Control method and apparatus for cleaning device, computer readable storage medium, computer program product, and cleaning device

Abstract

This application provides a control method, apparatus, medium, program product, and cleaning equipment for a cleaning device. The cleaning equipment includes a first cleaning component and a second cleaning component. The method includes: controlling the cleaning device to rotate by a first predetermined angle in a first predetermined direction to drive the first cleaning component to perform a first cleaning of a predetermined area; and controlling the cleaning device to rotate by a second predetermined angle in a second predetermined direction to drive the second cleaning component to perform a second cleaning of the predetermined area, wherein the second predetermined direction is opposite to the first predetermined direction. The technical solution provided by the embodiments of this application can improve the cleaning coverage of the cleaning equipment.

Description

Technical Field

[0001] This application claims priority to China Intellectual Property Office application number 202410323349.2, filed on March 20, 2024, entitled "Control Method, Apparatus, Medium, Program Product, and Cleaning Equipment," the entire contents of which are incorporated herein by reference. This application relates to the field of cleaning equipment technology, and more specifically, to a control method, apparatus, medium, program product, and cleaning equipment. Prior Technology

[0002] With the continuous development of automation and artificial intelligence technologies, various cleaning equipment, such as robot vacuums and robot mops, are widely used. The cleaning scenarios faced by these devices are complex and varied. However, due to limitations in the size and geometry of the equipment itself, some areas may be missed during cleaning, reducing the overall cleaning coverage. Summary of the Invention

[0003] Embodiments of this application provide a control method, apparatus, medium, program product, and cleaning equipment for cleaning equipment.

[0004] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part by practice of this application.

[0005] According to a first aspect of the embodiments of this application, a control method for a cleaning device is provided. The cleaning device includes a first cleaning component and a second cleaning component. The method includes: controlling the cleaning device to rotate by a first predetermined angle in a first predetermined direction to drive the first cleaning component to perform a first cleaning on a predetermined area; and controlling the cleaning device to rotate by a second predetermined angle in a second predetermined direction to drive the second cleaning component to perform a second cleaning on the predetermined area, wherein the second predetermined direction is opposite to the first predetermined direction.

[0006] In some embodiments of this application, based on the foregoing scheme, the method further includes: acquiring environmental data of the cleaning equipment; determining, based on the environmental data, whether the cleaning area where the cleaning equipment is currently located includes the predetermined area; if the cleaning area where the cleaning equipment is currently located includes the predetermined area, determining the first predetermined angle and determining the second predetermined angle.

[0007] In some embodiments of this application, based on the foregoing scheme, determining the first predetermined angle includes: controlling the cleaning device to rotate in the first predetermined direction according to the first set angle; determining whether the first cleaning component collides with an obstacle during the rotation of the cleaning device; and determining the first predetermined angle based on whether the first cleaning component collides with an obstacle.

[0008] In some embodiments of this application, based on the foregoing scheme, the cleaning equipment further includes a first positioning detection device, and determining whether the first cleaning component has collided with an obstacle includes: if the detection data of the first positioning detection device changes, then determining that the first cleaning component has collided with an obstacle.

[0009] In some embodiments of this application, based on the foregoing scheme, determining whether the first cleaning component has collided with an obstacle includes: determining whether the first driving current that drives the first cleaning component to perform the cleaning action has experienced an overcurrent; if the first driving current has experienced an overcurrent, then it is determined that the first cleaning component has collided with an obstacle.

[0010] In some embodiments of this application, based on the foregoing scheme, determining the first predetermined angle based on whether the first cleaning component collides with an obstacle includes: if the first cleaning component collides with an obstacle, obtaining the angle by which the cleaning device has rotated in the first predetermined direction when the first cleaning component collides with the obstacle, as a first reference angle; and determining the first predetermined angle based on the first reference angle.

[0011] In some embodiments of this application, based on the foregoing scheme, determining the first predetermined angle based on the first reference angle includes: controlling the cleaning device to rotate the first reference angle in the second predetermined direction; returning to the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; adjusting the first reference angle to obtain the first predetermined angle, wherein the first predetermined angle is smaller than the first reference angle.

[0012] In some embodiments of this application, based on the foregoing scheme, determining the first predetermined angle based on the first reference angle includes: controlling the cleaning device to rotate the first reference angle in the second predetermined direction; returning to the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; and determining the first reference angle as the first predetermined angle.

[0013] In some embodiments of this application, based on the foregoing scheme, determining the first predetermined angle according to whether the first cleaning component collides with an obstacle includes: if the first cleaning component does not collide with an obstacle, then the first set angle is determined as the first predetermined angle.

[0014] In some embodiments of this application, based on the foregoing scheme, determining the second predetermined angle includes: controlling the cleaning device to rotate in the second predetermined direction according to the second set angle; determining whether the second cleaning component collides with an obstacle during the rotation of the cleaning device; and determining the second predetermined angle based on whether the second cleaning component collides with an obstacle.

[0015] In some embodiments of this application, based on the foregoing scheme, the cleaning equipment further includes a second positioning detection device, and determining whether the second cleaning component has collided with an obstacle includes: if the detection data of the second positioning detection device changes, then determining that the second cleaning component has collided with an obstacle.

[0016] In some embodiments of this application, based on the foregoing scheme, determining whether the second cleaning component has collided with an obstacle includes: determining whether the second driving current that drives the second cleaning component to perform the cleaning action has experienced an overcurrent; if the second driving current has experienced an overcurrent, then it is determined that the second cleaning component has collided with an obstacle.

[0017] In some embodiments of this application, based on the foregoing scheme, determining the second predetermined angle based on whether the second cleaning component collides with an obstacle includes: if the second cleaning component collides with an obstacle, obtaining the angle by which the cleaning device has rotated in the second predetermined direction when the second cleaning component collides with the obstacle, as a second reference angle; and determining the second predetermined angle based on the second reference angle.

[0018] In some embodiments of this application, based on the foregoing scheme, determining the second predetermined angle based on the second reference angle includes: controlling the cleaning device to rotate the second reference angle in the first predetermined direction; returning to the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; adjusting the second reference angle to obtain the second predetermined angle, wherein the second predetermined angle is smaller than the second reference angle.

[0019] In some embodiments of this application, based on the foregoing scheme, determining the second predetermined angle based on the second reference angle includes: controlling the cleaning device to rotate the second reference angle in the first predetermined direction; returning to the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; and determining the second reference angle as the second predetermined angle.

[0020] In some embodiments of this application, based on the foregoing scheme, determining the second predetermined angle according to whether the second cleaning component collides with an obstacle includes: if the second cleaning component does not collide with an obstacle, then the second set angle is determined as the second predetermined angle.

[0021] In some embodiments of this application, based on the foregoing scheme, after controlling the cleaning device to rotate a second predetermined angle in a second predetermined direction, the method further includes: controlling the cleaning device to travel a set distance in a predetermined cleaning direction; returning to the step of controlling the cleaning device to rotate a first predetermined angle in a first predetermined direction until the cleaning of the predetermined area is completed, or an obstacle is detected in the predetermined cleaning direction.

[0022] In some embodiments of this application, based on the foregoing scheme, the predetermined area includes a low-ceiling space area.

[0023] In some embodiments of this application, based on the foregoing scheme, the height of the low-ceilinged space area is less than or equal to the height of the cleaning equipment.

[0024] According to a second aspect of the embodiments of this application, a control device for a cleaning device is provided. The cleaning device includes a first cleaning component and a second cleaning component. The device includes: a first control unit for controlling the cleaning device to rotate by a first predetermined angle in a first predetermined direction to drive the first cleaning component to perform a first cleaning on a predetermined area; and a second control unit for controlling the cleaning device to rotate by a second predetermined angle in a second predetermined direction to drive the second cleaning component to perform a second cleaning on the predetermined area, wherein the second predetermined direction is opposite to the first predetermined direction.

[0025] According to a third aspect of the embodiments of this application, a computer-readable storage medium is provided, characterized in that the computer-readable storage medium stores at least one piece of program code, the at least one piece of program code being loaded and executed by a processor to perform the operation performed by the method described in any of the first aspects above.

[0026] According to a fourth aspect of the embodiments of this application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the method described in any of the first aspects above.

[0027] According to a fifth aspect of the embodiments of this application, a cleaning device is provided, the cleaning device including a first cleaning component and a second cleaning component, and including one or more processors and one or more memories, the one or more memories storing at least one line of code, the at least one line of code being loaded by the one or more processors and executed to perform the operation performed by the method as described in any of the first aspects above.

