Control method of cleaning machine, control device of cleaning machine, and cleaning machine

Abstract

This invention provides a control method, a control device, and a cleaning machine for a cleaning machine. The cleaning machine includes a main unit and a handheld unit, the main unit being connected to the handheld unit for supplying the handheld unit with the medium required during the cleaning process. The method includes: acquiring movement characteristic information of the handheld unit in response to a movement signal; generating a movement strategy for controlling the movement of the main unit based on the movement characteristic information; and controlling the movement of the main unit according to the movement strategy. The method of this invention, by acquiring the movement characteristic information of the handheld unit and generating a movement strategy based on that information, enables autonomous movement without manual handling or dragging. It is applicable to various handheld unit movement scenarios, meeting diverse user needs and improving user experience.

Description

Technical Field

[0001] This invention relates to the field of intelligent mobile electrical appliances, and in particular to a control method for a cleaning machine, a control device for a cleaning machine, and a cleaning machine itself. Background Technology

[0002] Cleaning machines are increasingly favored by consumers due to their powerful cleaning functions and adaptability to various scenarios. With the development of cleaning machines, their original function of vacuuming has gradually expanded to include washing, mopping, and other functions. As these functions become more comprehensive, the number of supporting components also increases. This leads to increased weight, greater difficulty in movement, and a reduced user experience.

[0003] In existing technologies, the size of internal components such as the water tank and battery of the cleaning machine is reduced to increase its flexibility. However, this improvement is undoubtedly not suitable for cleaning large areas. When cleaning large areas, the water volume in the internal tank may run out halfway through, and the power supply may not be able to guarantee that it can continue cleaning for a long time. Summary of the Invention

[0004] This invention provides a control method, control device, and cleaning machine for a cleaning machine. The handheld unit and main unit are separated, with the heavy-duty components located in the main unit. The user operates using the handheld unit, solving the problem of excessive weight and difficult movement caused by numerous internal components in existing cleaning machines. Furthermore, the main unit can move autonomously without manual dragging, further enhancing the user experience.

[0005] In a first aspect, the present invention provides a control method for a cleaning machine, the cleaning machine comprising: a main unit and a handheld unit, the main unit being connected to the handheld unit and used to supply the handheld unit with a medium required during the cleaning process;

[0006] The method includes:

[0007] In response to a movement signal, the movement characteristic information of the handheld unit is acquired;

[0008] A movement strategy for controlling the movement of the host unit is generated based on the movement feature information;

[0009] The movement of the host unit is controlled according to the movement strategy.

[0010] According to the control method for a cleaning machine provided by the present invention, the step of responding to the start signal specifically includes:

[0011] In response to a grip signal from the handheld area, a movement signal is generated based on the grip signal; wherein the handheld area is disposed on the handheld part and is used to provide a grip position for the user;

[0012] Alternatively, in response to a trigger signal from the start button, a movement signal is generated based on the trigger signal.

[0013] According to the control method for a cleaning machine provided by the present invention, the step of acquiring the movement feature information of the handheld part specifically includes:

[0014] The three-dimensional shape features of the handheld part in the virtual space are obtained, and the initial position information of the handheld part is determined;

[0015] Obtain the real-time position information of the handheld unit during the continuous acquisition time period;

[0016] The motion feature information is generated based on the initial position information and the instantaneous position information, wherein the motion feature information includes the movement trajectory of the handheld part changing position between the initial position information and the instantaneous position information.

[0017] According to the control method for a cleaning machine provided by the present invention, the step of generating a movement strategy for controlling the movement of the main unit based on the movement feature information specifically includes:

[0018] The working mode selected by the handheld unit is obtained, and the preset movement parameters corresponding to the working mode are extracted;

[0019] The instantaneous movement parameters of the handheld unit after selecting the working mode are obtained, and a judgment is made based on the instantaneous movement parameters;

[0020] If the instantaneous movement parameters satisfy the preset movement parameters, then the main unit moves in tandem with the handheld unit.

[0021] If the instantaneous movement parameters do not meet the preset movement parameters, the host unit will issue an alarm message.

[0022] According to the control method for a cleaning machine provided by the present invention, the step of determining that the instantaneous movement parameters satisfy the preset movement parameters, and then the main unit follows the handheld unit to move, specifically includes:

[0023] Determine the parameter range corresponding to the instantaneous movement parameter and the preset movement parameter, and extract the interval movement parameter of the host unit corresponding to each parameter range;

[0024] The main unit moves in accordance with the handheld unit according to the interval movement parameters, wherein each parameter interval is set in a one-to-one correspondence with the interval movement parameters;

[0025] If the swing frequency of the handheld part is determined to be greater than the preset swing frequency, the main unit will standby within the working distance.

