Control method of a cleaning machine

Abstract

The control method of the cleaning machine, the cleaning machine is provided with a mop, the mop is set to be in a moving structure and can be used as a power source for moving the cleaning machine; the machine body is provided with a distance detection module and an edge detection module, the distance detection signal emitted by the distance detection module and the edge detection signal emitted by the edge detection module are both set to be able to pass through the extension surface of the outermost position of the side of the machine body in the horizontal direction to detect the obstacle surface outside; the cleaning machine can execute an edge cleaning mode; specifically, when the distance detection module and the edge detection module both detect the obstacle surface outside the ground, the cleaning machine is controlled to execute a first edge cleaning mode; specifically, when the distance detection module detects the obstacle surface outside the ground and the edge detection module does not detect the obstacle surface outside the ground, the cleaning machine is controlled to execute a second edge cleaning mode. The scheme solves the problems of poor cleaning effect of the edge position of the obstacle surface, unstable movement cleaning, and slow detection of the suspended position of the ground of the existing cleaning machine.

Description

Technical Field

[0001] This invention relates to the field of floor cleaning, and more specifically to a control method for a cleaning machine. Background Technology

[0002] Existing cleaning machines primarily move on the ground to clean it. Since indoor floors often have continuous obstacle surfaces, it's necessary to control the cleaning machine to effectively clean along these surfaces. However, current technology struggles to effectively clean the edges of these obstacles, and the machine is prone to colliding with them, resulting in unstable and ineffective cleaning. This leads to poor cleaning performance and unstable movement, severely impacting the user experience.

[0003] Meanwhile, the existing cleaning machine's structure for detecting suspended positions on the ground is designed to detect the suspended position vertically from the bottom. This means that when a suspended position is detected, the cleaning machine cannot move away or turn in time, which can easily cause the cleaning machine to fall into the suspended position, leading to malfunctions or even damage. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the aforementioned related technologies.

[0005] Therefore, the purpose of this invention is to provide a control method for a cleaning machine, which mainly solves the problems of poor cleaning effect on the edge of the obstacle surface, unstable cleaning during movement, and untimely detection of the suspended position of the existing cleaning machine.

[0006] The embodiments of the present invention provide a control method for a cleaning machine. The cleaning machine includes a machine body, and a mop is provided at the bottom of the machine body. The mop is configured to be movable and can serve as a power source for the cleaning machine to move when the mop moves.

[0007] The machine body is equipped with at least one distance detection module and one or more edge detection modules. The distance detection signal emitted by the distance detection module and the edge detection signal emitted by the edge detection module are both set to be able to pass through the outermost extension surface of the side of the machine body in the horizontal direction to detect the outer obstacle surface.

[0008] The control unit activates the distance detection module and the edge detection module to enable the cleaning machine to perform the edge cleaning mode.

[0009] In the edge cleaning mode, when both the distance detection module and the edge detection module detect an obstacle surface outside the ground, the cleaning machine is controlled to execute the first edge cleaning mode.

[0010] In the edge cleaning mode, when the distance detection module detects an obstacle surface outside the ground and the edge detection module does not detect an obstacle surface outside the ground, the cleaning machine is controlled to execute the second edge cleaning mode.

[0011] In the aforementioned cleaning machine control method, the distance detection module is located in the area between the outermost edge of the side of the machine body in the horizontal direction and the center of the machine body. The distance detection signal emitted by the distance detection module is inclined downward and horizontally to the side of the machine body, so that the distance detection signal can pass through the extension surface of the outermost edge of the side of the machine body in the horizontal direction to detect obstacles other than the ground, and can pass through the extension surface of the bottom of the machine body to detect the ground. The position where the distance detection signal intersects with the ground is located outside the outermost edge of the mop.

[0012] The aforementioned control method for the cleaning machine involves the edge inspection module emitting an edge inspection signal that is directed towards the outer side of the machine body in the horizontal direction, on the same side as the installation position of the inspection module, and the coverage of the edge inspection signal extends at least to the outermost edge of the mop to detect obstacles on the outer side of the mop.

[0013] This allows the distance detection module and the edge detection module to detect obstacles on the outermost edge of the same side of the machine body in the horizontal direction.

[0014] In the aforementioned cleaning machine control method, in the first edge cleaning mode, the control unit controls the movement state of the mop based on the distance value corresponding to the distance detection signal of the distance detection module and the intensity value of the edge detection signal of the edge detection module to adjust the position of the cleaning machine so that the cleaning machine and the obstacle surface are kept within a preset distance range.

[0015] In the second edge cleaning mode, the control unit controls the movement state of the mop based on the distance value corresponding to the distance detection signal of the distance detection module, so as to adjust the position of the cleaning machine and keep the cleaning machine within a preset distance range from the obstacle surface.

[0016] In the aforementioned cleaning machine control method, in the first edge cleaning mode, if the intensity value of the edge inspection signal of the edge inspection module changes or the distance value corresponding to the distance inspection signal of the distance inspection module changes, the horizontal rotation speed of the mop or the horizontal rotation direction of the mop is controlled to adjust the position of the cleaning machine until the intensity value of the edge inspection signal of the edge inspection module reaches within a preset intensity value range or the intensity value of the edge inspection signal no longer changes, or until the distance value corresponding to the distance inspection signal of the distance inspection module reaches within a preset distance value range or the distance value corresponding to the distance inspection signal no longer changes.

[0017] In the aforementioned control method for the cleaning machine, the number of mops is set to two, and the two mops are arranged side by side along the horizontal direction of the machine body;

[0018] In the first cleaning mode,

[0019] If the strength value of the border inspection signal of the border inspection module decreases, the position of the cleaning machine will be adjusted to approach the obstacle surface until the strength value of the border inspection signal reaches within the preset strength value range or the strength value of the border inspection signal no longer changes.

[0020] If the strength value of the border inspection signal of the border inspection module increases, the position of the cleaning machine will be adjusted to move away from the obstacle surface until the strength value of the border inspection signal reaches within the preset strength value range or the strength value of the border inspection signal no longer changes.

[0021] If the distance value corresponding to the distance detection signal of the distance detection module decreases, the position of the cleaning machine will be adjusted to move away from the obstacle surface until the distance value corresponding to the distance detection signal reaches within the preset distance value range or the distance value corresponding to the distance detection signal no longer changes.

[0022] If the distance value corresponding to the distance detection signal of the distance detection module increases, the position of the cleaning machine will be adjusted to approach the obstacle surface until the distance value corresponding to the distance detection signal reaches the preset distance value range or the distance value corresponding to the distance detection signal no longer changes.

[0023] In the aforementioned cleaning machine control method, in the second edge cleaning mode, if the distance value corresponding to the distance detection signal of the distance detection module changes, the horizontal rotation speed of the mop or the horizontal rotation direction of the mop is controlled to adjust the position of the cleaning machine until the distance value corresponding to the distance detection signal of the distance detection module reaches within the preset distance value range or the distance value corresponding to the distance detection signal no longer changes.

[0024] In the aforementioned control method for the cleaning machine, the number of mops is set to two, and the two mops are arranged side by side along the horizontal direction of the machine body;

[0025] In the second edge cleaning mode,

[0026] If the distance value corresponding to the distance detection signal of the distance detection module decreases, the position of the cleaning machine will be adjusted to move away from the obstacle surface until the distance value corresponding to the distance detection signal reaches within the preset distance value range or the distance value corresponding to the distance detection signal no longer changes.