[0028] The technical solution of this application, in the process of controlling a cleaning device including a first cleaning component and a second cleaning component to clean a predetermined area, includes: controlling the cleaning device to rotate a first predetermined angle in a first predetermined direction to drive the first cleaning component to perform a first cleaning of the predetermined area; and controlling the cleaning device to rotate a second predetermined angle in a second predetermined direction to drive the second cleaning component to perform a second cleaning of the predetermined area, wherein the second predetermined direction is opposite to the first predetermined direction.

[0029] In this application, when the cleaning device rotates in a first predetermined direction, it simultaneously drives the first cleaning component to rotate, thereby enabling the first cleaning component to perform a first cleaning of the predetermined area. Similarly, when the cleaning device rotates in a second predetermined direction, it simultaneously drives the second cleaning component to rotate, thereby enabling the second cleaning component to perform a second cleaning of low-ceilinged spaces. Therefore, based on the technical solution of this application, by utilizing the rotation of the cleaning device in different directions to enable the first and second cleaning components to clean the predetermined area, the cleaning coverage of the predetermined area can be improved, thereby enhancing the user's experience with the cleaning device.

[0030] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Simple Explanation of the Diagram

[0031] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any further effort.

[0032] Figure 1 shows a schematic diagram of the structure of a cleaning device according to an embodiment of the present application.

[0033] Figure 2 shows a schematic flowchart of a control method for a cleaning device according to an embodiment of this application.

[0034] Figure 3 illustrates a detailed flowchart of determining a first predetermined angle and a second predetermined angle according to an embodiment of this application.

[0035] Figure 4 shows a detailed flowchart of determining a first predetermined angle according to an embodiment of this application.

[0036] Figure 5 shows a schematic diagram of a scene at a first set angle according to an embodiment of this application.

[0037] Figure 6 shows a schematic diagram of a scenario for determining a first predetermined angle according to an embodiment of this application.

[0038] Figure 7 shows a detailed flowchart of determining a second predetermined angle according to one embodiment of this application.

[0039] Figure 8 shows a schematic diagram of a scene at a second set angle according to an embodiment of this application.

[0040] Figure 9 shows a schematic diagram of a scenario for determining a second predetermined angle according to an embodiment of this application.

[0041] Figure 10 shows a schematic diagram of an overall scene of cleaning a predetermined area according to an embodiment of the present application.

[0042] Figure 11 shows a block diagram of the control device of a cleaning equipment according to an embodiment of the present application.

[0043] Figure 12 shows a schematic diagram of the structure of a cleaning device according to an embodiment of the present application. Implementation

[0044] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0045] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0046] The block diagrams shown in the attached figures are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0047] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the actual situation.

[0048] It should be noted that "multiple" in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0049] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such uses of the terms can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than those illustrated or described.

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without progressive effort are within the scope of protection of this application.

[0051] It should be noted that this application does not limit the type of the area field mentioned in the pre-defined area.

[0052] In some implementations, the predetermined area may include a low-ceilinged space area. This low-ceilinged space area refers to a space area whose height is below a set height threshold.

[0053] For example, the space under a table, the space under a stool, and so on.

[0054] In some implementations, the low-ceilinged space may be a space with a height less than or equal to the height of the cleaning equipment. Understandably, in this scenario, the cleaning equipment cannot enter the low-ceilinged space, making it impossible to clean that area.

[0055] For example, the space under the bed, the space under the TV cabinet, the space at the bottom edge of the refrigerator, the space under the coffee table, the space under the sofa, the space at the bottom edge of the cabinet, and so on.

[0056] It should also be noted that the cleaning equipment mentioned in this application includes, but is not limited to, smart devices with cleaning functions such as sweepers, mops, and combined sweepers and mops.

[0057] It should also be noted that the cleaning equipment mentioned in this application includes a first cleaning component and a second cleaning component. The first cleaning component and the second cleaning component can have a telescopic function, so that when it is not necessary to clean the predetermined area, the first cleaning component and the second cleaning component can be retracted to change the space occupied by the cleaning equipment.

[0058] The first cleaning component can be a side brush, a mop, or other cleaning components with cleaning functions; however, this application does not specify the specific components.

[0059] The second cleaning component can be a side brush, a mop, or other cleaning components with cleaning functions; this application does not specify the specific components.

[0060] The first cleaning component and the second cleaning component may be of the same type or different types; this application does not specify the specific type.

[0061] For example, the first cleaning component may be a retractable side brush, and the second cleaning component may be a retractable mop.

[0062] To enable those skilled in the art to better understand the technical solution of this application, an optional structure of the cleaning equipment in this application is described below with reference to Figure 1.

[0063] Referring to Figure 1, a schematic diagram of the structure of a cleaning device according to an embodiment of this application is shown.

[0064] In Figure 1, the cleaning device 10 has a first cleaning component 12 and a second cleaning component 13. The first cleaning component 12 is a retractable side brush, and the second cleaning component 13 is a retractable mop. The cleaning device 10 can be equipped with two sets of retractable mops and two sets of retractable side brushes, allowing the side brushes and mops adapted to the predetermined area to be selectively extended according to the relative position between the predetermined area and the cleaning device.

[0065] In Figure 1, ray 11 starts from the tail of the cleaning equipment and extends towards the head of the cleaning equipment.

[0066] In some embodiments, the first cleaning member 12 and the second cleaning member 13 may be distributed on the same side of the ray 11. Therefore, the first cleaning member and the second cleaning member that extend to match the predetermined area and are distributed on the same side can be controlled according to the relative position between the predetermined area and the cleaning device, as shown in (2) of FIG1, where the schematic scenario is that the first cleaning member 12 and the second cleaning member 13 extend on the same side of the ray 11.

[0067] The following detailed description of some embodiments of this application will be provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0068] Referring to Figure 2, a flowchart of a control method for a cleaning device according to an embodiment of this application is shown, specifically including the following steps 210 to 220.

[0069] Step 210: Control the cleaning device to rotate a first predetermined angle in a first predetermined direction, so as to drive the first cleaning component to perform a first cleaning on the predetermined area.

[0070] Referring to Figure 2, in step 220, the cleaning device is controlled to rotate by a second predetermined angle in a second predetermined direction, so as to drive the second cleaning component to perform a second cleaning on the predetermined area. The second predetermined direction is opposite to the first predetermined direction.

[0071] It should be noted that when the cleaning equipment performs step 210, the first cleaning component is in an extended state, meaning that the body of the cleaning equipment does not completely cover the first cleaning component; when the cleaning equipment performs step 220, the second cleaning component is in an extended state, meaning that the body of the cleaning equipment does not completely cover the second cleaning component.

[0072] In some implementations, the first predetermined direction can be either counterclockwise or clockwise. It is understood that if the first predetermined direction is clockwise, then the second predetermined direction is counterclockwise.

[0073] In some implementations, the first cleaning is adapted to the cleaning function of the first cleaning component, and the second cleaning is adapted to the cleaning function of the second cleaning component. For example, if the first cleaning component is a retractable side brush, then the retractable side brush is provided with a suction port, so the first cleaning is to sweep up the garbage in a predetermined area, and the swept garbage will enter the suction port; if the first cleaning component is a retractable mop, then the first cleaning is to mop the predetermined area.

[0074] In one embodiment, when the cleaning device detects that the cleaning area it is in includes a predetermined area during the cleaning task, it may actively clean the predetermined area and then perform the above steps 210 and 220.

[0075] In another embodiment, after receiving a cleaning instruction from a user to clean a predetermined area, the cleaning device may execute steps 210 and 220 as described above while completing the cleaning instruction.

[0076] In one implementation, the first predetermined angle and the second predetermined angle can be set by the user, for example, through a user-side APP.

[0077] In another embodiment, the first predetermined angle and the second predetermined angle can be determined by performing the steps shown in FIG3.

[0078] Referring to Figure 3, a detailed flowchart of determining a first predetermined angle and a second predetermined angle according to an embodiment of this application is shown, specifically including the following steps 310 to 330.

[0079] Step 310: Obtain environmental data of the cleaning equipment.

[0080] In this embodiment, the cleaning device can collect environmental data of its own location based on the sensors installed on it, such as one or more of a visual sensor, a linear laser obstacle avoidance sensor, and a wall-following sensor; it can also obtain environmental data of its own location based on a pre-built cleaning map, or obtain the environmental data in other ways. Specifically, this application does not limit the specific methods.

