Control method and control device for edge running of a mobile cleaning device

Abstract

The application discloses a control method and a control device for edge running of a mobile cleaning device, the mobile cleaning device has an advancing side facing an advancing direction and a neighboring side close to an obstacle, the advancing side is provided with a first sensor, and the neighboring side is provided with a second sensor, the control method comprises the following steps: acquiring front side detection information of the first sensor; judging whether to acquire near side detection information of the second sensor according to the front side detection information; if not, controlling the mobile cleaning device to run according to the front side detection information; and if yes, acquiring the near side detection information and controlling the mobile cleaning device to run according to the near side detection information. The control method for edge running of the mobile cleaning device can control the mobile cleaning device to realize accurate edge cleaning function when the mobile cleaning device cleans along the edge, so that the automation degree of the mobile cleaning device is improved, and the use experience of a user is improved.

Description

Technical Field

[0001] This invention relates to the field of household appliance technology, and in particular to a control method and control device for the operation of mobile cleaning equipment along the edge. Background Technology

[0002] In related technologies, household robotic vacuum cleaners are generally circular. When cleaning along edges, they use a single sensor to control the distance to walls and other objects. However, for some non-circular robotic vacuum cleaners, such as rectangular or semi-circular robots, the single sensor cannot accurately determine the distance between the robot and surrounding obstacles when cleaning along edges. This results in inaccurate cleaning of walls and reduces the user experience. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of the present invention is to provide a control method for the operation of a mobile cleaning device along an edge. This control method can accurately determine whether there is an obstacle on one side of the mobile cleaning device during edge cleaning, thereby controlling the mobile cleaning device to achieve precise edge cleaning function and improving the automation level of the mobile cleaning device.

[0004] According to an embodiment of the present invention, a control method for a mobile cleaning device to operate along an edge includes a forward side facing the direction of travel and a neighboring side near an obstacle. The forward side is provided with a first sensor, and the neighboring side is provided with a second sensor. The control method includes: acquiring front-side detection information from the first sensor; determining whether to acquire near-side detection information from the second sensor based on the front-side detection information; if not, controlling the operation of the mobile cleaning device based on the front-side detection information; if yes, acquiring the near-side detection information and controlling the operation of the mobile cleaning device based on the near-side detection information.

[0005] According to the control method for the operation of a mobile cleaning device along an edge according to an embodiment of the present invention, by acquiring detection information by a first sensor and a second sensor located at different positions, the method can accurately determine whether there is an obstacle on one side of the mobile cleaning device when it is cleaning along an edge, thereby controlling the mobile cleaning device to achieve precise edge cleaning function, thereby improving the automation level of the mobile cleaning device and improving the user experience.

[0006] According to some embodiments of the present invention, a control method for mobile cleaning equipment to operate along an edge includes controlling the operation of the mobile cleaning equipment based on the near-side detection information as follows: determining whether an obstacle exists based on the near-side detection information; if so, controlling the mobile cleaning equipment to continue moving and continuously acquiring the near-side detection information; if not, controlling the mobile cleaning equipment to turn towards the side where the obstacle disappears, and controlling the mobile cleaning equipment to continue moving.

[0007] According to some embodiments of the present invention, a control method for a mobile cleaning device to operate along an edge includes controlling the mobile cleaning device to continue moving by: acquiring front detection information again through the first sensor; and when it is determined that an obstacle has reappeared based on the front detection information, continuing to control the mobile cleaning device to continue moving based on the front detection information.

[0008] According to some embodiments of the present invention, a control method for mobile cleaning equipment to operate along an edge includes determining whether to acquire the near-side detection information of the second sensor based on the front-side detection information. This includes: determining whether there is an obstacle in front of the mobile cleaning equipment based on the front-side detection information; if so, determining to continue acquiring the front-side detection information of the first sensor; if not, determining to acquire the near-side detection information of the second sensor.

[0009] According to some embodiments of the present invention, a control method for a mobile cleaning device to operate along an edge further includes: determining, based on the front detection information, that there is no obstacle in front of the mobile cleaning device; controlling the forward speed of the mobile cleaning device to decrease; and controlling the second sensor to start operating.

[0010] The present invention also proposes a computer-readable storage medium.

[0011] According to an embodiment of the present invention, a computer-readable storage medium thereon stores a control program for the operation of a mobile cleaning device along an edge, which, when executed by a processor, implements the control method for the operation of a mobile cleaning device along an edge as described in any of the above embodiments.