[0027] If the distance value corresponding to the distance detection signal of the distance detection module increases, the position of the cleaning machine will be adjusted to approach the obstacle surface until the distance value corresponding to the distance detection signal reaches the preset distance value range or the distance value corresponding to the distance detection signal no longer changes.

[0028] The aforementioned control method for the cleaning machine, which controls and adjusts the position of the cleaning machine to move away from the obstacle surface, includes: controlling the horizontal rotation speed of the mop closer to the edge inspection module to increase, and / or controlling the horizontal rotation speed of the mop farther from the edge inspection module to decrease or switching the horizontal rotation direction to the opposite direction;

[0029] Controlling the position and orientation of the cleaning machine to approach the obstacle surface includes: increasing the horizontal rotation speed of the mop away from the edge inspection module, and / or decreasing the horizontal rotation speed of the mop near the edge inspection module or switching the horizontal rotation direction to the opposite direction.

[0030] The aforementioned control method for the cleaning machine initiates detection and correction when the distance detection module is started. The detection and correction includes: first, starting the preset threshold A0 in the distance detection module and detecting the current threshold A; if the threshold B corresponding to the distance between the distance detection signal and the ground meets the range of threshold A0±5, then the current threshold A of the distance detection module is corrected to threshold B; if the threshold B corresponding to the distance between the distance detection signal and the ground does not meet the range of threshold A0±5, then the current threshold A is corrected to the preset threshold A0.

[0031] The aforementioned control method for the cleaning machine first determines whether the edge inspection module can detect the obstacle surface before starting the detection and correction. If the current position of the cleaning machine satisfies the condition that the edge inspection module has not detected the obstacle surface, then the detection and correction of the distance inspection module can be started. If the edge inspection module can detect the obstacle surface at the current position of the cleaning machine, then the detection and correction of the distance inspection module is not started.

[0032] The aforementioned control method for the cleaning machine involves having three or more object detection modules on the main body of the machine. The object detection modules emit detection signals that are directed towards the front of the cleaning machine. When the cleaning machine starts working, the object detection modules are first controlled to detect obstacles on the front side of the cleaning machine. When all three or more object detection modules detect the obstacle, the cleaning machine is controlled to turn and move a distance L after turning. Then, the cleaning machine is controlled to reset the turn. After resetting, if all three or more object detection modules can detect the obstacle, the cleaning machine is controlled to move towards the obstacle to perform the edge cleaning mode.

[0033] In the aforementioned control method for the cleaning machine, during the process of adjusting the position and posture of the cleaning machine in the first edge cleaning mode and the second edge cleaning mode, the angle value of the cleaning machine turning in the same direction is set to be less than T degrees. If the angle value of the cleaning machine turning in the same direction is greater than or equal to T degrees, the cleaning machine is controlled to switch to turning in the opposite direction to adjust the position and posture, wherein T is less than or equal to 45 degrees.

[0034] Alternatively, in the first edge cleaning mode and the second edge cleaning mode, if the distance value corresponding to the distance detection signal of the distance detection module increases and exceeds the preset distance value range during the process of adjusting the position and orientation of the cleaning machine while the cleaning machine is turning in the same direction, the cleaning machine is controlled to switch to turning in the opposite direction to adjust the position and orientation.

[0035] The aforementioned control method for the cleaning machine applies when the distance detection module does not detect any obstacle surface other than the ground.

[0036] If the distance value corresponding to the distance detection signal of the distance detection module reaches the preset distance value range, it is determined that the distance detection signal intersects with the ground, and the cleaning machine can be controlled to move on the ground.

[0037] If the distance value corresponding to the distance detection signal of the distance detection module is not within the preset distance value range, the horizontal rotation speed of the mop or the horizontal rotation direction of the mop will be controlled to adjust the position of the cleaning machine so that the cleaning machine moves away from the current position or turns around the current position.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] In this design, the cleaning machine's structure includes a mop that cleans the floor, and the power from the mop's movement serves as the machine's propulsion. This eliminates the need for drive wheels, allowing the mop to effectively cover the bottom of the machine for thorough cleaning.

[0040] The mop structure and the structure that drives the cleaning machine in this solution make the overall structure of the cleaning machine simple and facilitate the setting of the mop structure distribution to clean large areas of the ground.

[0041] This solution enables the cleaning machine to perform edge cleaning by setting up a distance detection module and an edge detection module. This allows the distance detection module to detect obstacles when they cannot be detected by the edge detection module, thus expanding the applicability of the cleaning machine in detecting obstacles and improving the reliability of the cleaning machine in performing edge cleaning.

[0042] The edge cleaning module of this solution includes a first edge cleaning mode and a second edge cleaning mode. In the first edge cleaning mode, the simultaneous detection by the distance detection module and the edge detection module can effectively adjust the position and posture of the cleaning machine to clean the edge of the obstacle surface, thereby improving the edge cleaning effect. In the second edge cleaning mode, when the edge detection module cannot detect the obstacle surface, the distance detection module is used to detect the obstacle surface, preventing the cleaning machine from failing at the edge and improving the reliability and stability of the cleaning machine in edge cleaning.

[0043] This solution can use the detection information from the distance detection module or the edge detection module to adjust the position and posture of the cleaning machine by controlling the horizontal rotation speed or direction of the mop, so that the cleaning machine can effectively perform edge cleaning and improve the overall effect of edge cleaning.

[0044] The distance detection module in this solution can not only detect obstacles outside the ground to enable the cleaning machine to perform edge cleaning mode, but also effectively and timely detect suspended positions on the ground to enable the cleaning machine to avoid suspended positions on the ground and prevent the cleaning machine from falling or failing due to movement.

[0045] The distance detection module in this solution is designed to effectively detect both the ground and obstacles beyond the ground, enabling the module to perform multi-functional detection. During the ground detection process, it can detect and judge any suspended objects on the ground in advance, effectively improving the safety and stability of the cleaning machine's movement.

[0046] The method proposed in this solution can effectively adjust the position and orientation of the cleaning machine, thereby controlling the machine to move stably along the edge of the obstacle surface for cleaning. It can also improve the reliability of edge detection of the obstacle surface and effectively prevent detection failure. Attached Figure Description

[0047] Figure 1 This is a 3D schematic diagram of the cleaning machine;

[0048] Figure 2 This is a schematic diagram illustrating how the distance detection module can detect the ground.

[0049] Figure 3 This is a schematic diagram illustrating the first edge cleaning mode, in which both the distance detection module and the edge detection module detect the obstacle surface.

[0050] Figure 4 This is a schematic diagram illustrating the second edge cleaning mode performed when the edge inspection module cannot detect the obstacle surface but the distance inspection module can detect the obstacle surface.

[0051] Figure 5 A schematic diagram illustrating the movement of the cleaning machine to adjust its posture and approach the obstacle surface in the first edge cleaning mode;

[0052] Figure 6 A schematic diagram illustrating the movement of the cleaning machine to adjust its posture and approach the obstacle surface in the second edge cleaning mode;

[0053] Figure 7 A schematic diagram illustrating the movement of the cleaning machine toward the obstacle surface by increasing the horizontal rotation speed of the mop away from the obstacle surface in the first edge cleaning mode.

[0054] Figure 8 A schematic diagram illustrating the movement of the cleaning machine toward the obstacle surface by reducing the horizontal rotation speed of the mop near the obstacle surface in the first edge cleaning mode.