[0081] Referring to Figure 3, in step 320, based on the environmental data, determine whether the cleaning area where the cleaning equipment is currently located includes the predetermined area.

[0082] Referring again to Figure 3, in step 330, if the cleaning area where the cleaning equipment is currently located includes the predetermined area, then the first predetermined angle is determined, and the second predetermined angle is determined.

[0083] In this application, when the cleaning equipment needs to clean a predetermined area, it will determine whether the cleaning area where the cleaning equipment is currently located includes the predetermined area to be cleaned by acquiring environmental data. If it is determined that the predetermined area is included, a first predetermined angle and a second predetermined angle will be determined.

[0084] It should be noted that this application does not limit the specific timing or the number of times the first predetermined angle and the second predetermined angle are determined. For example, at least three implementation methods exist.

[0085] In the first implementation, for cleaning a predetermined area, a first predetermined angle and a second predetermined angle can be determined only once. For example, before cleaning the predetermined area, the first predetermined angle and the second predetermined angle are determined, and then the first predetermined angle and the second predetermined angle are always used during the cleaning process of the predetermined area.

[0086] In the second implementation, for cleaning a predetermined area, a first predetermined angle and a second predetermined angle are determined before cleaning the predetermined area. Then, during the cleaning process of the predetermined area, the first predetermined angle and the second predetermined angle can be determined and updated according to a preset time interval or a preset cleaning distance interval.

[0087] In the third embodiment, for cleaning a predetermined area, a first predetermined angle and a second predetermined angle are determined before cleaning the predetermined area. Then, during the cleaning process of the predetermined area, if the first cleaning component and / or the second cleaning component encounters an obstacle during rotation, the first predetermined angle and the second predetermined angle are re-determined and updated.

[0088] In this application, the first predetermined angle can be determined by performing the steps shown in Figure 4.

[0089] Referring to Figure 4, a detailed flowchart of determining a first predetermined angle according to an embodiment of this application is shown, specifically including the following steps 410 to 430.

[0090] Step 410: Control the cleaning device to rotate in the first predetermined direction according to the first set angle.

[0091] In some implementations, to determine a precise first predetermined angle, when it is detected that the direction in which the cleaning device's head is facing is a predetermined cleaning direction for cleaning the predetermined area, the cleaning device can be controlled to rotate in the first predetermined direction according to a first set angle. That is, step 410 can be executed after the cleaning device's ray 11 is parallel to the edge of the predetermined area.

[0092] It should be noted that in step 410, the magnitude of the first set angle is related to the installation position of the first cleaning component in the cleaning equipment. When the cleaning equipment rotates to the first set angle in the first predetermined direction, the cleaning coverage area achieved by the first cleaning component in the predetermined area is the largest. That is, the first set angle is the maximum effective angle for the first cleaning component to clean the predetermined area. For example, the first set angle may be 45°.

[0093] The first set angle will be explained in detail below with reference to Figure 5.

[0094] In Figure 5, there are no obstacles in the predetermined area 14, such as the space under a low sofa. When the ray 11 of the cleaning device 10 is parallel to the edge 141 of the predetermined area 14, the predetermined area 14 is located on the side closer to the first cleaning component 12 and the second cleaning component 13 of the cleaning device 10.

[0095] With clockwise as the first predetermined direction, the cleaning device 10 in Figure 5(1) is controlled to start rotating clockwise in place. During the clockwise rotation of the cleaning device 10, the first cleaning component 12 will gradually approach the predetermined area 14. When the clockwise rotation angle reaches angle a, the scene shown in Figure 5(2) will appear, that is, the first cleaning component 12 will begin to enter the predetermined area 14. Afterwards, as the clockwise rotation angle of the cleaning device 10 increases, the overlapping area between the first cleaning component 12 and the predetermined area 14 will gradually increase until the clockwise rotation angle increases. When the angle reaches b, the scene shown in (3) of Figure 4 is presented, that is, the overlapping area between the first cleaning component 12 and the predetermined area 14 reaches the maximum value; then if the cleaning device 10 continues to be controlled to rotate clockwise in place, the first cleaning component 12 will gradually move away from the predetermined area 14, that is, the overlapping area between the first cleaning component 12 and the predetermined area 14 gradually decreases, for example, the scene shown in (4) of Figure 5 is presented. In (4) of Figure 5, the overlapping area between the first cleaning component 12 and the predetermined area 14 is smaller than the overlapping area corresponding to (3) of Figure 5.

[0096] Therefore, it can be understood that in Figure 5, the first set angle is angle b.

[0097] Referring to Figure 4, in step 420, during the rotation of the cleaning device, it is determined whether the first cleaning component collides with an obstacle.

[0098] It is understandable that there may be obstacles within the designated area. For example, in a kitchen cleaning scenario, if the edge area under the cabinet is considered the designated area, the first cleaning component may collide with the cabinet's kick plate during rotation because the designated area is located in the kick plate. Therefore, the kick plate is an obstacle within the designated area. Similarly, if the space under the sofa is considered the designated area, the sofa legs under the sofa may collide with the first cleaning component when cleaning this area. Therefore, the sofa legs are also obstacles within the designated area.

[0099] In one embodiment, in step 420, determining whether the first cleaning component has collided with an obstacle can be achieved using a first positioning detection device installed in the cleaning equipment. Specifically, this can be done as follows: if the detection data of the first positioning detection device changes, it is determined that the first cleaning component has collided with an obstacle; if the detection data of the first positioning detection device does not change, it is determined that the first cleaning component has not collided with an obstacle.

[0100] In this embodiment, the first positioning detection device can be installed on the first cleaning component.

[0101] In this embodiment, the first positioning detection device may be one of a positioning sensor, a potentiometer, etc.

[0102] In this embodiment, it should be noted that the first positioning detection device can detect whether the first cleaning component has collided with an obstacle. If the first cleaning component has not collided with an obstacle, the detection data of the first positioning detection device can reflect that the first cleaning component is in a non-positioned state. If the first cleaning component has collided with an obstacle, the detection data of the first positioning detection device can reflect that the first cleaning component is in a positioned state. Furthermore, if the detection data of the first positioning detection device changes from non-positioned state data to positioned state data, it is determined that the first cleaning component has collided with an obstacle.

[0103] In another embodiment, in step 420, determining whether the first cleaning component has collided with an obstacle can also be achieved by performing the following steps: determining whether the first driving current that drives the first cleaning component to perform the cleaning action has experienced an overcurrent; if the first driving current has experienced an overcurrent, then it is determined that the first cleaning component has collided with an obstacle; if the first driving current has not experienced an overcurrent, then it is determined that the first cleaning component has not collided with an obstacle.

[0104] In this embodiment, it should be noted that the first cleaning component typically requires a drive motor to perform the cleaning action. Therefore, by detecting the first drive current of the drive motor corresponding to the first cleaning component, it can be determined whether the first cleaning component has collided with an obstacle. If the first cleaning component collides with an obstacle, the increased resistance will cause an overcurrent in the first drive current.

[0105] In summary, during the process of determining the first predetermined angle, the first positioning detection device or the first driving current can be used to determine whether the first cleaning component has collided with an obstacle. Since the first positioning detection device and the drive motor corresponding to the first cleaning component are devices already configured in the cleaning equipment, in this application, the first predetermined angle is determined by means of the devices already configured in the cleaning equipment, without the need to add other devices, which can save the configuration cost of the cleaning equipment.

[0106] Referring to Figure 4, step 430, determine the first predetermined angle based on whether the first cleaning component collides with an obstacle.

[0107] In one embodiment, if the first cleaning component does not collide with an obstacle, the first set angle is determined to be the first predetermined angle.

[0108] It is understandable that if the cleaning device does not detect the first cleaning component colliding with an obstacle during the first predetermined rotation of the first predetermined direction and the first set angle, it means that the first cleaning component will not collide with an obstacle when it extends into the predetermined area to reach the maximum overlapping area. Therefore, under this condition, setting the first set angle as the first predetermined angle can ensure that the first cleaning component is not damaged by collision during the first cleaning of the predetermined area, and can also achieve the maximum cleaning coverage of the predetermined area.

[0109] In another embodiment, if the first cleaning component collides with an obstacle, the angle by which the cleaning device has rotated in the first predetermined direction when the first cleaning component collides with the obstacle is obtained as a first reference angle; based on the first reference angle, the first predetermined angle is determined.