[0012] The present invention also proposes a controller for a mobile cleaning device.

[0013] According to an embodiment of the present invention, a controller for a mobile cleaning device includes a memory, a processor, and a control program for the mobile cleaning device to operate along an edge, which is stored in the memory and can be run on the processor. When the processor executes the control program for the mobile cleaning device to operate along an edge, it implements the control method for the mobile cleaning device to operate along an edge as described in any of the above embodiments.

[0014] The present invention also proposes a control device for mobile cleaning equipment.

[0015] A control device for a mobile cleaning device according to an embodiment of the present invention includes: a first sensor and a second sensor, the mobile cleaning device having a forward side facing a forward direction and a proximal side near an obstacle, the first sensor being disposed on the forward side and the second sensor being disposed on the proximal side; an acquisition module, the acquisition module being configured to acquire front detection information of the first sensor and acquire proximal detection information of the second sensor; and a control module, the control module being configured to determine whether to acquire the proximal detection information of the second sensor based on the front detection information; wherein when the determination result of the control module is negative, the mobile cleaning device is controlled to operate based on the front detection information, and when the determination result is positive, the acquisition module is controlled to acquire the proximal detection information and the mobile cleaning device is controlled to operate based on the proximal detection information.

[0016] According to some embodiments of the present invention, a control device for a mobile cleaning device has a first sensor located in the area near the obstacle on the forward side, and a second sensor located in the area behind the wheel on the adjacent side.

[0017] According to some embodiments of the present invention, in a control device for a mobile cleaning device, the first sensor is configured as a line laser sensor and the second sensor is configured as a position-sensitive detector.

[0018] The computer-readable storage medium, the controller of the mobile cleaning equipment, the control device for the mobile cleaning equipment, and the control method for the mobile cleaning equipment to operate along the edge described above have the same advantages over the prior art, and will not be repeated here.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0021] Figure 1 A flowchart of a control method for edge-running mobile cleaning equipment according to an embodiment of the present invention;

[0022] Figure 2 A partial flowchart of a control method for edge-running mobile cleaning equipment according to an embodiment of the present invention;

[0023] Figure 3Another part of the flowchart of the control method for the edge-running of a mobile cleaning device according to an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of the structure of a control device for a mobile cleaning equipment according to an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of the structure of a mobile cleaning device according to an embodiment of the present invention.

[0026] Figure label:

[0027] 100 portable cleaning devices

[0028] Control device 10,

[0029] First sensor 1, second sensor 2, acquisition module 3, control module 4. Detailed Implementation

[0030] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0031] The following is for reference. Figures 1-5 This invention describes a control method for a mobile cleaning device 100 to operate along an edge. This control method can be used to move the cleaning device 100 to perform cleaning along an edge. By controlling a first sensor 1 and a second sensor 2 to acquire different detection information, the control method can accurately determine the surrounding environment of the mobile cleaning device 100, thereby avoiding collisions between the mobile cleaning device 100 and obstacles, and thus achieving the precise edge cleaning function of the mobile cleaning device 100.

[0032] According to an embodiment of the present invention, a control method for a mobile cleaning device 100 operating along an edge includes a forward side facing the forward direction and an adjacent side near an obstacle. A first sensor 1 is provided on the forward side, and a second sensor 2 is provided on the adjacent side. It is understood that the forward side is located on the side of the mobile cleaning device 100 moving in the forward direction, and the adjacent side is located on the side of the mobile cleaning device 100 near the obstacle; that is, the first sensor 1 is located on the side of the mobile cleaning device 100 moving in the forward direction, and the second sensor 2 is located on the side of the mobile cleaning device 100 near the obstacle.

[0033] Therefore, by using the first sensor 1 and the second sensor 2 respectively located on the forward side and the adjacent side, obstacles can be detected during the edge cleaning of the mobile cleaning device 100, thereby determining whether there are obstacles on the side and adjacent side of the mobile cleaning device 100 in its forward direction. Simultaneously, by using two sensors, the detection range can be expanded, the detection accuracy of the sensors can be improved, and the ability of the mobile cleaning device 100 to avoid obstacles can be enhanced, thereby increasing the automation level of the mobile cleaning device 100 and improving the user experience.