[0055] Figure 9 A schematic diagram illustrating the movement of the cleaning machine toward the obstacle surface in the first edge cleaning mode, where the horizontal rotation speed of the mop near the obstacle surface is reduced and the horizontal rotation speed of the mop away from the obstacle surface is increased.

[0056] Figure 10 A schematic diagram illustrating how the horizontal rotation direction of the mop near the obstacle surface is switched to the opposite direction in the first edge cleaning mode, causing the cleaning machine to move closer to the obstacle surface.

[0057] Figure 11 A schematic diagram illustrating how to reduce the horizontal rotation speed of the mop away from the obstacle surface in the first edge cleaning mode, thereby causing the cleaning machine to move away from the obstacle surface.

[0058] Figure 12 A schematic diagram illustrating how to increase the horizontal rotation speed of the mop near the obstacle surface in the first edge cleaning mode, thereby causing the cleaning machine to move away from the obstacle surface.

[0059] Figure 13 A schematic diagram illustrating how, in the first edge cleaning mode, the horizontal rotation direction of the mop away from the obstacle surface is switched to the opposite direction so that the cleaning machine moves away from the obstacle surface.

[0060] Figure 14 A schematic diagram illustrating how the cleaning machine moves away from the obstacle surface by controlling the horizontal rotation speed of the mop closer to the obstacle surface to increase and the horizontal rotation speed of the mop farther away from the obstacle surface to decrease in the first edge cleaning mode.

[0061] Figure 15 A schematic diagram illustrating the movement of the cleaning machine toward the obstacle surface by increasing the horizontal rotation speed of the mop away from the obstacle surface in the second edge cleaning mode.

[0062] Figure 16 A schematic diagram illustrating the movement of the cleaning machine towards the obstacle surface by reducing the horizontal rotation speed of the mop near the obstacle surface in the second edge cleaning mode.

[0063] Figure 17 A schematic diagram illustrating the movement of the cleaning machine towards the obstacle surface in the second edge cleaning mode, where the horizontal rotation speed of the mop near the obstacle surface is reduced and the horizontal rotation speed of the mop away from the obstacle surface is increased.

[0064] Figure 18A schematic diagram illustrating how the horizontal rotation direction of the mop near the obstacle surface is switched to the opposite direction in the second edge cleaning mode, allowing the cleaning machine to move closer to the obstacle surface.

[0065] Figure 19 A schematic diagram illustrating how to reduce the horizontal rotation speed of the mop away from the obstacle surface in the second edge cleaning mode, thereby causing the cleaning machine to move away from the obstacle surface.

[0066] Figure 20 A schematic diagram illustrating how to increase the horizontal rotation speed of the mop near the obstacle surface in the second edge cleaning mode, thereby causing the cleaning machine to move away from the obstacle surface.

[0067] Figure 21 A schematic diagram illustrating how, in the second edge cleaning mode, the horizontal rotation direction of the mop away from the obstacle surface is switched to the opposite direction so that the cleaning machine moves away from the obstacle surface.

[0068] Figure 22 A schematic diagram illustrating how the cleaning machine moves away from the obstacle surface by controlling the horizontal rotation speed of the mop closer to the obstacle surface to increase and the horizontal rotation speed of the mop farther away from the obstacle surface to decrease in the second edge cleaning mode.

[0069] Reference numerals: 1-Machine body, 10-Mop, 11-Distance inspection module, 12-Side inspection module, 13-Control unit, 14-Object inspection module. Detailed Implementation

[0070] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific embodiments.

[0071] Example: The control method of the cleaning machine of the present invention, such as Figures 1 to 22 As shown in the diagram, the cleaning machine mainly performs cleaning tasks on the ground, including moving on the ground to perform edge cleaning mode, thereby effectively cleaning the edges of obstacles.

[0072] The cleaning machine of this solution includes a machine body 1, and a mop 10 is provided at the bottom of the machine body 1. The mop 10 can adhere to the ground to clean the ground. At the same time, the mop 10 is designed to be a moving structure and can serve as a power source for the cleaning machine to move when the mop 10 moves on the ground. When the mop 10 moves on the ground, it generates uneven friction to drive the machine body 1 to move on the ground, thereby achieving the effect of the cleaning machine moving and walking without the need to set up a drive wheel structure.

[0073] In this scheme, at least one distance detection module 11 and one or more edge detection modules 12 are installed on the machine body 1. The distance detection signal emitted by the distance detection module 11 and the edge detection signal emitted by the edge detection module 12 are both set to be able to pass through the outermost extension surface of the side of the machine body 1 in the horizontal direction to detect the obstacle surface on the outside. The main purpose is to detect the obstacle in the outer direction of the side of the machine body 1 through the distance detection module 11 and the edge detection module 12, so as to control the cleaning machine to perform edge cleaning based on the detection information of the distance detection module 11 and the edge detection module 12.

[0074] Understandably, the outermost edge of the side of the machine body 1 in the horizontal direction can be the outermost edge of the side of the left side of the machine body 1. In this case, the distance detection module 11 and the edge detection module 12 can detect the obstacle surface on the outer side of the left side of the machine body 1. The outermost edge of the side of the machine body 1 in the horizontal direction can also be the outermost edge of the side of the right side of the machine body 1. In this case, the distance detection module 11 and the edge detection module 12 can detect the obstacle surface on the outer side of the right side of the machine body 1.

[0075] Specifically, the control unit 13 controls the distance detection module 11 and the edge detection module 12 to start working, enabling the cleaning machine to perform edge cleaning mode on the edge position of the obstacle surface. This is mainly based on the detection information of the distance detection module 11 and the edge detection module 12 to control the cleaning machine to perform edge cleaning mode. In the edge cleaning mode, when both the distance detection module 11 and the edge detection module 12 detect an obstacle surface outside the ground, the cleaning machine is controlled to execute the first edge cleaning mode. At this time, both the distance detection module 11 and the edge detection module 12 are in working state and can detect obstacles outside the ground. In the edge cleaning mode, when the distance detection module 11 detects... When the edge detection module 12 fails to detect an obstacle surface outside the ground, the cleaning machine is controlled to execute the second edge cleaning mode. At this time, both the distance detection module 11 and the edge detection module 12 are in working condition, but only the distance detection module 11 can detect the obstacle surface outside the ground, while the edge detection module 12 cannot. By setting the first edge cleaning mode and the second edge cleaning mode, the detection information of the distance detection module 11 and the edge detection module 12 can be effectively used to ensure that the cleaning machine can perform stable cleaning along the edge of the obstacle surface, preventing the problem of edge cleaning failure.

[0076] Optionally, this solution can set the edge inspection module 12 as an infrared sensor and the distance inspection module 11 as a laser sensor. The infrared sensor and the laser sensor work together to effectively detect the obstacle surface and control the cleaning machine to execute the corresponding edge cleaning mode based on the detection information.

[0077] For indoor obstacle surfaces, when the obstacle surface is dark or black, the infrared signal emitted by the infrared sensor, i.e. the edge detection signal emitted by the edge detection module 12, will be absorbed by the obstacle surface, causing the obstacle surface detection to fail. In this case, the edge detection module 12 cannot detect the obstacle surface. At this time, the obstacle surface can be detected by the distance detection module 11 to prevent the cleaning machine from being unable to clean the edge of the obstacle surface due to detection failure.