[0110] In this embodiment, the specific implementation methods for determining the first predetermined angle based on the first reference angle include at least the following four.

[0111] First implementation method: The first reference angle is determined as the first predetermined angle.

[0112] The second implementation method is to adjust the first reference angle to obtain the first predetermined angle, wherein the first predetermined angle is smaller than the first reference angle.

[0113] The method of adjusting the first reference angle can be to subtract a third set angle from the first reference angle to obtain the first predetermined angle. The third set angle can be a small angle value such as 0°, 1°, or 2°.

[0114] Another way to adjust the first reference angle is to multiply the first reference angle by a preset ratio to obtain the first predetermined angle. The preset ratio can be a value such as 1, 0.99, or 0.98.

[0115] Specifically, this application does not limit the method of adjusting the first reference angle. It is understood that when the cleaning device rotates to the first reference angle at the first predetermined angle, the first cleaning component will collide with the obstacle. Therefore, by reducing the first predetermined angle, the cleaning device can avoid colliding with the obstacle in the predetermined area when cleaning the predetermined area in the future, thereby effectively protecting the first cleaning component and the furniture in the user's home.

[0116] In the third embodiment, the cleaning device is controlled to rotate the first reference angle in the second predetermined direction; the step of controlling the cleaning device to rotate in the first predetermined direction is repeated until a set number of first reference angles are determined; the first reference angle is adjusted to obtain the first predetermined angle, wherein the first predetermined angle is smaller than the first reference angle.

[0117] In this embodiment, the number can be 1, 2, or other quantities.

[0118] It is understood that in this embodiment, if the first cleaning component is detected to collide with an obstacle, the cleaning device can be rotated by a first reference angle in a second predetermined direction to return to the state when the first predetermined angle was initially determined, i.e., the ray 11 of the cleaning device 10 is parallel to the edge of the predetermined area.

[0119] It is also understood that, in this embodiment, by controlling the cleaning device to repeatedly perform the step of rotating in the first predetermined direction, the situation of judgment error when the cleaning device detects whether the first cleaning part has collided with an obstacle can be avoided, thereby improving the accuracy of the determined first predetermined angle.

[0120] In the fourth embodiment, the cleaning device is controlled to rotate the first reference angle in the second predetermined direction; the step of controlling the cleaning device to rotate in the first predetermined direction is repeated until a set number of first reference angles are determined; and the first reference angle is determined as the first predetermined angle.

[0121] Comparing the first embodiment, which determines the first predetermined angle based on a first reference angle, with the fourth embodiment, the first predetermined angle in the fourth embodiment is determined by repeatedly controlling the cleaning equipment to perform actions after the first cleaning component collides with the obstacle. In the first embodiment, the angle is determined directly after the first cleaning component collides with the obstacle. Furthermore, neither the first nor the fourth embodiment adjusts the first reference angle.

[0122] Comparing the second and third embodiments, which determine the first predetermined angle based on the first reference angle, the first predetermined angle in the third embodiment is determined by repeatedly controlling the cleaning equipment to perform actions after the first cleaning component collides with the obstacle, while in the second embodiment it is determined directly after the first cleaning component collides with the obstacle. Furthermore, both the second and third embodiments adjust the first reference angle.

[0123] The implementation method for determining the first predetermined angle in this application will be described in general with reference to Figure 6 below: Referring to Figure 6, a schematic diagram of a scene for determining a first predetermined angle according to an embodiment of this application is shown.

[0124] In Figure 6, the first set angle is angle b.

[0125] In Figure 6(1), the predetermined region 15 is stored in the obstacle 16, and the ray 11 of the cleaning device 10 is parallel to the edge 161 of the predetermined region 15.

[0126] When the cleaning device 10 is in the state shown in scenario (1) of Figure 6, the cleaning device 10 is controlled to rotate clockwise in place (i.e., in the first predetermined direction) according to angle b. During the clockwise rotation of the cleaning device 10, it is determined whether the first cleaning component 12 collides with the obstacle 16. When the cleaning device 10 rotates clockwise by angle A, it is determined that the first cleaning component 12 of the cleaning device 10 collides with the obstacle 16, presenting the state shown in scenario (2) of Figure 6. Then, the first predetermined angle of the cleaning device 10 can be determined according to angle A.

[0127] In Figure 6(3), the memory of the predetermined region 17 is in the obstacle 18, and the ray 11 of the cleaning device 10 is parallel to the edge 19 of the predetermined region 17. Comparing Figure 6(3) with Figure 6(1), assuming that the distance between the obstacle 16 in the predetermined region 15 and the edge 161 of the predetermined region 15 is the first distance, and the distance between the obstacle 18 in the predetermined region 17 and the edge 19 of the predetermined region 17 is the second distance, then the first distance is less than the second distance.

[0128] When the cleaning device 10 is in the state shown in scenario (3) of Figure 6, the cleaning device 10 is controlled to rotate clockwise in place according to angle b. During the clockwise rotation of the cleaning device 10, it is determined whether the first cleaning component 12 collides with the obstacle 18. When the cleaning device 10 rotates clockwise in place by angle b, it is still determined that the first cleaning component 12 has not collided with the obstacle 18, presenting the state shown in scenario (4) of Figure 6. Therefore, angle b can be directly used as the first predetermined angle of the cleaning device 10.

[0129] In summary, the first predetermined angle determined according to the above embodiments ensures that when the cleaning device performs the first cleaning on the predetermined area, it not only prevents the first cleaning component from scratching the obstacle, but also achieves maximum cleaning coverage of the predetermined area by the first cleaning component.

[0130] In this application, the second predetermined angle can be determined through the steps shown in Figure 7.

[0131] Referring to Figure 7, a detailed flowchart of determining a second predetermined angle according to an embodiment of this application is shown, specifically including the following steps 710 to 730: Step 710: Control the cleaning device to rotate in the second predetermined direction according to the second set angle.

[0132] In some embodiments, the cleaning device can be controlled to execute step 710 after it has determined the first predetermined angle. That is, when the cleaning device 10 starts executing step 710, the state of the cleaning device 10 may be the state presented in scenario (2) of Figure 6, or it may be the state presented in scenario (4) of Figure 6.

[0133] It should be noted that in step 710, the second set angle is associated with the installation position of the second cleaning component in the cleaning equipment, and with the determined first predetermined angle.

[0134] If the first predetermined angle is the first set angle, then the second set angle is the sum of the fourth set angle and the first set angle.

[0135] If the first predetermined angle is obtained through the first reference angle, then the second predetermined angle is the sum of the first reference angle and the fourth predetermined angle.

[0136] The fourth set angle is related to the installation position of the second cleaning component in the cleaning equipment. When the cleaning equipment rotates to the fourth set angle in the second predetermined direction, the cleaning coverage area of ​​the second cleaning component on the predetermined area is maximized. That is, the fourth set angle is the maximum effective angle for the second cleaning component to clean the predetermined area. For example, the second set angle may be 45°.

[0137] The fourth setting angle will be explained in detail below with reference to Figure 8.

[0138] In Figure 8, there are no obstacles in the predetermined area 20. When the ray 11 of the cleaning device 10 is parallel to the edge 21 of the predetermined area 20, the predetermined area 20 is located on the side closer to the first cleaning component 12 and the second cleaning component 13 of the cleaning device 10.

[0139] Using the counterclockwise direction as the second predetermined direction, the cleaning device 10 in Figure 8(1) is controlled to start rotating counterclockwise in place. During the counterclockwise rotation of the cleaning device 10, the second cleaning component 13 will gradually approach the predetermined area 20. When the counterclockwise rotation angle reaches angle d, the scene shown in Figure 8(2) will appear, that is, the second cleaning component 13 will begin to enter the predetermined area 20. Afterwards, as the angle of the counterclockwise rotation of the cleaning device 10 increases, the overlapping area between the second cleaning component 13 and the predetermined area 20 will gradually increase until the counterclockwise rotation in place continues. When the angle reaches angle e, the scene shown in Figure 8(3) appears, that is, the overlapping area between the second cleaning component 13 and the predetermined area 20 reaches its maximum value; then if the cleaning device 10 continues to be controlled to rotate counterclockwise in place, the second cleaning component 13 will gradually move away from the predetermined area 20, that is, the overlapping area between the second cleaning component 13 and the predetermined area 20 gradually decreases, for example, the scene shown in Figure 8(4) appears. In Figure 8(4), the overlapping area between the second cleaning component 13 and the predetermined area 20 is smaller than the overlapping area corresponding to Figure 8(3).

