Cleaning apparatus, control method of cleaning apparatus, and storage medium

Abstract

The embodiment of the application discloses a cleaning device, a control method of the cleaning device and a storage medium. The cleaning device comprises a body assembly; a cleaning assembly installed at the bottom of the body assembly, at least a part of the cleaning assembly being capable of contacting an edge to be cleaned; an edge detection mechanism for detecting edge-abutting information of the cleaning assembly; and a controller connected with the edge detection mechanism, the controller being used for acquiring the edge-abutting information output by the edge detection mechanism and controlling the cleaning device to perform an edge-abutting prompting action based on the edge-abutting information. The edge detection mechanism is used to automatically detect whether the edge is abutted and output a prompt, and a person does not need to judge whether the edge region is cleaned in place, that is, the cleaning device itself has an automatic judgment capability, and the edge cleaning efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of floor cleaner technology, and particularly relates to a cleaning device, a control method for the cleaning device, and a storage medium. Background Technology

[0002] With the development of society and economy and the improvement of people's living standards, people have increasingly higher requirements for their living or working environment. In order to reduce people's workload in cleaning their homes or workplaces and alleviate the fatigue during the cleaning process, various floor cleaning products have emerged, such as floor scrubbers.

[0003] In existing technologies, floor scrubbers typically have cleaning components such as rollers and mops installed at the bottom to clean the floor. However, due to structural limitations, they may not be able to effectively reach certain hard-to-reach or edge areas. Therefore, some patents propose installing an edge cleaning component with its edge extending beyond the edge of the scrubber's housing to clean these areas. However, even after installing the cleaning component, cleaning personnel still need to constantly monitor the condition of the floor along the edge and the position of the cleaning component, resulting in low efficiency. Summary of the Invention

[0004] To address the problems of existing technologies, this invention proposes a cleaning device, a control method for the cleaning device, and a storage medium. This cleaning device automatically detects whether edges are properly aligned and outputs prompts, ensuring proper contact between the cleaning device and the edge without human intervention, thereby improving edge cleaning effectiveness.

[0005] The specific technical solutions provided by the embodiments of the present invention are as follows:

[0006] In a first aspect, a cleaning device is provided, the cleaning device comprising:

[0007] fuselage components;

[0008] A cleaning component is installed at the bottom of the body assembly, and at least a portion of the cleaning component is capable of contacting the edge to be cleaned;

[0009] An edge detection mechanism is used to detect the edge information of the cleaning component;

[0010] A controller connected to the edge detection mechanism, the controller being used for:

[0011] Obtain the edge-adjacent information output by the edge detection mechanism;

[0012] Based on the information about where the device is positioned, the cleaning equipment is controlled to perform a movement to the side.

[0013] In some embodiments, the cleaning assembly includes a roller brush, the roller brush including a first end face, the at least a portion including the first end face; the edge detection mechanism is mounted on the first end face.

[0014] In some embodiments, the cleaning assembly includes a roller brush, the roller brush including a first end face and a second end face opposite to the first end face, the at least a portion including the first end face; the cleaning device further includes a housing, the housing at least covering the second end face; the housing portion opposite to the second end face abuts against the second end face by an elastic member;

[0015] The edge detection mechanism is mounted on the second end face, or on the housing portion opposite to the second end face;

[0016] When the first end face is in contact with the edge to be cleaned, the elastic element is in a compressed state; when the first end face is not in contact with the edge to be cleaned, the elastic element is in a natural state.

[0017] In some embodiments, the edge detection mechanism includes a switch assembly; the switch assembly closes when the first end face is in contact with the edge to be cleaned to output an on signal, and opens when the first end face is not in contact with the edge to be cleaned;

[0018] Accordingly, controlling the cleaning device to perform a move-to-the-side reminder action based on the side-by-side information includes:

[0019] When the switch assembly outputs the connection signal, the cleaning equipment is controlled to perform the move-to-the-side prompt action.

[0020] In some embodiments, the edge detection mechanism includes a pressure sensor;

[0021] Accordingly, controlling the cleaning device to perform a move-to-the-side reminder action based on the side-by-side information includes:

[0022] If the pressure data output by the pressure sensor meets the preset pressure threshold range, the cleaning device is controlled to perform the move-to-the-side prompt action.

[0023] In some embodiments, the edge detection mechanism includes a distance sensor;

[0024] Accordingly, controlling the cleaning device to perform a move-to-the-side reminder action based on the side-by-side information includes:

[0025] If the distance data output by the distance sensor is less than a preset distance threshold, the cleaning device is controlled to perform the move-to-the-side prompt action.

[0026] In some embodiments, the cleaning device further includes a prompting component connected to the controller;

[0027] The step of controlling the cleaning device to perform a side-keeping prompt action based on the side-keeping information includes:

[0028] Based on the edge information, the prompting component is controlled to output a preset prompting signal.

[0029] In some embodiments, the controller is further configured to:

[0030] Determine whether to enable the edge detection function;

[0031] If the edge detection function is activated, the step of controlling the cleaning device to perform an edge reminder action based on the edge information is triggered.