[0078] The installation position and distribution structure of the distance detection module 11 in this solution are such that the distance detection module 11 is located in the area between the outermost edge of the side of the machine body 1 in the horizontal direction and the center of the machine body 1. That is, in the area between the outermost edge of the left or right side of the machine body 1 and the center of the machine body 1. The distance detection signal emitted by the distance detection module 11 is inclined downward and horizontally to the side of the machine body 1, so that the distance detection signal can pass through the extension surface of the outermost edge of the side of the machine body 1 in the horizontal direction to detect obstacles other than the ground. The detection module 11 performs detection on the ground by extending through the bottom of the machine body 1. The distance detection signal intersects with the ground at the outermost edge of the mop 10. It can be understood that the distance detection signal is inclined towards the lower front of the machine body 1 and also inclined towards the left or right side of the machine body 1. This allows the distance detection signal to detect the ground and also detect obstacles on the outer left or right side of the machine body 1, thus achieving the multi-functional detection effect of the distance detection module 11.

[0079] When the cleaning machine is not in edge cleaning mode, the distance detection module 11 emits a distance detection signal to detect the ground, so as to detect whether there is a suspended position on the ground, and prevent the cleaning machine from falling into the suspended position, causing movement failure or damage.

[0080] When the cleaning machine is in edge cleaning mode, the distance detection module 11 emits a distance detection signal to detect obstacles outside the ground. It mainly detects obstacles on the outer side of the left or right side of the machine body 1, thereby enabling the cleaning machine to perform edge cleaning mode.

[0081] In this solution, regarding the installation position and distribution structure of the border inspection module 12, the border inspection signal emitted by the border inspection module 12 is directed towards the outer side of the machine body 1 in the horizontal direction, on the same side as the installation position of the distance inspection module 11. This means that when the distance inspection module 11 is installed on the left side of the machine body 1 in the horizontal direction, the border inspection signal emitted by the border inspection module 12 is directed towards the left side of the machine body 1 in the horizontal direction; or when the distance inspection module 11 is installed on the right side of the machine body 1 in the horizontal direction, the border inspection signal emitted by the border inspection module 12 is directed towards the right side of the machine body 1 in the horizontal direction. It is necessary to ensure that the border inspection module 12 and the distance inspection module 11 are located on the same side of the machine body 1 in the horizontal direction, and that the coverage area of ​​the border inspection signal extends at least to the area of ​​the mop. The outermost edge of the mop 10 is used to detect obstacles on the outer side of the mop 10. This effectively prevents the mop 10 from colliding with obstacles, which would affect the stable movement of the machine body 1. At the same time, it can realize the detection of obstacles on the outer side of the edge of the mop 10 and the outer side of the outermost edge of the machine body 1. The position structure of the edge detection module 12 allows the detection module 11 and the edge detection module 12 to detect obstacles on the outer side of the outermost edge of the same side of the machine body 1 in the horizontal direction. This enables the cleaning machine to perform edge cleaning along the obstacles on the outermost edge of one side of the machine body 1 in the horizontal direction.

[0082] Specifically, regarding the positions of the distance detection module 11 and the edge detection module 12, they are mainly installed on the same side relative to the center of the machine body 1. For example, they are both located on the left or right side relative to the center of the machine body 1. When both the distance detection module 11 and the edge detection module 12 are located on the left side, they can detect obstacles on the outermost side of the left side of the machine body 1. When both the distance detection module 11 and the edge detection module 12 are located on the right side, they can detect obstacles on the outermost side of the right side of the machine body 1. The left side position refers to the left side of the machine body 1 in the horizontal direction, and the right side position refers to the right side of the machine body 1 in the horizontal direction. It can be seen that the cleaning machine can perform edge cleaning mode on the left or right side mainly depending on the installation position of the distance detection module 11 and the edge detection module 12.

[0083] In the specific method of the edge cleaning mode of this solution, in the first edge cleaning mode, the control unit 13 controls the movement state of the mop 10 based on the distance value corresponding to the distance detection signal of the distance detection module 11 and the intensity value of the edge detection signal of the edge detection module 12 to adjust the position of the cleaning machine so that the cleaning machine and the obstacle surface are kept within a preset distance range. That is, the position of the cleaning machine is controlled based on the distance value corresponding to the distance detection signal and the intensity value of the edge detection signal so that the cleaning machine can maintain a stable distance from the detected obstacle surface to perform edge cleaning effect, so that the cleaning machine and the obstacle surface can be kept within a preset distance range to perform edge cleaning, preventing the cleaning machine from being too far away or too close to the obstacle surface.

[0084] In the specific method of the edge cleaning mode of this solution, in the second edge cleaning mode, the control unit 13 controls the movement state of the mop 10 based on the distance value corresponding to the distance detection signal of the distance detection module 11 to adjust the position of the cleaning machine so that the cleaning machine and the obstacle surface are kept within a preset distance range. That is, the position of the cleaning machine is controlled based on the distance value corresponding to the distance detection signal so that the cleaning machine can maintain a stable distance from the detected obstacle surface to perform edge cleaning effect, so that the cleaning machine and the obstacle surface can be kept within a preset distance range to perform edge cleaning, preventing the cleaning machine from being too far away or too close to the obstacle surface.

[0085] In the specific method section, in the first edge cleaning mode, if the intensity value of the edge inspection signal of the edge inspection module 12 changes or the distance value corresponding to the distance inspection signal of the distance inspection module 11 changes (e.g., the intensity value of the edge inspection signal increases or decreases, or the distance value corresponding to the distance inspection signal increases or decreases), it indicates that the distance between the cleaning machine and the obstacle surface has changed. Therefore, the horizontal rotation speed of the mop 10 or the horizontal rotation direction of the mop 10 is controlled to adjust the posture of the cleaning machine until the intensity value of the edge inspection signal of the edge inspection module 12 reaches within a preset intensity value range or the intensity value of the edge inspection signal no longer changes. Until the distance value corresponding to the distance detection signal of the distance detection module 11 reaches within the preset distance value range or the distance value corresponding to the distance detection signal no longer changes, the positioning of the cleaning machine can be adjusted based on the coordinated detection of the distance detection module 11 and the edge detection module 12. This allows the cleaning machine to maintain a preset distance range from the obstacle surface for edge cleaning. When the cleaning machine moves away from or close to the obstacle surface, the positioning of the cleaning machine can be adjusted by controlling the movement state of the mop 10, thereby enabling the cleaning machine to stably clean along the edge of the obstacle surface.