[0034] It should be noted that the mobile cleaning device 100 can be a robot vacuum cleaner, and the robot vacuum cleaner can be round or square or other shapes. Preferably, the robot vacuum cleaner in this invention is square, and the operation of the mobile cleaning device 100 along the edge can be divided into left edge and right edge, etc., which are not limited here.

[0035] For example, when the mobile cleaning device 100 is cleaning along the left side, that is, when the mobile cleaning device 100 is cleaning along the left side of the wall, its forward side is the left front of the mobile cleaning device 100, that is, the first sensor 1 can be installed on the left front of the mobile cleaning device 100, and the adjacent side is the left rear of the mobile cleaning device 100, that is, the second sensor 2 can be installed on the left rear of the mobile cleaning device 100.

[0036] Alternatively, when the mobile cleaning device 100 is cleaning along the right edge, that is, when the mobile cleaning device 100 is cleaning along the right wall, its forward side is the right front of the mobile cleaning device 100, that is, the first sensor 1 can be installed at the right front of the mobile cleaning device 100, and the adjacent side is the right rear of the mobile cleaning device 100, that is, the second sensor 2 can be installed at the right rear of the mobile cleaning device 100.

[0037] It should be noted that when the mobile cleaning device 100 is on the left or right edge, the mobile cleaning device 100 performs the following control method.

[0038] Specifically, the control method includes:

[0039] S10: Obtain the front detection information of the first sensor 1.

[0040] In other words, the first sensor 1 is used to detect whether there is an obstacle on the side of the mobile cleaning device 100 in the direction of travel. If an obstacle is detected and the distance between the mobile cleaning device 100 and the obstacle is calculated, it is easy to determine whether there is an obstacle on the side of the mobile cleaning device 100 in the direction of travel through the first sensor 1.

[0041] For example, when the mobile cleaning device 100 is cleaning along the left edge, that is, when the mobile cleaning device 100 is cleaning along the left wall, its first sensor 1 is used to detect whether there is an obstacle (wall) in front of the left side of the mobile cleaning device 100, and calculate the distance between the mobile cleaning device 100 and the obstacle (wall). Or when the mobile cleaning device 100 is cleaning along the right edge, that is, when the mobile cleaning device 100 is cleaning along the right wall, its first sensor 1 is used to detect whether there is an obstacle (wall) in front of the right side of the mobile cleaning device 100, and calculate the distance between the mobile cleaning device 100 and the obstacle (wall).

[0042] The detection method of the first sensor 1 can be line laser detection, or other detection methods, which are not limited here.

[0043] S20: Determine whether to acquire the proximal detection information of the second sensor 2 based on the front detection information.

[0044] In other words, the determination of whether to acquire the near-side detection information of the second sensor 2 is based on whether there is an obstacle on the forward side of the mobile cleaning device 100 as determined by the front-side detection information. Preferably, if the front-side detection information indicates that there is no obstacle (wall) on the forward side of the mobile cleaning device 100, the near-side detection information of the second sensor 2 is acquired; if the front-side detection information indicates that there is an obstacle (wall) on the forward side of the mobile cleaning device 100, the near-side detection information of the second sensor 2 is not acquired.

[0045] S30: If not, control the operation of the mobile cleaning device 100 based on the front detection information.

[0046] It is understandable that if the detection information from the front side indicates that there is an obstacle (wall) on the forward side of the mobile cleaning device 100, it means that the mobile cleaning device 100 still needs to continue cleaning along the edge. At this time, the mobile cleaning device 100 is controlled to maintain its current operating state and continue to operate, thereby completing the edge cleaning of the mobile cleaning device 100.

[0047] S40: If so, acquire the proximal detection information and control the operation of the mobile cleaning device 100 based on the proximal detection information.

[0048] Understandably, if the front detection information indicates that there are no obstacles (walls) on the forward side of the mobile cleaning device 100, it means that the edge cleaning of the mobile cleaning device 100 has been completed. At this time, the mobile cleaning device 100 is controlled to acquire the near-side detection information and continue to operate based on the near-side detection information.

[0049] In other words, when it is determined from the front detection information that the edge cleaning of the mobile cleaning device 100 has been completed or there is no obstacle (wall) on the forward side of the mobile cleaning device 100, the second sensor 2 is used to detect the near-side detection information. After the second sensor 2 detects the near-side detection information, the mobile cleaning device 100 is controlled to continue to operate according to the near-side detection information, thereby changing the operating state of the mobile cleaning device 100.