[0026] According to the control method for a cleaning machine provided by the present invention, the step of determining that the instantaneous movement parameters satisfy the preset movement parameters, and then the main unit follows the handheld unit to move, specifically includes:

[0027] Obtain the safe following distance of the main unit following the handheld unit in the corresponding working mode;

[0028] The movement strategy is generated based on the instantaneous movement parameters and the safe following distance.

[0029] According to the control method for a cleaning machine provided by the present invention, the step of generating the movement strategy based on the instantaneous movement parameters and the safe following distance specifically includes:

[0030] Once the main unit and the handheld unit are determined to be within a first following distance, the main unit follows the user's movement at a first instantaneous following rate.

[0031] Once the main unit and the handheld unit are determined to be within a second following distance, the main unit follows the user's movement at a second instantaneous following rate.

[0032] Determine that the main unit and the handheld unit are within a third following distance, and the main unit stands in a preset area at a third instantaneous following rate;

[0033] The first instantaneous following rate, the second instantaneous following rate, and the third instantaneous following rate decrease sequentially.

[0034] According to the control method for a cleaning machine provided by the present invention, the step of determining that the instantaneous movement parameters satisfy the preset movement parameters, and then the main unit follows the handheld unit to move, specifically includes:

[0035] The cleaning area of ​​the handheld device is obtained, and the identification information within the cleaning area is extracted;

[0036] A movement strategy for controlling the movement of the host unit is generated based on the movement feature information and the identification information.

[0037] According to the control method for the cleaning machine provided by the present invention, the step of determining that the instantaneous movement parameter does not meet the preset movement parameter, and then the main unit issues an alarm message, specifically further includes:

[0038] Switch the operating mode of the handheld unit to the safe mode and cut off the media supply path from the main unit to the handheld unit.

[0039] According to the control method for a cleaning machine provided by the present invention, the step of controlling the movement of the main unit according to the movement strategy specifically includes:

[0040] Acquire environmental feature information within a preset range of the main unit and map feature information of the handheld unit's operating area;

[0041] The host unit is controlled to avoid obstacles during movement based on the environmental feature information and the map feature information.

[0042] In a second aspect, the present invention also provides a control device for a cleaning machine, comprising: a response acquisition module, a strategy generation module, and a strategy execution module;

[0043] The response acquisition module is used to acquire the movement feature information of the handheld unit in response to the movement signal;

[0044] The strategy generation module is used to generate a movement strategy for controlling the movement of the host unit based on the movement feature information;

[0045] The strategy execution module is used to control the movement of the host unit according to the movement strategy.

[0046] Thirdly, the present invention also provides a cleaning machine, which, when performing control, employs the cleaning machine control method described above, or includes the cleaning machine control device described above.

[0047] This invention provides a control method for a cleaning machine. By acquiring the movement characteristic information of the handheld part, a movement strategy is generated based on this information, enabling autonomous movement without manual handling or dragging. It is applicable to various handheld part movement scenarios, meeting diverse user needs and enhancing the user experience.

[0048] Furthermore, in the control device for the cleaning machine provided by the present invention, since the control method for the cleaning machine described above is executed, it also has the effects described above.

[0049] Furthermore, in the cleaning machine provided by the present invention, since the control method of the cleaning machine described above is adopted, or the control device of the cleaning machine described above is provided, the same effects as described above are achieved. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0051] Figure 1 This is a flowchart illustrating the control method for the cleaning machine provided by the present invention;

[0052] Figure 2 This is a schematic diagram of the control device for the cleaning machine provided by the present invention.

[0053] Figure label:

[0054] 10: Response Acquisition Module; 12: Policy Generation Module; 14: Policy Execution Module. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0056] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0057] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0058] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are 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.

[0059] The following is combined with Figures 1 to 2 The embodiments of the present invention will be described in further detail below. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the invention.

[0060] like Figure 1 As shown, the present invention provides a control method for a cleaning machine, the cleaning machine comprising: a main unit and a handheld unit. The main unit and the handheld unit are connected, and the main unit supplies the cleaning medium required during the cleaning process to the handheld unit. The part of the handheld unit that is held by the user is the handheld area, and the part that is close to and in contact with the working surface is the working area. The handheld unit is provided with an execution unit for cleaning according to the medium.