[0140] Therefore, it can be understood that in Figure 8, the fourth set angle is angle e.

[0141] Furthermore, if the first predetermined angle is the first set angle, the sum of the first set angle and angle e can be used as the second set angle; if the first predetermined angle is not the first set angle, the sum of the first reference angle and angle e can be used as the second set angle.

[0142] Referring again to Figure 7, in step 720, during the rotation of the cleaning device, it is determined whether the second cleaning component collides with an obstacle.

[0143] It is understandable that there may be obstacles within the predetermined area, and therefore, the second cleaning component may collide with the obstacles during the rotation of the cleaning equipment in the second predetermined direction.

[0144] In one embodiment, in step 720, determining whether the second cleaning component has collided with an obstacle can be achieved using a second positioning detection device installed in the cleaning equipment. Specifically, this can be done as follows: if the detection data of the second positioning detection device changes, it is determined that the second cleaning component has collided with an obstacle; if the detection data of the second positioning detection device does not change, it is determined that the second cleaning component has not collided with an obstacle.

[0145] In this embodiment, the second positioning detection device can be installed on the second cleaning component.

[0146] In this embodiment, the second positioning detection device can be one of a positioning sensor, a potentiometer, etc.

[0147] In this embodiment, it should be noted that the second positioning detection device can detect whether the second cleaning component has collided with an obstacle. If the second cleaning component has not collided with an obstacle, the detection data of the second positioning detection device can reflect that the second cleaning component is in a non-positioned state. If the second cleaning component has collided with an obstacle, the detection data of the second positioning detection device can reflect that the second cleaning component is in a positioned state. Furthermore, if the detection data of the second positioning detection device changes from non-positioned state data to positioned state data, it is determined that the second cleaning component has collided with an obstacle.

[0148] In another embodiment, in step 720, determining whether the second cleaning component has collided with an obstacle can also be achieved by performing the following steps: determining whether the second driving current that drives the second cleaning component to perform the cleaning action has experienced an overcurrent; if the second driving current has experienced an overcurrent, then it is determined that the second cleaning component has collided with an obstacle; if the second driving current has not experienced an overcurrent, then it is determined that the second cleaning component has not collided with an obstacle.

[0149] In this embodiment, it should be noted that the second cleaning component typically requires a drive motor to perform the cleaning action. Therefore, by detecting the second drive current of the drive motor corresponding to the second cleaning component, it can be determined whether the second cleaning component has collided with an obstacle. If the second cleaning component collides with an obstacle, the increased resistance will cause an overcurrent in the second drive current.

[0150] In summary, during the process of determining the second predetermined angle, the second positioning detection device or the second driving current can be used to determine whether the second cleaning component has collided with an obstacle. Since the second positioning detection device and the driving motor corresponding to the second cleaning component are devices already configured in the cleaning equipment, in this application, the second predetermined angle is determined by means of the devices already configured in the cleaning equipment, without the need to add other devices, which can save the configuration cost of the cleaning equipment.

[0151] Referring to Figure 7, step 730, determine the second predetermined angle based on whether the second cleaning component collides with an obstacle.

[0152] In one embodiment, if the second cleaning component does not collide with an obstacle, the second set angle is determined to be the second predetermined angle.

[0153] It is understandable that if the cleaning device does not detect the second cleaning component colliding with an obstacle during the second predetermined rotation of the second predetermined direction and the second predetermined angle, it means that the second cleaning component will not collide with an obstacle when it extends into the predetermined area to reach the maximum overlapping area. Therefore, under this condition, setting the second predetermined angle as the second predetermined angle can ensure that the second cleaning component is not damaged by collision during the second cleaning of the predetermined area, and can also achieve the maximum cleaning coverage of the predetermined area.

[0154] In another embodiment, if the second cleaning component collides with an obstacle, the angle by which the cleaning device has rotated in the second predetermined direction when the second cleaning component collides with the obstacle is obtained as a second reference angle; based on the second reference angle, the second predetermined angle is determined.

[0155] In this embodiment, the specific implementation methods for determining the second predetermined angle based on the second reference angle include at least the following four: First implementation: The second reference angle is determined as the second predetermined angle.

[0156] The second implementation method is to adjust the second reference angle to obtain the second predetermined angle, wherein the second predetermined angle is smaller than the second reference angle.

[0157] The method of adjusting the second reference angle can be to subtract the third set angle from the second reference angle to obtain the second predetermined angle. The third set angle can be a small angle value such as 0°, 1°, or 2°.

[0158] Another way to adjust the second reference angle is to multiply the second reference angle by a preset ratio to obtain the second predetermined angle. The preset ratio can be a value such as 1, 0.99, or 0.98.

[0159] Specifically, this application does not limit the method of adjusting the second reference angle. It is understood that when the cleaning device rotates to the second reference angle at the second predetermined angle, the second cleaning component will collide with the obstacle. Therefore, by reducing the second predetermined angle, the cleaning device can avoid scratching the obstacle in the predetermined area when cleaning the predetermined area in the future, thereby effectively protecting the second cleaning component and the furniture in the user's home.

[0160] In the third embodiment, the cleaning device is controlled to rotate in the first predetermined direction at the second reference angle; the step of controlling the cleaning device to rotate in the second predetermined direction is returned to be executed until a set number of second reference angles are determined; the second reference angle is adjusted to obtain the second predetermined angle, wherein the second predetermined angle is smaller than the second reference angle.

[0161] In this embodiment, the number can be 1, 2, or other quantities.

[0162] It is understood that in this embodiment, if it is detected that the second cleaning component collides with an obstacle when the cleaning device rotates to the second reference angle, then by controlling the cleaning device to rotate the second reference angle in the first predetermined direction, the cleaning device can return to the state when the second predetermined angle was initially determined, that is, the state when the cleaning device determined the first predetermined angle.

[0163] It is also understood that, in this embodiment, by controlling the cleaning device to repeatedly perform the step of rotating in the second predetermined direction, the situation of judgment error when the cleaning device detects whether the second cleaning part has collided with an obstacle can be avoided, thereby improving the accuracy of the determined second predetermined angle.

[0164] In the fourth embodiment, the cleaning device is controlled to rotate in the first predetermined direction at the second reference angle; the step of controlling the cleaning device to rotate in the second predetermined direction is repeated until a set number of second reference angles are determined; and the second reference angle is determined as the second predetermined angle.

[0165] Comparing the first and fourth embodiments of the above-described method for determining the second predetermined angle based on a second reference angle, the second predetermined angle in the fourth embodiment is determined by repeatedly controlling the cleaning equipment to perform actions after the second cleaning component collides with the obstacle, while in the first embodiment it is determined directly after the second cleaning component collides with the obstacle. Furthermore, neither the first nor the fourth embodiment adjusts the second reference angle.

[0166] Comparing the second embodiment, which determines the second predetermined angle based on a second reference angle, with the third embodiment, the second predetermined angle in the third embodiment is determined by repeatedly controlling the cleaning equipment to perform actions after the second cleaning component collides with the obstacle. In the second embodiment, the angle is determined directly after the second cleaning component collides with the obstacle. Furthermore, both the second and third embodiments adjust the second reference angle.

[0167] The implementation method for determining the second predetermined angle in this application will be described in detail below with reference to Figure 9: Referring to Figure 9, a schematic diagram of a scenario for determining a second predetermined angle according to an embodiment of this application is shown.

[0168] In Figure 9, the fourth set angle is angle D, and the first set angle is assumed to be angle b.

[0169] In the scenario shown in Figure 9(1), the state is as follows: the cleaning device 10 has completed the determination of the first predetermined angle. Since the distance between the obstacle 16 and the edge 161 of the predetermined area 15 is small, the cleaning device 10 determines that the first cleaning component 12 has collided with the obstacle 16 after rotating clockwise by angle A in place. Therefore, for the scenario shown in Figure 9(1), the first predetermined angle is determined for the cleaning device 10 based on angle A. Therefore, in the process of determining the second predetermined angle, the second predetermined angle is the sum of angle A and angle D.