[0050] The near-side detection information may include whether there is an obstacle (wall) on the adjacent side of the mobile cleaning device 100 and the distance between the adjacent side of the cleaning device and the obstacle (wall). Of course, the near-side detection information may also include other detection information, which is not limited here.

[0051] Therefore, by setting the first sensor 1 and the second sensor 2 on the forward side and the adjacent side of the mobile cleaning device 100 respectively, it is possible to determine whether there is an obstacle on one side of the mobile cleaning device 100 along the edge based on the forward detection information and the adjacent detection information in sequence. This allows for an accurate determination of whether the mobile cleaning device 100 has completed edge cleaning, thereby improving the accuracy of edge cleaning by the mobile cleaning device 100. Furthermore, if it is determined based on the adjacent detection information that there is no obstacle on one side of the mobile cleaning device 100 along the edge, the mobile cleaning device 100 can automatically change its operating state, thereby improving the automation level of the mobile cleaning device 100 and enhancing the user experience.

[0052] According to the control method for the operation of a mobile cleaning device 100 along the edge according to the embodiments of the present invention, by acquiring detection information by a first sensor 1 and a second sensor 2 located at different positions, the mobile cleaning device 100 can accurately determine whether there is an obstacle on one side of the edge when it is cleaning along the edge, thereby controlling the mobile cleaning device 100 to achieve precise edge cleaning function, thereby improving the automation level of the mobile cleaning device 100 and improving the user experience.

[0053] In some embodiments, such as Figure 1 As shown, controlling the operation of the mobile cleaning device 100 based on near-side detection information includes:

[0054] S31: Determine whether there is an obstacle based on the near-side detection information.

[0055] Understandably, the second sensor 2 is used to detect near-side information and to determine whether there are obstacles (walls) near the mobile cleaning device 100 based on the near-side detection information.

[0056] For example, when the mobile cleaning device 100 is cleaning along its left edge, the second sensor 2 is used to detect whether there is an obstacle (wall) behind the left rear of the mobile cleaning device 100, or when the mobile cleaning device 100 is cleaning along its right edge, the second sensor 2 is used to detect whether there is an obstacle (wall) behind the right rear of the mobile cleaning device 100.

[0057] S32: If so, control the mobile cleaning device 100 to continue driving and continuously acquire near-side detection information.

[0058] It is understandable that if the mobile cleaning device 100 is found to have an obstacle (wall) on its side based on the near-side detection information, it means that the mobile cleaning device 100 has not yet completed the edge cleaning. At this time, the second sensor 2 continues to detect the presence of an obstacle (wall) on the side of the mobile cleaning device 100 and continues to clean along the edge while maintaining the original clean state.

[0059] S33: If not, control the mobile cleaning device 100 to turn toward the side where the obstacle disappears, and control the mobile cleaning device 100 to continue driving.

[0060] Understandably, if the detection information indicates that there are no obstacles (walls) near the mobile cleaning device 100, it means that the mobile cleaning device 100 has completed edge cleaning. At this time, the mobile cleaning device 100 is controlled to turn towards the side where the obstacle disappears, and the mobile cleaning device 100 is controlled to continue moving.

[0061] For example, when the mobile cleaning device 100 is cleaning along its left edge, if the proximity detection information indicates that there is no obstacle (wall) behind the left rear of the mobile cleaning device 100, then the mobile cleaning device 100 is controlled to turn left and continue moving.

[0062] Alternatively, when the mobile cleaning device 100 is cleaning along its right edge, if the system determines that there are no obstacles (walls) behind the right side of the mobile cleaning device 100 based on the nearby detection information, then the system controls the mobile cleaning device 100 to turn right and continue moving.

[0063] Therefore, the direction of the mobile cleaning device 100 is determined based on the near-side detection information, so that the mobile cleaning device 100 can accurately perform the edge cleaning function, and after completing the edge cleaning, it can automatically turn towards the direction of no obstacles, thereby improving the automation level of the mobile cleaning device 100 and improving the user experience.

[0064] Furthermore, such as Figure 1 As shown, controlling the mobile cleaning equipment 100 to continue operating includes:

[0065] S34: Obtain front detection information again through the first sensor 1.