[0061] Specifically, the main unit contains a clean water tank, a wastewater tank, a power unit, a motor, a dust box, a signal transceiver, a control unit, sensors, a power supply unit, and a cleaning agent container. The bottom of the main unit is equipped with casters. The handheld unit contains sensors, a signal transceiver, a media channel, and an actuator. The main unit and the handheld unit are connected by pipes used to transfer cleaning media and waste.

[0062] Sensors on the main unit and handheld unit acquire information such as distance, location, terrain, and pressure, and communicate this information with each other via a transceiver. The control unit is connected to the power unit; it receives and interprets this information, then issues corresponding commands to the power unit. The power unit is connected to wheels to control the movement of the main unit according to these commands. During use, the user cleans the handheld unit while the main unit autonomously follows the user's movements.

[0063] The control methods for cleaning machines include:

[0064] S1. In response to a moving signal, acquire the moving characteristic information of the handheld unit.

[0065] S2. Generate a movement strategy to control the movement of the host unit based on the movement characteristic information.

[0066] S3. Control the movement of the host unit according to the movement strategy.

[0067] As can be seen from the above method, the method of this invention acquires the movement feature information of the handheld device, generates a movement strategy based on the movement feature information, and enables autonomous movement without manual handling or dragging. It is applicable to various handheld device movement scenarios, meets diverse user needs, and enhances the user experience.

[0068] In one embodiment of the present invention, step S1 specifically includes:

[0069] S1.1 Responding to the grip signal of the handheld area, a movement signal is generated based on the grip signal; wherein, the handheld area is provided on the handheld part to provide the user with a grip position.

[0070] The handheld part is equipped with a sensor. When the user holds the handheld part for cleaning, the sensor in the handheld part receives the signal and generates a movement signal based on the holding signal, and sends the movement signal to the main unit.

[0071] Optionally, step S1 specifically includes:

[0072] S1.1 In response to the trigger signal of the start button, a movement signal is generated based on the trigger signal.

[0073] The handheld unit is equipped with buttons. When the user performs cleaning operations, pressing the button starts the cleaning machine. The handheld unit receives a trigger signal, generates a movement signal based on the trigger signal, and sends this movement signal to the main unit. During this process, the handheld unit continuously sends movement signals to the main unit. When the user finishes cleaning, pressing the button again stops the cleaning machine. Optionally, while the user holds down the button, the handheld unit continuously receives trigger signals and generates corresponding movement signals, sending these movement signals to the main unit. When the user stops pressing the button, the cleaning machine stops.

[0074] Alternatively, step S1 may specifically include:

[0075] S1.1 Responding to the distance signal in the working area, a movement signal is generated based on the distance signal.

[0076] When a user cleans with the handheld device, the working area of ​​the handheld device will approach or even contact the working surface. The working area of ​​the handheld device is equipped with a sensor to obtain the distance signal between the working area and the working surface. If the distance signal meets the preset distance, a movement signal is generated based on the distance signal; if the distance signal does not meet the preset distance, there is no response.

[0077] Furthermore, when using the cleaning machine, users may clean across different areas. In areas that do not require cleaning, the user may move the handheld area without bringing the working area close to the work surface. Once a handheld grip signal or trigger signal is received, a movement signal will still be generated even if the distance signal to the working area does not meet the preset distance.

[0078] In another embodiment provided by the present invention, step S1 specifically includes:

[0079] S1.2 Obtain the three-dimensional shape features of the handheld part in the virtual space and determine the initial position information of the handheld part.

[0080] The handheld device collects environmental information using sensors, including the orientation and distance information of furniture, walls, and appliances relative to the device. This information is then integrated to generate a 3D shape feature within the virtual space. The initial position of the handheld device within this virtual space is then determined.

[0081] S1.3 Acquire the real-time position information of the handheld device during the continuous acquisition time period.

[0082] The user holds the handheld part and moves it across the work surface to clean, and the position of the handheld part changes continuously. Starting from the time point when the initial position information is acquired, and using a preset time period as the time cycle, the real-time position information of the handheld part is collected at all moments within one time cycle.

[0083] For example, when the cleaning machine is first turned on, the handheld unit begins acquiring three-dimensional shape features and determining its initial position information. This moment is taken as the starting point of the time cycle, i.e., the 1st second. Assuming a time cycle of 3 seconds, the position information of the handheld unit is collected at the 2nd, 3rd, and 4th seconds. The position information corresponding to each moment constitutes the instantaneous position information of the handheld unit. After the above cycle ends, the 5th second is taken as the starting point of the time cycle again. The position information of the handheld unit at the 5th second is the initial position information, and then the instantaneous position information at the 6th, 7th, and 8th seconds is collected.