[0170] When the cleaning device 10 is in the state shown in scenario (1) of Figure 9, the cleaning device 10 is controlled to rotate counterclockwise in place according to the second set angle (the sum of angle A and angle D) (i.e., the second predetermined direction). During the counterclockwise rotation of the cleaning device 10, it is determined whether the second cleaning component 13 collides with the obstacle 16. When the cleaning device 10 rotates counterclockwise by angle A + angle B, it is determined that the second cleaning component 13 of the cleaning device 10 has collided with the obstacle 16, presenting the state shown in scenario (2) of Figure 9. Therefore, angle A + angle B is the second reference angle, and the second predetermined angle can be determined based on angle A + angle B.

[0171] In the scenario shown in Figure 9(3), the state is as follows: the cleaning device 10 has completed the determination of the first predetermined angle. Since the distance between the obstacle 18 and the edge 19 of the predetermined area 17 is large, the cleaning device 10 rotates clockwise by angle b (the first set angle) in place and determines that the first cleaning component 12 has not collided with the obstacle 18. Therefore, for the scenario shown in Figure 9(3), the second set angle is determined for the cleaning device 10 based on angle b. The second set angle is the sum of angle b and angle D.

[0172] When the cleaning device 10 is in the state shown in scenario (3) of Figure 9, the cleaning device 10 is controlled to rotate counterclockwise in place according to the second set angle. During the counterclockwise rotation of the cleaning device 10, it is determined whether the second cleaning component 13 collides with the obstacle 18. When the cleaning device 10 rotates counterclockwise in place by angle b + angle D, it is still determined that the second cleaning component 13 has not collided with the obstacle 18, presenting the state shown in scenario (4) of Figure 9. Therefore, angle b + angle D can be directly used as the second predetermined angle of the cleaning device 10.

[0173] In summary, the second predetermined angle determined according to the above embodiments ensures that when the cleaning device performs the second cleaning on the predetermined area, it not only prevents the second cleaning component from colliding with obstacles, but also achieves maximum cleaning coverage of the predetermined area by the second cleaning component.

[0174] In this application, after performing step 220 above, steps 230 to 240 may also be performed: Step 230: Control the cleaning equipment to travel a set distance in a predetermined cleaning direction.

[0175] Step 240: Return to the step of controlling the cleaning device to rotate by a first predetermined angle in a first predetermined direction until the cleaning of the predetermined area is completed, or an obstacle is detected in the predetermined cleaning direction.

[0176] In this embodiment, in order to further improve the cleaning coverage of the cleaning equipment in the predetermined area, the set distance can be set to a smaller value, such as 9cm, 10cm, 11cm, etc.

[0177] It should be noted that in this embodiment, if an obstacle is detected in the predetermined cleaning direction of the cleaning equipment, the cleaning equipment needs to be controlled to execute a cleaning strategy to avoid the obstacle. Furthermore, after bypassing the obstacle, the predetermined area can continue to be cleaned.

[0178] In this embodiment, the predetermined cleaning direction can be the direction of the edge of the predetermined area. For example, in the scenario shown in (1) of Figure 9, the predetermined cleaning direction is parallel to the edge 161 of the predetermined area 15, so that the cleaning device can travel along the edge 161. After traveling a set distance, the first cleaning component and the second cleaning component perform first cleaning and second cleaning on different positions of the predetermined area by executing steps 210 and 220 again.

[0179] It should be noted that in this embodiment, after the cleaning device completes step 230, it can perform step 240 after completing other actions.

[0180] For example, if, after performing step 230, the cleaning device detects that the first cleaning component collides with an obstacle while rotating at a first predetermined angle in a first predetermined direction, or detects that the second cleaning component collides with an obstacle while rotating at a second predetermined angle in a second predetermined direction, then a new first predetermined angle and a new second predetermined angle can be determined for the cleaning device, and step 240 can be performed after the new first predetermined angle and the new second predetermined angle are determined.

[0181] For example, after completing step 230, the cleaning device can first determine the first predetermined angle and the second predetermined angle, and then the cleaning device can be controlled to perform step 240. That is, after the cleaning device travels a set distance along the predetermined cleaning direction, the first predetermined angle and the second predetermined angle are determined, and then the first cleaning component is controlled to perform the first cleaning on the predetermined area, and the second cleaning component is controlled to perform the second cleaning on the predetermined area.

[0182] The following description, in conjunction with Figure 10, provides an overall account of one embodiment of this application.

[0183] The cleaning device 10 determines that the predetermined area 23 needs to be cleaned. When the cleaning device 10 moves to position 1 of the predetermined area 23, it is in the state shown in scenario (1) of FIG10. The cleaning device 10 is controlled to determine the first predetermined angle and the second predetermined angle.

[0184] After determining the first predetermined angle and the second predetermined angle, the cleaning device 10 is controlled to travel a set distance along the predetermined cleaning direction 22, so that the cleaning device 10 travels to position 2 of the predetermined area 23, as shown in scenario (2) of Figure 10. The cleaning device 10 is then controlled to rotate the first predetermined angle in the clockwise direction (i.e. the first predetermined direction), so that the first cleaning component 12 performs the first cleaning on the predetermined area 23. After the first cleaning of the predetermined area 23 is completed, the state shown in scenario (3) of Figure 10 is presented.

[0185] Furthermore, the cleaning device 10 is controlled to rotate counterclockwise (i.e., the second predetermined direction), so that the second cleaning component 13 performs a second cleaning on the predetermined area 23. After the second cleaning of the predetermined area 23 is completed, the cleaning device 10 presents the state shown in scenario (4) of Figure 10.

[0186] Furthermore, the direction of travel of the cleaning device 10 is adjusted to be consistent with the predetermined cleaning direction, that is, the cleaning device 10 in Figure 10 (4) is controlled to rotate clockwise in place, so as to achieve the state shown in the scenario (5) of Figure 10.

[0187] Furthermore, the cleaning equipment 10 continues to be controlled to travel a set distance in the predetermined cleaning direction 22 to reach the position 3 of the predetermined area 23, and then the first cleaning component and the second cleaning component can continue to perform the first cleaning and the second cleaning at the position 3 of the predetermined area 23.

[0188] In summary, based on the technical solution of this application, the first and second cleaning components of the cleaning equipment can be controlled to perform first and second cleaning on the predetermined area at different positions within the predetermined area. Furthermore, since the cleaning is performed at the first and second predetermined angles during the first and second cleaning processes, the predetermined area can be covered and cleaned to the maximum extent.

[0189] In some embodiments of this application, the process of controlling a cleaning device including a first cleaning component and a second cleaning component to clean a predetermined area includes: controlling the cleaning device to rotate by a first predetermined angle in a first predetermined direction to drive the first cleaning component to perform a first cleaning of the predetermined area; and controlling the cleaning device to rotate by a second predetermined angle in a second predetermined direction to drive the second cleaning component to perform a second cleaning of the predetermined area, wherein the second predetermined direction is opposite to the first predetermined direction.

[0190] In this application, when the cleaning device rotates in a first predetermined direction, it simultaneously drives the first cleaning component to rotate, thereby enabling the first cleaning component to perform a first cleaning of the predetermined area. Similarly, when the cleaning device rotates in a second predetermined direction, it simultaneously drives the second cleaning component to rotate, thereby enabling the second cleaning component to perform a second cleaning of low-ceilinged spaces. Therefore, based on the technical solution of this application, by utilizing the rotation of the cleaning device in different directions to enable the first and second cleaning components to clean the predetermined area, the cleaning coverage of the predetermined area can be improved, thereby enhancing the user's experience with the cleaning device.

[0191] Based on the same inventive concept, embodiments of this application provide a control device for cleaning equipment, which can be used to execute the control method for cleaning equipment in the above embodiments of this application. For details not disclosed in the embodiments of this application, please refer to the embodiments of the control method for cleaning equipment described above.

[0192] Referring to Figure 11, a block diagram of a control device for a cleaning apparatus according to an embodiment of the present application is shown, the cleaning apparatus including a first cleaning component and a second cleaning component.

[0193] As shown in FIG11, a control device 1100 for a cleaning equipment according to an embodiment of the present application includes: a first control unit 1101 and a second control unit 1102.

[0194] The first control unit 1101 is used to control the cleaning device to rotate a first predetermined angle in a first predetermined direction, so as to drive the first cleaning component to perform a first cleaning on a predetermined area; the second control unit 1102 is used to control the cleaning device to rotate a second predetermined angle in a second predetermined direction, so as to drive the second cleaning component to perform a second cleaning on the predetermined area, wherein the second predetermined direction is opposite to the first predetermined direction.