[0066] It is understandable that after the mobile cleaning device 100 is turned, the first sensor 1 continues to acquire front detection information and determines whether there is an obstacle in the direction of the mobile cleaning device 100's movement, that is, whether there is still a wall in the direction of movement.

[0067] S35: When it is determined that an obstacle has reappeared based on the forward detection information, the mobile cleaning equipment 100 shall continue to move based on the forward detection information.

[0068] In other words, if the detection information from the front indicates that an obstacle (wall) will reappear, the mobile cleaning device 100 will continue to move. That is, the mobile cleaning device 100 will continue to perform the edge cleaning function, thereby ensuring that the mobile cleaning device 100 can continue to perform the edge cleaning function after turning and encountering a wall again.

[0069] In some embodiments, such as Figure 2 As shown, determining whether to acquire the proximal detection information of the second sensor 2 based on the anterior detection information includes:

[0070] S21: Determine whether there is an obstacle in front of the mobile cleaning equipment 100 based on the front detection information.

[0071] It is understandable that the front detection information obtained by the first sensor 1 is used to determine whether there is an obstacle in front of the mobile cleaning device 100, thereby determining whether the mobile cleaning device 100 has completed edge cleaning.

[0072] S22: If so, then determine to continue acquiring the front detection information of the first sensor 1.

[0073] In other words, if the mobile cleaning device 100 is determined to have an obstacle in front of it based on the front detection information, and thus the mobile cleaning device 100 has not completed the edge cleaning, then the mobile cleaning device 100 is controlled to continue to perform the current working state, that is, the mobile cleaning device 100 continues to perform edge cleaning.

[0074] S23: If not, then determine to obtain the near-side detection information of the second sensor 2.

[0075] Understandably, if the front detection information indicates that there are no obstacles in front of the mobile cleaning device 100, and thus the front end of the mobile cleaning device 100 has completed edge cleaning, then the near detection information of the second sensor 2 is acquired, and the presence of obstacles is determined based on the near detection information. If obstacles exist, it means that the mobile cleaning device 100 has not yet completely completed edge cleaning. At this time, the mobile cleaning device 100 is controlled to maintain its current working state and continue to complete edge cleaning.

[0076] If there are no obstacles, it means that the mobile cleaning equipment 100 has completed the edge cleaning. At this time, control the mobile cleaning equipment 100 to turn towards the side where the obstacle disappears, and control the mobile cleaning equipment 100 to continue moving.

[0077] In some embodiments, such as Figure 3 As shown, the control method also includes:

[0078] S11: Based on the front detection information, it is determined that there are no obstacles in front of the mobile cleaning equipment 100.

[0079] S12: Control the forward speed of the mobile cleaning device 100 to decrease, and control the second sensor 2 to start operation.

[0080] In other words, when it is determined from the front detection information that there is no obstacle in front of the mobile cleaning device 100, it means that the mobile cleaning device 100 is about to complete the edge cleaning or has already completed the edge cleaning. At this time, the mobile cleaning device 100 is controlled to reduce its forward speed, and the second sensor 2 is controlled to start running and begin to acquire the near detection information. Based on the near detection information, it is determined whether there is an obstacle (wall) near the mobile cleaning device 100.

[0081] If so, the mobile cleaning device 100 is controlled to continue moving and continuously acquire near-side detection information. It is understandable that if the near-side detection information indicates that there is an obstacle (wall) near the mobile cleaning device 100, it means that the mobile cleaning device 100 has not yet completed edge cleaning. At this time, the second sensor 2 continuously detects the presence of obstacles (walls) near the mobile cleaning device 100 and maintains the original clean state to continue edge cleaning.

[0082] If not, the mobile cleaning device 100 is controlled to turn towards the side where the obstacle disappears, and the mobile cleaning device 100 continues to move. It is understood that if the proximity detection information indicates that there is no obstacle (wall) near the mobile cleaning device 100, it means that the mobile cleaning device 100 has completed edge cleaning. In this case, the mobile cleaning device 100 is controlled to turn towards the side where the obstacle disappears, and the mobile cleaning device 100 continues to move.

[0083] Therefore, it is possible to determine whether to activate the second sensor 2 based on the front detection information, thereby avoiding continuous operation of the second sensor 2, which helps reduce energy consumption. Furthermore, when it is determined that there are no obstacles in front of the mobile cleaning device 100, the forward speed of the mobile cleaning device 100 is reduced, which helps prevent the second sensor 2 from failing to detect accurately, thereby improving the detection accuracy of the second sensor 2. At the same time, it is convenient to improve the edge cleaning function of the mobile cleaning device 100, and also helps to improve the automation level of the mobile cleaning device 100, thus improving the user experience.

