix to the Instruction Manual Page 20 / 27 69 CN 121421410 A Figure 30i Figure 30j Appendix to the Instruction Manual Page 21 / 27 70 CN 121421410 A Figure 31 a Figure 31 b Appendix 22 / 27 Page 71 CN 121421410 A Figure 31 c Figure 31 d Appendix 23 / 27 Page 72 CN 121421410 A Figure 31 e Figure 31 f Appendix 24 / 27 Page 73 CN 121421410 A Figure 31 g Figure 31 h Appendix 25 / 27 Page 74 CN 121421410 A Figure 31 i Figure 31 j Appendix 26 / 27 Page 75 CN 121421410 A Figure 32 Figure 33 Appendix 27 / 27 Page 76 CN 121421410 A CONTROL METHOD FOR CLEANING DEVICE Abstract The present specification provides a control method for a cleaning device. The cleaning device includes a device body and a cleaning component movably arranged on the device body. The method comprises the following steps: detecting whether the cleaning component is separated from the cleaningdevice when the cleaning component is unfolded outward for edge cleaning; confirming the separation state between the cleaning component and the cleaning device if separation therebetween is detected; when it is determined that the cleaning component is separated from the cleaning device, controlling the cleaning device to travel to search for the cleaning component, and mounting the cleaning component after the cleaning component is found; when it is determined that the cleaning component is not separated from the cleaning device, controlling the cleaning component to enter a cleaning state, and after entering the cleaning state, controlling the cleaning component to be unfolded toward the outside of the cleaning device, so as to continue the edge cleaning. The present solution avoids the problem that the cleaning component falls off due to collision with obstacles and consequently fails to perform edge cleaning, and improves the reliability of edge cleaning.

Claims

1. A control method of a cleaning apparatus, characterized by, The cleaning device comprises a machine body and a cleaning component movably arranged on the machine body, and the cleaning component is controlled to swing to perform edge cleaning, the swinging comprising swinging outwards and / or retracting inwards; In the cleaning state, the cleaning component is in contact with the cleaning surface to achieve cleaning; In the separation state, the cleaning component is separated from the cleaning device to achieve automatic disassembly of the cleaning component; The method comprises: In the process of the cleaning component swinging outwards to perform edge cleaning, it is detected whether the cleaning component is separated from the cleaning device; When it is detected that the cleaning component is separated from the cleaning device, it is determined whether the cleaning component is separated from the cleaning device; When it is determined that the cleaning component is separated from the cleaning device, the cleaning device is controlled to move to find the cleaning component, and after the cleaning component is found, the cleaning component is installed; When it is determined that the cleaning component is not separated from the cleaning device, the cleaning component is controlled to enter the cleaning state, and after entering the cleaning state, the cleaning component is controlled to swing outwards to continue edge cleaning.

2. The method of claim 1, wherein, The cleaning device further comprises a first driving component connected with the cleaning component, and the rotation direction of the first driving component is controlled to control the cleaning component to swing outwards or retract inwards; in the lifting state, the cleaning component is separated from the cleaning surface to enable the cleaning device to pass over an obstacle; The determination whether the cleaning component is separated from the cleaning device when it is detected that the cleaning component is separated from the cleaning device comprises: When it is detected that the cleaning component is separated from the cleaning device, the rotation direction of the first driving component is controlled to be a first direction, and the first direction is a direction to control the cleaning component to retract inwards; After the rotation direction of the first driving component is controlled to be the first direction, the cleaning component is controlled to enter the lifting state, and it is detected again whether the cleaning component is separated from the cleaning device to determine whether the cleaning component is separated from the cleaning device.

3. The method of claim 1, wherein, The cleaning device further comprises a second driving component and a lifting mechanism connected with the second driving component and the cleaning component, and the lifting mechanism is used to convert the rotation movement of the second driving component into the lifting of the cleaning component; the control of the cleaning device to move to find the cleaning component and the installation of the cleaning component after the cleaning component is found comprises: The cleaning device is controlled to move to find the cleaning component; After the cleaning component is found, the lifting mechanism is controlled to be aligned with the cleaning component for installation.

4. The method of claim 3, wherein, The method further comprises: After successful installation, the cleaning component is controlled to swing outwards to continue edge cleaning.

5. The method of claim 3, wherein, The lifting mechanism is provided with a magnetic member for magnetic connection between the cleaning component and the lifting mechanism.

6. The method of claim 3, wherein, The cleaning device is further provided with a blocking piece, which is used to disconnect the cleaning component from the lifting mechanism if the cleaning component continues to lift after the cleaning component is in the lifted state, and the cleaning component falls off.

7. The method of claim 1, wherein, The machine body is further provided with a driving assembly, which includes a motor and a transmission mechanism connected with the motor, and a sensor is arranged on the transmission mechanism, and a corresponding inductor is arranged on the cleaning component. The detection of whether the cleaning component is separated from the cleaning device includes: According to the sensor and the inductor, it is detected whether the cleaning component is separated from the transmission mechanism.

8. The method of claim 1, wherein, Further comprising: The cleaning device is controlled to perform edge cleaning for the first side obstacle; wherein during the edge cleaning, the cleaning component swings outward by a swing distance, and the cleaning component facing outward faces the first side obstacle, the swing distance is the movement range of the center of the cleaning component in the width direction of the machine body, and the swing distance is steplessly adjusted or the swing distance is adjusted in multiple gears.

9. The method of claim 8, wherein, The control of the cleaning device to perform edge cleaning for the first side obstacle includes: The machine body is controlled to perform edge movement for the first side obstacle based on the planned edge route to perform edge cleaning on the first side obstacle; wherein the edge route is determined in the following manner: A reference point is selected on the convex of the first side obstacle, a tangent line at the reference point is determined, and an edge route is planned according to the tangent line at the reference point; Or, a plurality of reference points are selected according to the shape of the obstacle, tangent lines at the plurality of reference points are determined, and a polygonal edge route is planned.

10. The method of claim 9, wherein, In the case where the first side obstacle is a circular obstacle, edge cleaning is performed on the circular obstacle based on the polygonal edge route; wherein the larger the size of the circular obstacle, the more the number of edges of the polygonal edge route; the smaller the size of the circular obstacle, the fewer the number of edges of the polygonal edge route.

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