[0086] In terms of the specific structure of the cleaning machine, the number of mops 10 is set to two, which are arranged side by side in the horizontal direction along the main body 1 of the machine. That is, the two mops 10 are arranged side by side in the horizontal direction. The movement of the two mops 10 can realize the cleaning machine moving forward, backward, or turning on the ground. In terms of the method, in the first cleaning mode, if the strength value of the edge detection signal of the edge detection module 12 decreases, it means that the cleaning machine is moving away from the obstacle surface. Then, the position of the cleaning machine is controlled and adjusted to move closer to the obstacle surface until the strength value of the edge detection signal reaches within the preset strength value range or the strength value of the edge detection signal no longer changes. The process involves controlling the cleaning machine to move closer to the obstacle surface so that the distance between the cleaning machine and the obstacle surface returns to a preset range, and maintaining edge cleaning within this preset range. If the strength value of the edge detection signal from the edge detection module 12 increases, it indicates that the cleaning machine is approaching the obstacle surface. The cleaning machine's position is then adjusted to move away from the obstacle surface until the strength value of the edge detection signal reaches a preset range or stops changing. This process controls the cleaning machine to move away from the obstacle surface so that the distance between the cleaning machine and the obstacle surface returns to a preset range, and maintains this distance within the preset range. The system continues edge cleaning. If the distance value corresponding to the distance detection signal of the distance detection module 11 decreases, it indicates that the cleaning machine is approaching the obstacle surface. The system then adjusts the cleaning machine's position to move away from the obstacle surface until the distance value corresponding to the distance detection signal reaches a preset range or no longer changes. This controls the cleaning machine to move away from the obstacle surface so that the distance between the cleaning machine and the obstacle surface returns to a preset range, and edge cleaning is maintained within this preset range. If the distance value corresponding to the distance detection signal of the distance detection module 11 increases, it indicates that the cleaning machine is moving away from the obstacle surface. The system then adjusts the cleaning machine's position to move away from the obstacle surface until the distance value corresponding to the distance detection signal is within a preset range or no longer changes. The cleaning machine's position is adjusted to approach the obstacle surface until the distance value corresponding to the detection signal reaches a preset distance range or the distance value corresponding to the detection signal no longer changes. This controls the cleaning machine to approach the obstacle surface so that the distance between the cleaning machine and the obstacle surface can return to the preset distance range, and maintain edge cleaning within the preset distance range. The cleaning machine's position is adjusted in a timely manner based on the changes in the distance value corresponding to the detection signal and the changes in the intensity value of the edge detection signal, so that the cleaning machine can perform stable edge cleaning along the edge of the obstacle surface within the preset distance range.

[0087] In the specific method section, in the second edge cleaning mode, if the distance value corresponding to the distance detection signal of the distance detection module 11 changes, such as increasing or decreasing, it indicates that the distance between the cleaning machine and the obstacle surface has changed. Then, the horizontal rotation speed of the mop 10 or the horizontal rotation direction of the mop 10 is controlled to adjust the posture of the cleaning machine until the distance value corresponding to the distance detection signal of the distance detection module 11 reaches within the preset distance value range or the distance value corresponding to the distance detection signal no longer changes. The posture of the cleaning machine can be adjusted based on the distance detection module 11, so that the cleaning machine and the obstacle surface can be kept within the preset distance range for edge cleaning. When the cleaning machine moves away from or close to the obstacle surface, the posture of the cleaning machine can be adjusted by controlling the movement state of the mop 10, thereby enabling the cleaning machine to stably clean along the edge of the obstacle surface.

[0088] In terms of the specific structure of the cleaning machine, the number of mops 10 is set to two, which are arranged side by side in the horizontal direction along the main body 1 of the machine. This means the two mops 10 are arranged horizontally side-by-side. The movement of the two mops 10 allows the cleaning machine to move forward, backward, or turn on the ground. Specifically, in the second edge cleaning mode, if the distance value corresponding to the distance detection signal of the distance detection module 11 decreases, it indicates that the cleaning machine is approaching an obstacle surface. The machine's position is then adjusted to move away from the obstacle surface until the distance value corresponding to the distance detection signal reaches a preset range or the distance value no longer changes. This controls the cleaning machine to move away from the obstacle surface so that the distance between the cleaning machine and the obstacle surface returns to the preset range. Within a preset distance range, the cleaning machine performs edge cleaning. If the distance value corresponding to the distance detection signal of the distance detection module 11 increases, it indicates that the cleaning machine is moving away from the obstacle surface. The machine's position is then adjusted to move closer to the obstacle surface until the distance value corresponding to the distance detection signal reaches within the preset distance range or the distance value corresponding to the distance detection signal no longer changes. This controls the cleaning machine to move closer to the obstacle surface so that the distance between the cleaning machine and the obstacle surface can return to the preset distance range, and edge cleaning is performed within the preset distance range. The position of the cleaning machine is adjusted in a timely manner based on the change in the distance value corresponding to the distance detection signal, so that the cleaning machine can perform stable edge cleaning along the edge of the obstacle surface within the preset distance range.

[0089] In the first and second edge cleaning modes, controlling and adjusting the position of the cleaning machine to move away from the obstacle surface includes: increasing the horizontal rotation speed of the mop 10 near the edge inspection module 12, which causes the entire cleaning machine to move away from the mop 10 near the edge inspection module 12, i.e., moving away from the obstacle surface; and / or decreasing the horizontal rotation speed of the mop 10 away from the edge inspection module 12 or switching the horizontal rotation direction to the opposite direction, which causes the entire cleaning machine to move away from the mop 10 near the edge inspection module 12, i.e., moving away from the obstacle surface. In the control method for moving away from the obstacle surface, and in the first edge cleaning mode, the detection information from the distance detection module 11 and the edge detection module 12 can be combined to control the position of the cleaning machine so that the cleaning machine moves away from the obstacle surface until the distance between the cleaning machine and the obstacle surface returns to a preset distance range; in the control method for moving away from the obstacle surface, and in the second edge cleaning mode, the detection information from the distance detection module 11 can be combined to control the position of the cleaning machine so that the cleaning machine moves away from the obstacle surface until the distance between the cleaning machine and the obstacle surface returns to a preset distance range, ensuring that the cleaning machine can effectively perform edge cleaning along the edge of the obstacle surface within a preset distance range.

[0090] In the first edge cleaning mode and the second edge cleaning mode, controlling and adjusting the position of the cleaning machine to approach the obstacle surface includes: increasing the horizontal rotation speed of the mop 10 away from the edge inspection module 12 so that the entire cleaning machine moves toward the direction of the mop 10 closer to the edge inspection module 12, that is, moving toward the obstacle surface; and / or decreasing the horizontal rotation speed of the mop 10 close to the edge inspection module 12 or switching the horizontal rotation direction to the opposite direction so that the entire cleaning machine moves toward the direction of the mop 10 close to the edge inspection module 12 under the action of the mop 10 close to the edge inspection module 12, that is, moving toward the obstacle surface. In the control method for approaching the obstacle surface, and in the first edge cleaning mode, the detection information from the distance detection module 11 and the edge detection module 12 can be combined to control the position of the cleaning machine so that the cleaning machine approaches the obstacle surface until the distance between the cleaning machine and the obstacle surface returns to a preset distance range. In the control method for approaching the obstacle surface, and in the second edge cleaning mode, the detection information from the distance detection module 11 can be combined to control the position of the cleaning machine so that the cleaning machine approaches the obstacle surface until the distance between the cleaning machine and the obstacle surface returns to a preset distance range, ensuring that the cleaning machine can effectively perform edge cleaning along the edge of the obstacle surface within a preset distance range.

[0091] Regarding the structure of the mop 10 driving the cleaning machine on the ground, two mop 10s can be set in an inclined structure. This means that both mop 10s are inclined when in contact with the ground, creating uneven pressure on their bottom surfaces. During the horizontal rotation of the mop 10s, uneven friction is generated, enabling the cleaning machine to move forward, backward, or turn on the ground. The horizontal rotation direction and speed of the two mop 10s can be specifically set to adjust the cleaning machine's movement path on the ground. This solves the problem of existing cleaning machines using drive wheels, simplifying the overall structure and making it easier to distribute the mop 10s to achieve large-area mopping and cleaning effects. It also allows for more effective cleaning of stubborn dirt on the ground.