[0084] The present invention also proposes a computer-readable storage medium.

[0085] According to an embodiment of the present invention, a computer-readable storage medium thereon stores a control program for the operation of a mobile cleaning device 100 along an edge, which, when executed by a processor, implements a control method for the operation of a mobile cleaning device 100 along an edge as described in any of the above embodiments.

[0086] According to the computer-readable storage medium of the present invention, by acquiring detection information by a first sensor 1 and a second sensor 2 located at different positions, it is possible to accurately determine whether there is an obstacle on one side of the mobile cleaning device 100 during edge cleaning, thereby controlling the mobile cleaning device 100 to achieve precise edge cleaning function, thereby improving the automation level of the mobile cleaning device 100 and improving the user experience.

[0087] The present invention also proposes a controller for a mobile cleaning device 100.

[0088] The controller of the mobile cleaning device 100 according to an embodiment of the present invention includes a memory, a processor, and a control program for the mobile cleaning device 100 to run along the edge, which is stored in the memory and can be run on the processor. When the processor executes the control program for the mobile cleaning device 100 to run along the edge, it implements the control method for the mobile cleaning device 100 to run along the edge according to any of the above embodiments.

[0089] According to the present invention, the controller of the mobile cleaning device 100 acquires detection information by means of a first sensor 1 and a second sensor 2 located at different positions. When the mobile cleaning device 100 is cleaning along the edge, it can accurately determine whether there is an obstacle on one side of the edge of the mobile cleaning device 100, thereby controlling the mobile cleaning device 100 to achieve precise edge cleaning function, thereby improving the automation level of the mobile cleaning device 100 and improving the user experience.

[0090] The present invention also proposes a control device 10 for a mobile cleaning device 100.

[0091] like Figure 4 As shown, the control device 10 for a mobile cleaning device 100 according to an embodiment of the present invention includes: a first sensor 1, a second sensor 2, an acquisition module 3, and a control module 4.

[0092] Specifically, the mobile cleaning device 100 has a forward side facing the direction of travel and an adjacent side near the obstacle. The first sensor 1 can be located on the forward side, and the second sensor 2 can be located on the adjacent side.

[0093] Therefore, the first sensor 1 can accurately determine whether there is an obstacle on the side of the moving direction, and the second sensor 2 can accurately determine whether there is an obstacle on the adjacent side of the moving direction. By setting two sensors, the detection range can be expanded, the detection accuracy of the sensors can be improved, and the ability of the mobile cleaning equipment 100 to avoid obstacles can be improved, thereby improving the automation level of the mobile cleaning equipment 100 and enhancing the user experience.

[0094] The acquisition module 3 is used to acquire the front detection information of the first sensor 1 and the near detection information of the second sensor 2. The acquisition module 3 is electrically connected to the control module 4. The control module 4 can be used to determine whether to acquire the near detection information of the second sensor 2 based on the front detection information. When the determination result of the control module 4 is negative, the mobile cleaning device 100 is controlled to operate based on the front detection information. When the determination result is positive, the acquisition module 3 is controlled to acquire the near detection information and the mobile cleaning device 100 is controlled to operate based on the near detection information.

[0095] In other words, the control module 4 determines whether to acquire the near-side detection information of the second sensor 2 based on whether there is an obstacle on the forward side of the mobile cleaning device 100 in the front detection information. Preferably, if it is determined from the front detection information that there is no obstacle (wall) on the forward side of the mobile cleaning device 100, the near-side detection information of the second sensor 2 is acquired; if it is determined from the front detection information that there is an obstacle (wall) on the forward side of the mobile cleaning device 100, the near-side detection information of the second sensor 2 is not acquired.

[0096] Furthermore, if the determination result of the control module 4 is negative, the mobile cleaning device 100 is controlled to operate based on the front detection information.

[0097] It is understandable that if the detection information from the front side indicates that there is an obstacle (wall) on the forward side of the mobile cleaning device 100, it means that the mobile cleaning device 100 still needs to continue cleaning along the edge. At this time, the mobile cleaning device 100 is controlled to maintain its current operating state and continue to operate, thereby completing the edge cleaning of the mobile cleaning device 100.