[0084] S1.4 Generate motion feature information based on initial position information and instantaneous position information, wherein the motion feature information includes the movement trajectory of the handheld unit as it changes position between the initial position information and the instantaneous position information.

[0085] The motion feature information includes all the location information of the handheld device in the virtual space at each time point. By connecting the location information obtained at each adjacent time point, the motion trajectory of the handheld device can be determined.

[0086] In an optional embodiment provided by the present invention, step S2 specifically includes:

[0087] S2.1 Obtain the working mode selected by the handheld unit and extract the preset movement parameters corresponding to the working mode.

[0088] The cleaning machine has two modes: working mode and safety mode. These modes can be selected manually by the user or automatically by the main unit. When a movement signal is received, the cleaning machine defaults to working mode. The working modes specifically include: vacuuming mode, mopping mode, and washing mode. When a movement signal is received, the cleaning machine defaults to vacuuming mode. The main unit has preset movement parameters corresponding to the working mode, such as the movement speed, the safe following distance relative to the main unit, and the information collection time interval.

[0089] For example, the scrubbing mode targets localized dirt, requiring repeated cleaning of the same spot. This necessitates a slower movement speed, and because the positional changes are small and slow, the relative distance between the handheld unit and the main unit can be set longer, and the data collection interval can be correspondingly extended. Conversely, the vacuuming mode cleans large areas quickly, requiring only a quick sweep to achieve the cleaning goal. Therefore, the vacuuming mode demands a faster movement speed, a shorter safe following distance, and a shorter data collection interval.

[0090] S2.2 Obtain the real-time movement parameters of the handheld unit after selecting the working mode, and make a judgment based on the real-time movement parameters.

[0091] The real-time movement parameters of the handheld unit include: the real-time movement speed of the handheld unit and the real-time distance relative to the main unit. The real-time movement speed of the handheld unit is compared with the corresponding movement speeds in different modes to determine the corresponding operating mode of the cleaning machine. The real-time movement speed can be calculated based on the change in position information between adjacent time points.

[0092] S2.3 If the instantaneous movement parameters meet the preset movement parameters, the main unit will follow the handheld unit.

[0093] Obtain the safe following distance of the host unit to follow the handheld unit in the corresponding working mode; if the instantaneous movement distance and instantaneous movement speed of the handheld unit relative to the host unit meet the preset movement parameters, then generate a movement strategy based on the instantaneous movement parameters and the safe following distance.

[0094] Optionally, the movement strategy is to determine the following rate based on the following distance.

[0095] Specifically, the main unit and the handheld unit are determined to be within a first following distance, and the main unit follows the user's movement at a first real-time following rate.

[0096] Once the main unit and the handheld unit are within the second tracking distance, the main unit follows the user's movement at the second instantaneous tracking rate.

[0097] Once the main unit and the handheld unit are determined to be within the third tracking distance, the main unit will stand by in the preset area at the third instantaneous tracking rate.

[0098] Among them, the first instantaneous following rate, the second instantaneous following rate, and the third instantaneous following rate decrease sequentially.

[0099] Optionally, the preset movement parameters also include: a preset oscillation frequency. Correspondingly, step S2.3 specifically includes:

[0100] Determine the parameter range corresponding to the instantaneous movement parameters and the preset movement parameters, and extract the range movement parameters of the host unit corresponding to each parameter range;

[0101] The main unit moves in accordance with the interval movement parameters, wherein each parameter interval is set in a one-to-one correspondence with the interval movement parameters;

[0102] Once the handheld unit's swing frequency is determined to be greater than the preset swing frequency, the main unit will remain in standby mode within the working distance.

[0103] In other words, the main unit compares the real-time movement parameters with the preset movement parameters to determine the cleaning machine's operating mode, and extracts the interval movement parameters within the corresponding parameter range under that operating mode. The main unit then follows the machine according to the following speed and following distance within the interval movement parameters.

[0104] Furthermore, when the user repeatedly cleans a dirty area, the handheld part's swing frequency will be higher than the normal swing frequency. The normal swing frequency is set as the preset swing frequency. To prevent the main unit from making ineffective repeated movements, when the main unit determines that the swing frequency is higher than the preset swing frequency, the main unit will standby within the working distance.

[0105] S2.4 If it is determined that the instantaneous movement parameters do not meet the preset movement parameters, the main unit will issue an alarm message.