[0195] In some embodiments of this application, based on the foregoing scheme, the control device of the cleaning equipment further includes a determining unit, which is used to: acquire environmental data of the cleaning equipment; determine, based on the environmental data, whether the cleaning area where the cleaning equipment is currently located includes the predetermined area; if the cleaning area where the cleaning equipment is currently located includes the predetermined area, then determine the first predetermined angle and determine the second predetermined angle.

[0196] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: control the cleaning device to rotate in the first predetermined direction according to the first set angle; determine whether the first cleaning component collides with an obstacle during the rotation of the cleaning device; and determine the first predetermined angle based on whether the first cleaning component collides with an obstacle.

[0197] In some embodiments of this application, based on the foregoing scheme, the cleaning equipment further includes a first positioning detection device, and the determining unit is further configured to: determine that the first cleaning component has collided with an obstacle if the detection data of the first positioning detection device changes.

[0198] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: determine whether the first driving current that drives the first cleaning component to perform the cleaning action has experienced overcurrent; if the first driving current has experienced overcurrent, then determine that the first cleaning component has collided with an obstacle.

[0199] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: if the first cleaning component collides with an obstacle, obtain the angle by which the cleaning device has rotated in the first predetermined direction when the first cleaning component collides with the obstacle, as a first reference angle; and determine the first predetermined angle based on the first reference angle.

[0200] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: control the cleaning device to rotate the first reference angle in the second predetermined direction; return to the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; adjust the first reference angle to obtain the first predetermined angle, wherein the first predetermined angle is less than or equal to the first reference angle.

[0201] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: control the cleaning device to rotate the first reference angle in the second predetermined direction; return to the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; and determine the first reference angle as the first predetermined angle.

[0202] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: if the first cleaning component does not collide with an obstacle, then determine the first set angle as the first predetermined angle.

[0203] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: control the cleaning device to rotate in the second predetermined direction according to the second set angle; determine whether the second cleaning component collides with an obstacle during the rotation of the cleaning device; and determine the second predetermined angle based on whether the second cleaning component collides with an obstacle.

[0204] In some embodiments of this application, based on the foregoing scheme, the cleaning equipment further includes a second positioning detection device, and the determining unit is further configured to: determine that the second cleaning component has collided with an obstacle if the detection data of the second positioning detection device changes.

[0205] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: determine whether the second driving current that drives the second cleaning component to perform the cleaning action has experienced an overcurrent; if the second driving current has experienced an overcurrent, then determine that the second cleaning component has collided with an obstacle.

[0206] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: if the second cleaning component collides with an obstacle, obtain the angle by which the cleaning device has rotated in the second predetermined direction when the second cleaning component collides with the obstacle, as a second reference angle; and determine the second predetermined angle based on the second reference angle.

[0207] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: control the cleaning device to rotate the second reference angle in the first predetermined direction; return to the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; adjust the second reference angle to obtain the second predetermined angle, wherein the second predetermined angle is less than or equal to the second reference angle.

[0208] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: control the cleaning device to rotate the second reference angle in the first predetermined direction; return to the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; and determine the second reference angle as the second predetermined angle.

[0209] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: if the second cleaning component does not collide with an obstacle, then determine the second set angle as the second predetermined angle.

[0210] In some embodiments of this application, based on the foregoing scheme, the determining unit is further configured to: control the cleaning device to travel a set distance in a predetermined cleaning direction; return to the step of controlling the cleaning device to rotate a first predetermined angle in a first predetermined direction until the cleaning of the predetermined area is completed, or an obstacle is detected in the predetermined cleaning direction.

[0211] In some embodiments of this application, based on the foregoing scheme, the predetermined area includes a low-ceiling space area.

[0212] In some embodiments of this application, based on the foregoing scheme, the height of the low-ceilinged space area is less than or equal to the height of the cleaning equipment.

[0213] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing at least one computer program instruction, which is loaded and executed by a processor to perform the operations described above.

[0214] Based on the same inventive concept, this application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the control method for the cleaning equipment described in the above embodiments.

[0215] Based on the same inventive concept, this application also provides a cleaning device.

[0216] Referring to Figure 12, a schematic diagram of a cleaning device according to an embodiment of this application is shown. The cleaning device includes a first cleaning component and a second cleaning component. The cleaning device also includes one or more memory units 1204, one or more processors 1202, and at least one computer program (computer program instructions) stored in the memory unit 1204 and executable on the processor 1202. When the processor 1202 executes the computer program, it implements the method described above.

[0217] In Figure 12, a bus architecture (represented by bus 1200) is shown. Bus 1200 may include any number of interconnected buses and bridges, connecting various circuits including one or more processors represented by processor 1202 and memory represented by memory 1204. Bus 1200 may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 1205 provides an interface between bus 1200 and receiver 1201 and transmitter 1203. Receiver 1201 and transmitter 1203 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 1202 is responsible for managing bus 1200 and general processing, while memory 1204 can be used to store data used by processor 1202 during operation.

[0218] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above can be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units can be integrated into a single processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit.

[0219] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or elements can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed can be indirect coupling or communication connection through some interfaces, units, or modules, and can be electrical or other forms.

[0220] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0221] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks, and other media capable of storing computer program instructions.

[0222] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the patent application.

[0223] 1,2,3: Position 10: Cleaning equipment 11: Rays 12: First cleaning item 13: Second cleaning component 14: Reserved Area 141: Edge 15: Reserved Area 16: Obstacles 161: Edge 17: Reserved Area 18: Obstacles 19: Edge 20: Reserved Area 21: Edge 22: Scheduled cleaning direction 23: Reserved Area 210,220,310,320,330,410,420,430,710,720,730: Steps 1100: Control device 1101: First Control Unit 1102: Second Control Unit 1200: Busbar 1201: Receiver 1202: Processor 1203: Transmitter 1204: Memory 1205: Bus Interface A,a,B,b,D,d,e: angle

Claims

1. A method for controlling a cleaning device, wherein the cleaning device includes a first cleaning component and a second cleaning component on one side of a predetermined cleaning direction, the method comprising: The cleaning device is controlled to rotate by a first predetermined angle in a first predetermined direction, so as to drive the first cleaning component to perform a first cleaning on a predetermined area; The cleaning device is controlled to rotate a second predetermined angle in a second predetermined direction to drive the second cleaning component to perform a second cleaning on the predetermined area. The second predetermined direction is opposite to the first predetermined direction, and the first cleaning component and the second cleaning component clean the same predetermined area.

2. The method as described in claim 1, further comprising: Obtain environmental data from the cleaning equipment; Based on the environmental data, determine whether the cleaning area where the cleaning equipment is currently located includes the predetermined area; If the cleaning area where the cleaning equipment is currently located includes the predetermined area, then the first predetermined angle is determined, and the second predetermined angle is determined.

3. The method as described in claim 2, wherein determining the first predetermined angle includes: The cleaning device is controlled to rotate in the first predetermined direction according to the first preset angle; During the rotation of the cleaning equipment, it is determined whether the first cleaning component collides with an obstacle; based on whether the first cleaning component collides with an obstacle, the first predetermined angle is determined.

4. The method as described in claim 3, wherein the cleaning equipment further includes a first positioning detection device, and the step of determining whether the first cleaning element has collided with an obstacle includes: If the detection data of the first positioning detection device changes, it is determined that the first cleaning component has collided with an obstacle.

5. The method as described in claim 3, wherein determining whether the first cleaning component collides with an obstacle includes: Determine whether the first drive current that drives the first cleaning component to perform the cleaning action has experienced overcurrent; If an overcurrent occurs in the first drive current, it is determined that the first cleaning component has collided with an obstacle.

6. The method as described in claim 3, wherein determining the first predetermined angle based on whether the first cleaning component collides with an obstacle includes: If the first cleaning component collides with an obstacle, the angle by which the cleaning device has rotated in the first predetermined direction when the first cleaning component collides with the obstacle is obtained as a first reference angle; based on the first reference angle, the first predetermined angle is determined; or if the first cleaning component does not collide with an obstacle, the first set angle is determined as the first predetermined angle.