[0092] Optionally, in this solution, the connecting axis of the center positions of the two mops 10 constitutes the horizontal direction of the machine body 1, and at the same time constitutes the left or right position of the machine body 1 in the horizontal direction. The distance detection module 11 and the edge detection module 12 are set to be located on the left or right side of the machine body 1, so as to detect and clean the obstacle surface on the outer left or outer right side of the machine body 1 in the horizontal direction.

[0093] To improve the accuracy of the distance detection module 11 in detecting the ground and obstacles outside the ground, and to enhance the cleaning machine's adaptability to different indoor ground surfaces, this solution initiates detection correction upon starting the distance detection module 11. Detection correction includes: first, activating the preset threshold A0 within the distance detection module 11 and detecting the current threshold A at the current position of the cleaning machine. If the threshold B corresponding to the distance between the detection signal and the ground meets the range of threshold A0 ± 5, then the current threshold A of the distance detection module 11 is corrected to threshold B. This can be understood as the ground potentially being uneven, but if the unevenness causes the threshold B corresponding to the distance between the detection signal and the ground to meet the range of threshold A0 ± 5, then the current threshold A is corrected to the actual threshold B. This allows the distance detection module 11 to more accurately detect the ground position, and more accurately detect suspended positions and protruding obstacles on the ground. If the distance detection signal intersects with the ground... If the threshold B corresponding to the distance does not meet the range of threshold A0±5, the current threshold A is corrected to the preset threshold A0. This is because the ground may be uneven, causing the threshold B corresponding to the distance where the detection signal intersects with the ground to not meet the range of threshold A0±5. Therefore, the actual threshold B is not used as the starting threshold for the detection module 11 to detect the ground and obstacles outside the ground. Instead, the current threshold A is corrected to the preset threshold A0 as the starting threshold for the detection module 11 to detect the ground and obstacles outside the ground. This prevents large deviations in the detection information of the detection module 11 due to significant ground unevenness, allowing the detection module 11 to more accurately detect ground positions, and thus more accurately detect suspended positions and protruding obstacles on the ground. By performing detection correction on the detection module 11, the accuracy and stability of the detection are improved.

[0094] Specifically, before initiating the detection and correction process, the system first determines whether the edge inspection module 12 can detect the obstacle surface to determine whether the current position of the cleaning machine is located at the edge of the obstacle surface. If the current position of the cleaning machine satisfies the condition that the edge inspection module 12 has not detected the obstacle surface, it means that the cleaning machine is not located at the edge of the obstacle surface. In this case, the distance detection module 11 can detect the ground without being unable to detect the ground due to the detection of the obstacle surface. In this case, the system can initiate the detection and correction process for the distance detection module 11. If the edge inspection module 12 can detect the obstacle surface at the current position of the cleaning machine, the system will not initiate the detection and correction process for the distance detection module 11. This is because if the edge inspection module 12 can detect the obstacle surface, the distance detection module 11 may also be able to detect the obstacle surface, in which case the distance detection module 11 will not be able to detect the ground. Therefore, the system will not initiate the detection and correction process for the distance detection module 11, so that the system can control the system to initiate the detection and correction process for the distance detection module 11 when the cleaning machine is not located at the edge of the obstacle surface, thus achieving stability in the detection and correction process.

[0095] Regarding the structure and method for moving the machine body 1 to the edge of the obstacle surface, this solution provides a machine body 1 equipped with three or more detection modules 14. Each detection module 14 can be an infrared sensor. The detection signal emitted by the detection module 14, i.e., the infrared signal, is directed towards the front of the cleaning machine. When the cleaning machine starts working, the detection modules 14 are first controlled to detect the obstacle surface in front of the cleaning machine. When three or more detection modules 14 detect the obstacle surface, it indicates that the obstacle surface has a certain length. The cleaning machine is then controlled to turn and move a distance L after the turn. The cleaning machine can be controlled to turn left or right in the horizontal direction of the machine body 1, and move a certain distance L after each left or right turn. The distance L is set to be greater than or equal to half the horizontal length of the machine body 1. Then, the cleaning machine is controlled to reset, i.e., to return to the front direction for further movement. After resetting, if three or more detection modules 14 detect the obstacle surface, the machine will continue to move forward. If all four obstruction surfaces are detected, it indicates that there is an obstruction surface of a certain length in the front direction of the cleaning machine. This obstruction surface can be a wall or furniture surface. The cleaning machine is then controlled to move towards the obstruction surface to perform the edge cleaning mode. The cleaning machine can be controlled to move forward to approach the obstruction surface and turn within a preset distance range so that the distance detection module 11 and the edge detection module 12 approach the obstruction surface to detect it. The axis connecting the centers of the two mops 10 in the horizontal direction of the machine body 1 is approximately perpendicular to the obstruction surface to perform edge cleaning along the edge of the obstruction surface. It can be seen that the detection module 14 can detect obstruction surfaces with a certain distance to meet the requirements of the cleaning machine to perform the edge cleaning mode. For discontinuous obstruction surfaces or obstruction surfaces with a short distance, the edge cleaning mode is not performed. This can effectively detect and determine the position of the wall or the position of a large obstruction in the room and control the edge cleaning to perform the edge cleaning.

[0096] In this solution, to prevent over-adjustment during the adjustment of the cleaning machine's pose, which could cause the cleaning machine to deviate from the edge cleaning mode, the method involves setting the angle at which the cleaning machine turns in the same direction to be less than T degrees during the adjustment process in both the first and second edge cleaning modes. Whether the cleaning machine is moving closer to or away from an obstacle, the turning angle is kept less than T degrees whenever the machine turns in the same direction. If the turning angle is greater than or equal to T degrees, the cleaning machine switches to turning in the opposite direction to adjust its pose. Here, T is less than or equal to 45 degrees. This effectively prevents the cleaning machine from deviating from the edge cleaning mode due to excessive turning angle when adjusting its pose in the same direction. To ensure the cleaning machine maintains its edge cleaning mode during steering and posture adjustment, the following method is employed: In edge cleaning mode, the overall posture of the cleaning machine is such that the axis connecting the centers of the two mops 10 is approximately perpendicular to the obstacle surface, or at a small angle. When adjusting the cleaning machine's posture to move closer to or away from the obstacle surface, it can be achieved by steering in the same direction. If the steering angle is greater than or equal to T degrees, the axis connecting the centers of the two mops 10 may gradually become parallel to the obstacle surface during steering. This causes the distance detection module 11 and the edge detection module 12 to disengage from detecting the obstacle surface, thus causing the cleaning machine to exit edge cleaning mode. Therefore, this method effectively ensures the cleaning machine maintains a stable edge cleaning mode.

[0097] In this solution, to prevent over-adjustment during the adjustment of the cleaning machine's pose, which could cause the cleaning machine to deviate from the edge cleaning mode, the method can further include the following: During the adjustment of the cleaning machine's pose in both the first and second edge cleaning modes, if the distance value corresponding to the distance detection signal of the distance detection module 11 increases and exceeds a preset distance value range while the cleaning machine is turning in the same direction, the cleaning machine is controlled to switch to turning in the opposite direction to adjust its pose. If, during the adjustment of the cleaning machine's pose, the distance value corresponding to the distance detection signal of the distance detection module 11 increases and exceeds a preset distance value range while the cleaning machine is turning in the same direction, it indicates that the distance between the cleaning machine and the obstacle surface has exceeded the preset distance range, and the cleaning machine is about to deviate from the edge cleaning mode. In this case, the cleaning machine is controlled to switch to turning in the opposite direction. The method adjusts the robot's position to allow it to approach the obstacle surface, thus maintaining a stable edge cleaning mode. Understandably, during edge cleaning, the robot's overall position is such that the axis connecting the centers of the two mops 10 is roughly perpendicular to the obstacle surface, or at a small angle. When adjusting the robot's position to approach or move away from the obstacle surface, it can be controlled to turn in the same direction. If, during this turning process, the distance value corresponding to the distance detection signal of the distance detection module 11 increases and exceeds the preset distance range, the axis connecting the centers of the two mops 10 may gradually become parallel to the obstacle surface. This causes the distance detection module 11 and the edge detection module 12 to lose their detection state of the obstacle surface, causing the robot to exit edge cleaning mode. Therefore, this method effectively ensures that the robot maintains a stable edge cleaning mode.