[0106] Considering that children may drag the handpiece while moving it, the handpiece's movement speed may exceed the instantaneous movement speed in all modes. If the instantaneous movement parameters do not meet the preset movement parameters, the main unit will issue an alarm message.

[0107] Furthermore, the operating mode of the handheld unit is switched to a safe mode, and the media supply path from the main unit to the handheld unit is cut off to prevent potential dangers to the handheld unit.

[0108] In an optional embodiment, step S2 further includes: obtaining the work area to be cleaned by the handheld part and extracting the identification information within the work area;

[0109] A movement strategy for controlling the movement of the host unit is generated based on movement characteristic information and identification information.

[0110] Specifically, the main unit acquires the movement trajectory of the handheld unit. Based on the movement trajectory and the real-time 3D topographic features of the surrounding area captured by the handheld unit during its movement, the area already worked by the handheld unit can be determined and marked. To prevent repeated contamination caused by the main unit moving between unclean and clean areas, the main unit's movement route is set within the clean area and does not pass through unclean areas.

[0111] In one embodiment of the present invention, step S3 specifically includes:

[0112] S3.1 Obtain environmental feature information within the preset range of the main unit and map feature information of the handheld unit's operating area.

[0113] S3.2. Control the main unit to avoid obstacles during movement based on environmental and map feature information.

[0114] On the other hand, such as Figure 2 As shown, the present invention also provides a control device for a cleaning machine, comprising: a response acquisition module 10, a strategy generation module 12, and a strategy execution module 14. The response acquisition module 10 is used to acquire movement characteristic information of the handheld unit in response to a movement signal; the strategy generation module 12 is used to generate a movement strategy for controlling the movement of the main unit based on the movement characteristic information; and the strategy execution module 14 is used to control the movement of the main unit according to the movement strategy.

[0115] In another aspect, the present invention also provides a cleaning machine, which, when performing control, employs the cleaning machine control method described above, or includes the cleaning machine control device described above.

[0116] The method in this invention acquires the movement characteristic information of the handheld device and generates a movement strategy based on this information, enabling autonomous movement without manual handling or dragging. It is applicable to various handheld device movement scenarios, meeting diverse user needs and enhancing the user experience.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a cleaning machine, characterized in that, The cleaning machine includes a main unit and a handheld unit, wherein the main unit is connected to the handheld unit and is used to supply the handheld unit with the medium required during the cleaning process; The method includes: In response to a movement signal, the movement characteristic information of the handheld unit is acquired; A movement strategy for controlling the movement of the host unit is generated based on the movement feature information; The movement of the host unit is controlled according to the movement strategy; The step of generating a movement strategy for controlling the movement of the host unit based on the movement feature information specifically includes: The working mode selected by the handheld unit is obtained, and the preset movement parameters corresponding to the working mode are extracted; The instantaneous movement parameters of the handheld unit after selecting the working mode are obtained, and a judgment is made based on the instantaneous movement parameters. The instantaneous movement parameters of the handheld unit include the instantaneous movement speed of the handheld unit and the instantaneous distance relative to the main unit. The instantaneous movement speed of the handheld unit is compared with the movement speed corresponding to different modes to determine the corresponding working mode of the cleaning machine. The instantaneous movement speed can be obtained based on the change in position information between adjacent time points. If the instantaneous movement parameters satisfy the preset movement parameters, then the main unit moves in tandem with the handheld unit. If it is determined that the instantaneous movement parameters do not meet the preset movement parameters, the host unit will issue an alarm message; The step of determining that the instantaneous movement parameters satisfy the preset movement parameters, and then having the main unit follow the handheld unit, specifically includes: Determine the parameter range corresponding to the instantaneous movement parameter and the preset movement parameter, and extract the interval movement parameter of the host unit corresponding to each parameter range; The main unit moves in accordance with the handheld unit according to the interval movement parameters, wherein each parameter interval is set in a one-to-one correspondence with the interval movement parameters; If the swing frequency of the handheld part is determined to be greater than the preset swing frequency, the main unit will standby within the working distance.

2. The control method for the cleaning machine according to claim 1, characterized in that, The step of responding to a mobile signal specifically includes: In response to a grip signal from the handheld area, a movement signal is generated based on the grip signal; wherein the handheld area is disposed on the handheld part and is used to provide a grip position for the user; Alternatively, in response to a trigger signal from the start button, a movement signal is generated based on the trigger signal.