[0098] If the determination result of the control module 4 is yes, then the near-side detection information is acquired and the mobile cleaning device 100 is controlled to run according to the near-side detection information.

[0099] Understandably, if the front detection information indicates that there are no obstacles (walls) on the forward side of the mobile cleaning device 100, it means that the edge cleaning of the mobile cleaning device 100 has been completed. At this time, the mobile cleaning device 100 is controlled to acquire the near-side detection information and continue to operate based on the near-side detection information.

[0100] In other words, when it is determined from the front detection information that the edge cleaning of the mobile cleaning device 100 has been completed or there is no obstacle (wall) on the forward side of the mobile cleaning device 100, the second sensor 2 is used to detect the near-side detection information. After the second sensor 2 detects the near-side detection information, the mobile cleaning device 100 is controlled to continue to operate according to the near-side detection information, thereby changing the operating state of the mobile cleaning device 100.

[0101] The near-side detection information may include whether there is an obstacle (wall) on the adjacent side of the mobile cleaning device 100 and the distance between the adjacent side of the cleaning device and the obstacle (wall). Of course, the near-side detection information may also include other detection information, which is not limited here.

[0102] Therefore, by setting the first sensor 1 and the second sensor 2 on the forward side and the adjacent side of the mobile cleaning device 100 respectively, it is possible to determine whether there is an obstacle on one side of the mobile cleaning device 100 along the edge based on the forward detection information and the adjacent detection information in sequence. This allows for an accurate determination of whether the mobile cleaning device 100 has completed edge cleaning, thereby improving the accuracy of edge cleaning by the mobile cleaning device 100. Furthermore, if it is determined based on the adjacent detection information that there is no obstacle on one side of the mobile cleaning device 100 along the edge, the mobile cleaning device 100 can automatically change its operating state, thereby improving the automation level of the mobile cleaning device 100 and enhancing the user experience.

[0103] According to an embodiment of the present invention, the control device 10 for a mobile cleaning device 100 acquires detection information by means of a first sensor 1 and a second sensor 2 located at different positions. When the mobile cleaning device 100 is cleaning along the edge, it can accurately determine whether there is an obstacle on one side of the edge of the mobile cleaning device 100, thereby controlling the mobile cleaning device 100 to achieve precise edge cleaning function, thereby improving the automation level of the mobile cleaning device 100 and improving the user experience.

[0104] In some embodiments, such as Figure 5 As shown, the first sensor 1 can be located in the area near the obstacle on the forward side, and the second sensor 2 can be located in the area behind the wheel on the adjacent side.

[0105] Therefore, by using the first sensor 1 and the second sensor 2 respectively located on the forward side and the adjacent side, obstacles can be detected during the edge cleaning of the mobile cleaning device 100, thereby determining whether there are obstacles on the side and adjacent side of the mobile cleaning device 100 in its forward direction. Simultaneously, by using two sensors, the detection range can be expanded, the detection accuracy of the sensors can be improved, and the ability of the mobile cleaning device 100 to avoid obstacles can be enhanced, thereby increasing the automation level of the mobile cleaning device 100 and improving the user experience.

[0106] According to some embodiments of the present invention, the control device 10 for a mobile cleaning device 100 includes a first sensor 1 configured as a line laser sensor and a second sensor 2 configured as a position-sensitive detector.

[0107] Understandably, line laser sensors have the characteristics of high accuracy and wide coverage, which makes it easier to predict the surrounding environment on the forward side of the mobile cleaning equipment 100. The position sensitive detector can be a PSD sensor, which has the advantages of high position resolution, fast response speed and simple processing circuit.

[0108] Therefore, by constructing the first sensor 1 and the second sensor 2 as a line laser sensor and a position-sensitive detector, respectively, the mobile cleaning device 100 can combine the advantages of the two sensors to accurately determine whether there is an obstacle on one side of the mobile cleaning device 100 along the edge, thereby controlling the mobile cleaning device 100 to achieve precise edge cleaning function, thereby improving the automation level of the mobile cleaning device 100 and improving the user experience.