[0098] In this solution, the method of the distance detection module 11 for detecting the ground and detecting suspended positions on the ground is as follows: When the distance detection module 11 does not detect any obstacle surface other than the ground, it can be understood that the cleaning machine is performing edge cleaning mode. At this time, the distance detection module 11 cannot detect any obstacle surface other than the ground because the cleaning machine is not close to the edge of the obstacle surface. At this time, the movement of the cleaning machine can be controlled according to the ground information detected by the distance detection module 11. Specifically, if the distance value corresponding to the distance detection signal of the distance detection module 11 reaches the preset distance value range, it is determined that the distance detection signal intersects with the ground. At this time, it can be further determined that there is no suspended position on the ground area covered by the distance detection signal of the distance detection module 11, and the cleaning machine can be controlled to move on the ground. Specifically, if the distance value corresponding to the distance detection signal of the distance detection module 11 is not within the preset distance value range, it is determined that the distance detection signal intersects with the ground. At this time, it can be further determined that there is no suspended position on the ground area covered by the distance detection signal of the distance detection module 11, and the cleaning machine can be controlled to move on the ground. When the distance is within the preset range, the horizontal rotation speed or direction of the mop 10 is controlled to adjust the position of the cleaning machine, so that the cleaning machine moves away from the current position or turns around the current position. It can be understood that when the distance value corresponding to the distance detection signal of the distance detection module 11 is not within the preset range, it can be determined that there is a suspended position on the ground. The suspended position makes the distance value corresponding to the distance detection signal larger. The suspended position is mainly a recessed space or a cliff. In this case, the position of the cleaning machine is controlled based on the information of the distance detection signal. This is mainly done by controlling the horizontal rotation speed or direction of the mop 10 on the cleaning machine so that the cleaning machine can move away from the current position of the cleaning machine or turn around the current position, so that the cleaning machine falls into the suspended position, causing the cleaning machine to be unable to move normally or to be damaged.

[0099] The control and adjustment of the cleaning machine's posture can be achieved by controlling the two mops 10 to switch to opposite horizontal rotation directions, causing the cleaning machine to move backward away from its current position. Alternatively, the mop 10 closer to the detection module 11 can be controlled to switch to the opposite horizontal rotation direction, while the mop 10 farther from the detection module 11 maintains its current horizontal rotation direction, causing the cleaning machine to turn towards the direction of the mop 10 farther from the detection module 11. This allows the cleaning machine to turn and move around its current position, preventing it from falling into a suspended position. Furthermore, the horizontal rotation speed of the mop 10 farther from the detection module 11 can be increased, or the horizontal rotation speed of the mop 10 closer to the detection module 11 can be decreased, allowing the cleaning machine to turn and move around its current position. All these measures effectively prevent the cleaning machine from falling into a suspended position, thus improving the safety and stability of the cleaning machine's movement.

[0100] If the distance value corresponding to the distance detection signal decreases, it can be determined that there is a raised obstacle on the ground. In this case, the position and posture of the cleaning machine are controlled based on the information of the distance detection signal. This is mainly achieved by controlling the horizontal rotation speed or horizontal rotation direction of the mop 10 on the cleaning machine so that the cleaning machine can move away from its current position or turn around its current position, so that the cleaning machine can collide with the raised obstacle, causing the cleaning machine to be unable to move normally or to be damaged.

[0101] As can be seen, the structure of the distance detection module 11 in this solution can effectively detect the ground and obstacles outside the ground, realizing the multi-functional detection effect of the distance detection module 11. During the ground detection process, it can detect and judge the suspension on the ground in advance, effectively improving the safety and stability of the cleaning machine's movement. At the same time, through the detection information of the distance detection module 11 or the edge detection module 12, the horizontal rotation speed or horizontal rotation direction of the mop 10 can be controlled to adjust the position and posture of the cleaning machine, so that the cleaning machine can effectively perform edge cleaning and improve the overall effect of edge cleaning.

[0102] Working Principle: The cleaning machine in this solution primarily performs cleaning on the ground. The cleaning process includes an edge cleaning mode, mainly implemented by an edge detection module 12 and a distance detection module 11 to execute a first and a second edge cleaning mode. Specifically, when both the distance detection module 11 and the edge detection module 12 detect obstacles outside the ground, the cleaning machine executes the first edge cleaning mode. When the distance detection module 11 detects an obstacle outside the ground but the edge detection module 12 does not, the cleaning machine executes the second edge cleaning mode. This allows the distance detection module 11 to detect obstacles even when the edge detection module 12 cannot detect them. This solves the problems of easy failure and poor cleaning effect of the cleaning machine during edge cleaning. It also allows for better control of the horizontal rotation speed or direction of the mop 10 based on the detection information of the distance detection module 11 and the edge detection module 12, thereby adjusting the position of the cleaning machine. This enables the cleaning machine to effectively perform edge cleaning along the edge of the obstacle, improving the reliability and stability of the cleaning machine during edge cleaning.

[0103] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention. In practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of the present invention, and all such changes are within the protection scope of the present invention.

Claims

1. A control method for a cleaning machine, the cleaning machine comprising a machine body, wherein a mop is disposed at the bottom of the machine body, characterized in that: The mop is designed as a moving structure and can serve as a power source for the cleaning machine's movement when the mop moves; The machine body is equipped with at least one distance detection module and one or more edge detection modules. The distance detection signal emitted by the distance detection module and the edge detection signal emitted by the edge detection module are both set to be able to pass through the outermost extension surface of the side of the machine body in the horizontal direction to detect the outer obstacle surface. The control unit activates the distance detection module and the edge detection module to enable the cleaning machine to perform the edge cleaning mode. In the edge cleaning mode, when both the distance detection module and the edge detection module detect an obstacle surface outside the ground, the cleaning machine is controlled to execute the first edge cleaning mode. In the edge cleaning mode, when the distance detection module detects an obstacle surface outside the ground and the edge detection module does not detect an obstacle surface outside the ground, the cleaning machine is controlled to execute the second edge cleaning mode. In the first edge cleaning mode, the control unit controls the movement state of the mop based on the distance value corresponding to the distance detection signal of the distance detection module and the intensity value of the edge detection signal of the edge detection module to adjust the posture of the cleaning machine so that the cleaning machine and the obstacle surface are kept within a preset distance range. In the second edge cleaning mode, the control unit controls the movement state of the mop based on the distance value corresponding to the distance detection signal of the distance detection module, so as to adjust the position of the cleaning machine and keep the cleaning machine within a preset distance range from the obstacle surface.