3. The control method for the cleaning machine according to claim 1, characterized in that, The step of obtaining the movement feature information of the handheld part specifically includes: The three-dimensional shape features of the handheld part in the virtual space are obtained, and the initial position information of the handheld part is determined; Obtain the real-time position information of the handheld unit during the continuous acquisition time period; The motion feature information is generated based on the initial position information and the instantaneous position information, wherein the motion feature information includes the movement trajectory of the handheld part changing position between the initial position information and the instantaneous position information.

4. The control method for the cleaning machine according to claim 1, characterized in that, The step of determining that the instantaneous movement parameters satisfy the preset movement parameters, and then having the main unit follow the handheld unit, specifically includes: Obtain the safe following distance of the main unit following the handheld unit in the corresponding working mode; The movement strategy is generated based on the instantaneous movement parameters and the safe following distance.

5. The control method for the cleaning machine according to claim 4, characterized in that, The step of generating the movement strategy based on the instantaneous movement parameters and the safe following distance specifically includes: Once the main unit and the handheld unit are determined to be within a first following distance, the main unit follows the user's movement at a first instantaneous following rate. Once the main unit and the handheld unit are determined to be within a second following distance, the main unit follows the user's movement at a second instantaneous following rate. Determine that the main unit and the handheld unit are within a third following distance, and the main unit stands in a preset area at a third instantaneous following rate; The first instantaneous following rate, the second instantaneous following rate, and the third instantaneous following rate decrease sequentially.

6. The control method for the cleaning machine according to any one of claims 1 to 5, characterized in that, The step of determining that the instantaneous movement parameters satisfy the preset movement parameters, and then having the main unit follow the handheld unit, specifically includes: The cleaning area of ​​the handheld unit is obtained, and the identification information within the cleaning area is extracted; A movement strategy for controlling the movement of the host unit is generated based on the movement feature information and the identification information.

7. The control method for the cleaning machine according to any one of claims 1 to 5, characterized in that, The step of determining that the instantaneous movement parameter does not meet the preset movement parameter, and then the host unit issues an alarm message, specifically further includes: Switch the operating mode of the handheld unit to the safe mode and cut off the media supply path from the main unit to the handheld unit.

8. The control method for the cleaning machine according to any one of claims 1 to 5, characterized in that, The step of controlling the movement of the host unit according to the movement strategy specifically includes: Acquire environmental feature information within a preset range of the main unit and map feature information of the handheld unit's operating area; The host unit is controlled to avoid obstacles during movement based on the environmental feature information and the map feature information.

9. A control device for a cleaning machine, characterized in that, include: Response acquisition module, policy generation module, and policy execution module; The response acquisition module is used to acquire the movement feature information of the handheld unit in response to the movement signal; The strategy generation module is used to generate a movement strategy for controlling the movement of the host unit based on the movement feature information; The strategy execution module is used to control the movement of the host unit according to the movement strategy; The step of generating a movement strategy for controlling the movement of the host unit based on the movement feature information specifically includes: The working mode selected by the handheld unit is obtained, and the preset movement parameters corresponding to the working mode are extracted; The instantaneous movement parameters of the handheld unit after selecting the working mode are obtained, and a judgment is made based on the instantaneous movement parameters. The instantaneous movement parameters of the handheld unit include the instantaneous movement speed of the handheld unit and the instantaneous distance relative to the main unit. The instantaneous movement speed of the handheld unit is compared with the movement speed corresponding to different modes to determine the corresponding working mode of the cleaning machine. The instantaneous movement speed can be obtained based on the change in position information between adjacent time points. If the instantaneous movement parameters satisfy the preset movement parameters, then the main unit moves in tandem with the handheld unit. If it is determined that the instantaneous movement parameters do not meet the preset movement parameters, the host unit will issue an alarm message; The step of determining that the instantaneous movement parameters satisfy the preset movement parameters, and then having the main unit follow the handheld unit, specifically includes: Determine the parameter range corresponding to the instantaneous movement parameter and the preset movement parameter, and extract the interval movement parameter of the host unit corresponding to each parameter range; The main unit moves in accordance with the handheld unit according to the interval movement parameters, wherein each parameter interval is set in a one-to-one correspondence with the interval movement parameters; If the swing frequency of the handheld part is determined to be greater than the preset swing frequency, the main unit will standby within the working distance.

10. A cleaning machine, characterized in that, When performing control, the control method of the cleaning machine as described in any one of claims 1 to 8 is used, or the control device of the cleaning machine as described in claim 9 is used.

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