[0109] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0110] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0111] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

[0112] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0113] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0114] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0115] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0116] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for the edge-running of a mobile cleaning device (100), characterized in that, The mobile cleaning device (100) has a forward side facing the direction of travel and an adjacent side near an obstacle. The forward side is provided with a first sensor (1), and the adjacent side is provided with a second sensor (2). The control method includes: Obtain the front detection information of the first sensor (1); Based on the front detection information, determine whether to acquire the proximal detection information of the second sensor (2); If not, the mobile cleaning device (100) is controlled to operate based on the front detection information; If so, the proximal detection information is obtained and the mobile cleaning device (100) is controlled to operate according to the proximal detection information; The step of controlling the operation of the mobile cleaning device (100) based on the proximal detection information includes: The presence of an obstacle is determined based on the near-side detection information. If so, the mobile cleaning device (100) is controlled to continue driving and continuously acquire the near-side detection information; If not, control the mobile cleaning device (100) to turn toward the side where the obstacle disappears, and control the mobile cleaning device (100) to continue moving; The step of determining whether to acquire the proximal detection information of the second sensor (2) based on the anterior detection information includes: Based on the front detection information, it is determined whether there is an obstacle in front of the mobile cleaning device (100); If so, then it is determined that the front detection information of the first sensor (1) will continue to be acquired; If not, then it is determined that the proximal detection information of the second sensor (2) is obtained.

2. The control method for the edge-running of a mobile cleaning device (100) according to claim 1, characterized in that, The process of controlling the mobile cleaning equipment (100) to continue operating includes: The front detection information is obtained again through the first sensor (1); When it is determined that an obstacle has reappeared based on the front detection information, the mobile cleaning device (100) continues to move based on the front detection information.

3. The control method for the edge-running of a mobile cleaning device (100) according to claim 1, characterized in that, The control method further includes: Based on the front detection information, it is determined that there are no obstacles in front of the mobile cleaning device (100); The forward speed of the mobile cleaning device (100) is reduced, and the second sensor (2) is activated.

4. A computer-readable storage medium, characterized in that, It stores a control program for the operation of the mobile cleaning device (100) along the edge, which, when executed by the processor, implements the control method for the operation of the mobile cleaning device (100) along the edge as described in any one of claims 1-3.

5. A controller for a mobile cleaning device (100), characterized in that, The device includes a memory, a processor, and a control program for the edge-running of a mobile cleaning device (100) stored in the memory and executable on the processor. When the processor executes the control program for the edge-running of the mobile cleaning device (100), it implements the control method for the edge-running of the mobile cleaning device (100) as described in any one of claims 1-3.

6. A control device (10) for a mobile cleaning equipment (100), characterized in that, include: The mobile cleaning device (100) has a forward side facing the direction of travel and an adjacent side close to an obstacle, with the first sensor (1) located on the forward side and the second sensor (2) located on the adjacent side. Acquisition module (3), the acquisition module (3) is used to acquire the front detection information of the first sensor (1) and the near detection information of the second sensor (2); Control module (4), the control module (4) is used to determine whether to acquire the proximal detection information of the second sensor (2) based on the front detection information; in When the determination result of the control module (4) is negative, the mobile cleaning device (100) is controlled to operate according to the front detection information; and when the determination result is positive, the acquisition module (3) is controlled to acquire the near detection information and the mobile cleaning device (100) is controlled to operate according to the near detection information. The step of controlling the operation of the mobile cleaning device (100) based on the proximal detection information includes: The presence of an obstacle is determined based on the near-side detection information. If so, the mobile cleaning device (100) is controlled to continue driving and continuously acquire the near-side detection information; If not, control the mobile cleaning device (100) to turn toward the side where the obstacle disappears, and control the mobile cleaning device (100) to continue moving; The step of determining whether to acquire the proximal detection information of the second sensor (2) based on the anterior detection information includes: Based on the front detection information, it is determined whether there is an obstacle in front of the mobile cleaning device (100); If so, then it is determined that the front detection information of the first sensor (1) will continue to be acquired; If not, then it is determined that the proximal detection information of the second sensor (2) is obtained.

7. The control device (10) for the mobile cleaning equipment (100) according to claim 6, characterized in that, The first sensor (1) is located in the area of ​​the forward side near the obstacle, and the second sensor (2) is located in the area of ​​the adjacent side behind the wheel.

8. The control device (10) for the mobile cleaning equipment (100) according to claim 6, characterized in that, The first sensor (1) is constructed as a line laser sensor, and the second sensor (2) is constructed as a position-sensitive detector.

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