2. The control method for the cleaning machine according to claim 1, characterized in that: The distance detection module is located in the area between the outermost edge of the side of the machine body in the horizontal direction and the center of the machine body. The distance detection signal emitted by the distance detection module is inclined downward and horizontally to the side of the machine body. This allows the distance detection signal to pass through the extension surface of the outermost edge of the side of the machine body in the horizontal direction to detect obstacles other than the ground, and to pass through the extension surface of the bottom of the machine body to detect the ground. The point where the distance detection signal intersects with the ground is located outside the outermost edge of the mop.

3. The control method for the cleaning machine according to claim 2, characterized in that: The edge inspection module emits an edge inspection signal that is directed towards the outer side of the machine body in the horizontal direction, on the same side as the installation position of the inspection module, and the coverage of the edge inspection signal extends at least to the outermost edge of the mop to detect obstacles on the outer side of the mop. This allows the distance detection module and the edge detection module to detect obstacles on the outermost edge of the same side of the machine body in the horizontal direction.

4. The control method for the cleaning machine according to claim 3, characterized in that: In the first edge cleaning mode, if the intensity value of the edge inspection signal of the edge inspection module changes or the distance value corresponding to the distance inspection signal of the distance inspection module changes, the horizontal rotation speed of the mop or the horizontal rotation direction of the mop is controlled to adjust the posture of the cleaning machine until the intensity value of the edge inspection signal of the edge inspection module reaches within the preset intensity value range or the intensity value of the edge inspection signal no longer changes, or until the distance value corresponding to the distance inspection signal of the distance inspection module reaches within the preset distance value range or the distance value corresponding to the distance inspection signal no longer changes.

5. The control method for the cleaning machine according to claim 4, characterized in that: The number of mops is set to two, and the two mops are arranged side by side in the horizontal direction along the main body of the machine; In the first cleaning mode, If the strength value of the border inspection signal of the border inspection module decreases, the position of the cleaning machine will be adjusted to approach the obstacle surface until the strength value of the border inspection signal reaches within the preset strength value range or the strength value of the border inspection signal no longer changes. If the strength value of the border inspection signal of the border inspection module increases, the position of the cleaning machine will be adjusted to move away from the obstacle surface until the strength value of the border inspection signal reaches within the preset strength value range or the strength value of the border inspection signal no longer changes. If the distance value corresponding to the distance detection signal of the distance detection module decreases, the position of the cleaning machine will be adjusted to move away from the obstacle surface until the distance value corresponding to the distance detection signal reaches within the preset distance value range or the distance value corresponding to the distance detection signal no longer changes. If the distance value corresponding to the distance detection signal of the distance detection module increases, the position of the cleaning machine will be adjusted to approach the obstacle surface until the distance value corresponding to the distance detection signal reaches the preset distance value range or the distance value corresponding to the distance detection signal no longer changes.

6. The control method for the cleaning machine according to claim 3 or 4, characterized in that: In the second edge cleaning mode, if the distance value corresponding to the distance detection signal of the distance detection module changes, the horizontal rotation speed of the mop or the horizontal rotation direction of the mop is controlled to adjust the position of the cleaning machine until the distance value corresponding to the distance detection signal of the distance detection module reaches within the preset distance value range or the distance value corresponding to the distance detection signal no longer changes.

7. The control method for the cleaning machine according to claim 6, characterized in that: The number of mops is set to two, and the two mops are arranged side by side in the horizontal direction along the main body of the machine; In the second edge cleaning mode, If the distance value corresponding to the distance detection signal of the distance detection module decreases, the position of the cleaning machine will be adjusted to move away from the obstacle surface until the distance value corresponding to the distance detection signal reaches within the preset distance value range or the distance value corresponding to the distance detection signal no longer changes. If the distance value corresponding to the distance detection signal of the distance detection module increases, the position of the cleaning machine will be adjusted to approach the obstacle surface until the distance value corresponding to the distance detection signal reaches the preset distance value range or the distance value corresponding to the distance detection signal no longer changes.

8. The control method for the cleaning machine according to claim 5 or 7, characterized in that: Controlling the position of the cleaning machine to move away from the obstacle surface includes: increasing the horizontal rotation speed of the mop closer to the edge inspection module, and / or decreasing the horizontal rotation speed of the mop farther from the edge inspection module or switching the horizontal rotation direction to the opposite direction; Controlling the position and orientation of the cleaning machine to approach the obstacle surface includes: increasing the horizontal rotation speed of the mop away from the edge inspection module, and / or decreasing the horizontal rotation speed of the mop near the edge inspection module or switching the horizontal rotation direction to the opposite direction.

9. The control method for the cleaning machine according to claim 8, characterized in that: When the distance detection module is started, the detection and correction are initiated. The detection and correction include: first, starting the preset threshold A0 in the distance detection module and detecting the current threshold A. If the threshold B corresponding to the distance between the distance detection signal and the ground meets the range of threshold A0±5, then the current threshold A of the distance detection module is corrected to threshold B. If the threshold B corresponding to the distance between the distance detection signal and the ground does not meet the range of threshold A0±5, then the current threshold A is corrected to the preset threshold A0.

10. The control method for the cleaning machine according to claim 9, characterized in that: Before initiating the detection and correction process, the system first determines whether the edge inspection module can detect the obstacle surface. If the current position of the cleaning machine satisfies the condition that the edge inspection module has not detected the obstacle surface, the system can initiate the detection and correction process for the distance inspection module. If the edge inspection module can detect the obstacle surface at the current position of the cleaning machine, the system will not initiate the detection and correction process for the distance inspection module.

11. The control method for the cleaning machine according to claim 8, characterized in that: The main body of the machine is equipped with three or more object detection modules. The object detection modules emit object detection signals in the direction of the front of the cleaning machine. When the cleaning machine starts working, it first controls the object detection modules to detect obstacles on the front of the cleaning machine. When all three or more object detection modules detect the obstacle, it controls the cleaning machine to turn and move a distance L after turning. Then it controls the cleaning machine to reset the turn. After resetting, if all three or more object detection modules can detect the obstacle, it controls the cleaning machine to move towards the obstacle to perform the edge cleaning mode.

12. The control method for the cleaning machine according to claim 8, characterized in that: In the process of adjusting the pose of the cleaning machine in the first edge cleaning mode and the second edge cleaning mode, the angle value of the cleaning machine turning in the same direction is set to be less than T degrees. If the angle value of the cleaning machine turning in the same direction is greater than or equal to T degrees, the cleaning machine is controlled to switch to turning in the opposite direction to adjust the pose. Here, T is less than or equal to 45 degrees. Alternatively, in the first edge cleaning mode and the second edge cleaning mode, if the distance value corresponding to the distance detection signal of the distance detection module increases and exceeds the preset distance value range during the process of adjusting the position and orientation of the cleaning machine while the cleaning machine is turning in the same direction, the cleaning machine is controlled to switch to turning in the opposite direction to adjust the position and orientation.

13. The control method for the cleaning machine according to claim 8, characterized in that: When the distance detection module does not detect an obstacle surface other than the ground; If the distance value corresponding to the distance detection signal of the distance detection module reaches the preset distance value range, it is determined that the distance detection signal intersects with the ground, and the cleaning machine can be controlled to move on the ground. If the distance value corresponding to the distance detection signal of the distance detection module is not within the preset distance value range, the horizontal rotation speed of the mop or the horizontal rotation direction of the mop will be controlled to adjust the position of the cleaning machine so that the cleaning machine moves away from the current position or turns around the current position.

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