7. The method as described in claim 6, wherein determining the first predetermined angle based on the first reference angle includes: Control the cleaning device to rotate the first reference angle in the second predetermined direction; Return to the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; adjust the first reference angle to obtain the first predetermined angle, wherein the first predetermined angle is smaller than the first reference angle; Alternatively, determining the first predetermined angle based on the first reference angle includes: controlling the cleaning device to rotate the first reference angle in the second predetermined direction; Return to the step of controlling the cleaning device to rotate in the first predetermined direction until a set number of first reference angles are determined; and determine the first reference angle as the first predetermined angle.

8. The method as described in claim 2, wherein determining the second predetermined angle includes: According to the second preset angle, control the cleaning device to rotate in the second predetermined direction; During the rotation of the cleaning device, it is determined whether the second cleaning component collides with an obstacle; based on whether the second cleaning component collides with an obstacle, the second predetermined angle is determined.

9. The method as described in claim 8, wherein the cleaning equipment further includes a second positioning detection device, and the step of determining whether the second cleaning element has collided with an obstacle includes: If the detection data of the second positioning detection device changes, it is determined that the second cleaning component has collided with an obstacle.

10. The method as described in claim 8, wherein determining whether the second cleaning component collides with an obstacle includes: Determine whether the second drive current that drives the second cleaning component to perform the cleaning action has experienced overcurrent; If an overcurrent occurs in the second drive current, it is determined that the second cleaning component has collided with an obstacle.

11. The method as described in claim 8, wherein determining the second predetermined angle based on whether the second cleaning component collides with an obstacle includes: If the second cleaning component collides with an obstacle, the angle by which the cleaning device has rotated in the second predetermined direction when the second cleaning component collides with the obstacle is obtained as a second reference angle; based on the second reference angle, the second predetermined angle is determined; or if the second cleaning component does not collide with the obstacle, the second set angle is determined as the second predetermined angle.

12. The method as described in claim 11, wherein determining the second predetermined angle based on the second reference angle includes: Control the cleaning device to rotate the second reference angle in the first predetermined direction; Return to the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; adjust the second reference angle to obtain the second predetermined angle, which is smaller than the second reference angle; Alternatively, determining the second predetermined angle based on the second reference angle includes: controlling the cleaning device to rotate the second reference angle in the first predetermined direction; Return to the step of controlling the cleaning device to rotate in the second predetermined direction until a set number of second reference angles are determined; and determine the second reference angle as the second predetermined angle.

13. The method of claim 1, wherein after controlling the cleaning device to rotate a second predetermined angle in a second predetermined direction, the method further comprises: Control the cleaning equipment to travel a set distance in the predetermined cleaning direction; Return to the step of controlling the cleaning device to rotate by a first predetermined angle in a first predetermined direction until the cleaning of the predetermined area is completed, or an obstacle is detected in the predetermined cleaning direction.

14. The method as described in any one of claims 1 to 13, wherein the predetermined area includes a low-ceiling space area.

15. The method as described in claim 14, wherein the height of the low-profile space area is less than or equal to the height of the cleaning equipment.

16. A control device for a cleaning device, wherein the cleaning device includes a first cleaning element and a second cleaning element on one side of a predetermined cleaning direction, the device comprising: The first control unit is used to control the cleaning device to rotate a first predetermined angle in a first predetermined direction, so as to drive the first cleaning component to perform a first cleaning on the predetermined area; The second control unit is used to control the cleaning device to rotate a second predetermined angle in a second predetermined direction, so as to drive the second cleaning component to perform a second cleaning on the predetermined area. The second predetermined direction is opposite to the first predetermined direction, and the first cleaning component and the second cleaning component clean the same predetermined area.

17. The apparatus as described in claim 16, further comprising: A determining unit, the determining unit being configured to: acquire environmental data of the cleaning equipment; Based on the environmental data, determine whether the cleaning area where the cleaning equipment is currently located includes the predetermined area; if the cleaning area where the cleaning equipment is currently located includes the predetermined area, then determine the first predetermined angle and the second predetermined angle.

18. The apparatus of claim 17, wherein the determining unit is further configured to: control the cleaning device to rotate in the first predetermined direction according to a first preset angle; determine whether the first cleaning component collides with an obstacle during the rotation of the cleaning device; and determine the first predetermined angle based on whether the first cleaning component collides with an obstacle.

19. The apparatus of claim 18, wherein the cleaning equipment further includes a first positioning detection device, and the determining unit is further configured to: determine that the first cleaning component has collided with an obstacle if the detection data of the first positioning detection device changes.

20. The apparatus of claim 18, wherein the determining unit is further configured to: determine whether an overcurrent has occurred in a first drive current that drives the first cleaning member to perform a cleaning action; and if an overcurrent has occurred in the first drive current, determine that the first cleaning member has collided with an obstacle.

21. The apparatus as claimed in claim 18, wherein the determining unit is further configured to: if the first cleaning member collides with an obstacle, obtain the angle by which the cleaning device has rotated in the first predetermined direction when the first cleaning member collides with the obstacle, as a first reference angle; determine the first predetermined angle based on the first reference angle; or if the first cleaning member does not collide with the obstacle, determine the first set angle as the first predetermined angle.

22. The apparatus of claim 21, wherein the determining unit is further configured to: control the cleaning device to rotate the first reference angle in a second predetermined direction; return to the step of controlling the cleaning device to rotate in the first predetermined direction until a predetermined number of first reference angles are determined; adjust the first reference angle to obtain the first predetermined angle, wherein the first predetermined angle is less than or equal to the first reference angle; or, the determining unit is further configured to: control the cleaning device to rotate the first reference angle in a second predetermined direction; return to the step of controlling the cleaning device to rotate in the first predetermined direction until a predetermined number of first reference angles are determined; and determine the first reference angle as the first predetermined angle.

23. The apparatus as claimed in claim 17, wherein the determining unit is further configured to: control the cleaning device to rotate in a second predetermined direction according to a second preset angle; determine whether the second cleaning component collides with an obstacle during the rotation of the cleaning device; and determine the second predetermined angle based on whether the second cleaning component collides with an obstacle.

24. The apparatus as claimed in claim 23, wherein the cleaning equipment further includes a second positioning detection device, and the determining unit is further configured to: determine that the second cleaning component has collided with an obstacle if the detection data of the second positioning detection device changes.

25. The apparatus of claim 23, wherein the determining unit is further configured to: determine whether an overcurrent has occurred in the second drive current that drives the second cleaning member to perform the cleaning action; and if an overcurrent has occurred in the second drive current, determine that the second cleaning member has collided with an obstacle.

26. The apparatus as claimed in claim 23, wherein the determining unit is further configured to: if the second cleaning member collides with an obstacle, obtain the angle by which the cleaning device has rotated in the second predetermined direction when the second cleaning member collides with the obstacle, as a second reference angle; determine the second predetermined angle based on the second reference angle; or if the second cleaning member does not collide with the obstacle, determine the second set angle as the second predetermined angle.

27. The apparatus of claim 26, wherein the determining unit is further configured to: control the cleaning device to rotate the second reference angle in the first predetermined direction; return to the step of controlling the cleaning device to rotate in the second predetermined direction until a predetermined number of second reference angles are determined; adjust the second reference angle to obtain the second predetermined angle, wherein the second predetermined angle is less than or equal to the second reference angle; or, the determining unit is further configured to: control the cleaning device to rotate the second reference angle in the first predetermined direction; return to the step of controlling the cleaning device to rotate in the second predetermined direction until a predetermined number of second reference angles are determined; and determine the second reference angle as the second predetermined angle.

28. The apparatus of claim 17, wherein the determining unit is further configured to: control the cleaning device to travel a set distance in the predetermined cleaning direction; return to the step of controlling the cleaning device to rotate a first predetermined angle in the first predetermined direction until cleaning of the predetermined area is completed, or an obstacle is detected in the predetermined cleaning direction.

29. The apparatus as claimed in any one of claims 16 to 28, wherein the predetermined area includes a low-ceiling space area.

30. The apparatus as claimed in claim 29, wherein the height of the low-profile space area is less than or equal to the height of the cleaning equipment.

31. A computer-readable storage medium storing at least one piece of code, the at least one piece of code being loaded by a processor and executed to perform the operations performed by the method described in any one of claims 1 to 15.

32. A computer program product, wherein the computer program product includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the method as described in any one of claims 1 to 15.

33. A cleaning device, wherein the cleaning device includes a first cleaning element and a second cleaning element, and includes one or more processors and one or more memories, wherein the one or more memories store at least one line of code, the at least one line of code being loaded by the one or more processors and executed to implement the method as described in any one of claims 1 to 15.

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