[0032] In some embodiments, determining whether to activate the edge detection function includes: upon receiving an edge detection instruction, determining to activate the edge detection function;

[0033] or,

[0034] The cleaning device also includes a sensing component connected to the controller, the sensing component being used to detect the distance between the cleaning component and the edge to be cleaned; determining whether to activate the edge detection function includes: activating the edge detection function when the sensing result output by the sensing component indicates that the distance is less than a preset distance.

[0035] In some embodiments, the controller is further configured to:

[0036] After the cleaning equipment is controlled to perform the pull-to-the-side prompt action, the value of the current working parameter is increased so that the cleaning equipment operates based on the increased working parameter;

[0037] The operating parameters include the suction power of the adsorption motor used to generate the adsorption force; and / or,

[0038] The rotational speed of the cleaning component.

[0039] In a second aspect, a control method for a cleaning device is provided, the method being used in the cleaning device described in the first aspect, the method comprising:

[0040] Obtain the edge-adjacent information output by the edge detection mechanism;

[0041] Based on the information about where the device is positioned, the cleaning equipment is controlled to perform a movement to the side.

[0042] Thirdly, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, the computer program, when executed by a processor, implementing a control method for a cleaning device, the method being used in the cleaning device described in the first aspect, the method comprising:

[0043] Obtain the edge-adjacent information output by the edge detection mechanism;

[0044] Based on the information about where the device is positioned, the cleaning equipment is controlled to perform a movement to the side.

[0045] The embodiments of the present invention have the following beneficial effects:

[0046] This invention achieves automatic detection and output prompts on whether the edges are close together through an edge detection mechanism, eliminating the need for manual judgment on whether the edge area is cleaned properly. In other words, the cleaning equipment itself has automatic judgment capabilities, which improves the edge cleaning efficiency.

[0047] The present invention places the edge detection mechanism on the end face of the roller brush that is in direct contact with the cleaning edge. In this way, once the end face contacts the cleaning surface, the edge detection mechanism can automatically detect the edge, thereby obtaining accurate edge information and achieving accurate edge detection.

[0048] The edge detection mechanism of the present invention can also be provided on the end face or housing of the roller brush that does not directly contact the cleaning edge, and an elastic element is provided between the housing and the opposite end face, so that edge detection can also be achieved.

[0049] The edge detection mechanism of the present invention can be a switch assembly, such as a limit switch. The switch assembly has a simple structure and is easy to use. If a collision occurs, its operating head will retract quickly, thereby driving the contact system to move. It is suitable for some applications where the precision is not high.

[0050] The edge detection mechanism of the present invention can be a pressure sensor. When the pressure sensor is pressed, it generates pressure data and sends it to the controller. The controller can analyze whether it is close to the edge based on the pressure data, which is highly efficient.

[0051] The edge detection mechanism of the present invention can be a distance sensor. The edge information is obtained by the distance sensor, and then the controller makes a distance judgment. The whole response process is relatively fast and it is suitable for high-precision applications. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram of the frame structure of a cleaning device according to an embodiment of the present disclosure;

[0054] Figure 2 This is a schematic flowchart of a control method for a cleaning device according to an embodiment of the present disclosure;

[0055] The markings in the attached diagram are as follows:

[0056] 20. Body assembly; 30. Controller; 40. Cleaning assembly; 50. Edge detection mechanism; 60. Indication assembly; 70. Sensing assembly. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0058] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also mean including the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof.

[0059] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0060] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0061] As described in the background section, currently, floor scrubbers, due to their structural limitations, cannot effectively reach these areas when cleaning hard-to-reach or edge areas. Therefore, some patents propose installing edge cleaning components to achieve cleaning of these areas. However, even after installing edge cleaning components, human visual inspection is still required to clean the edge areas. The floor scrubber itself lacks edge detection capabilities, and incomplete cleaning may occur due to insufficient observation.

[0062] In order to solve the above-mentioned technical problems, the applicant of this application has creatively conceived of a technical solution that uses an edge detection mechanism to detect the movement of the edge area, thereby determining whether the edge cleaning part is close to the edge area.

[0063] An embodiment of the first aspect of the present invention provides a cleaning device, with reference to Figure 1 The cleaning device includes a body assembly 10; a cleaning component 30 mounted on the bottom of the body assembly 10, wherein at least a portion of the cleaning component 30 is capable of contacting the edge to be cleaned; an edge detection mechanism 40 for detecting edge-to-edge information of the cleaning component 30; and a controller 20 connected to the edge detection mechanism 40, the controller 20 being used for:

[0064] Obtain the edge-alignment information output by the edge detection mechanism 40;

[0065] Based on the information about where the equipment is located, the cleaning equipment is controlled to perform actions that prompt the user to move to the side of the road.

[0066] In real life, most places, whether at home, in the workplace, or outdoors, are bounded except for scenarios like stairs and cliffs. The edge to be cleaned referred to in this invention is actually the spatial area formed by the intersection of two surfaces to be cleaned. Typically, the two surfaces are perpendicular, thus the spatial area is a right-angled area. It is generally considered that the side of the edge to be cleaned parallel to the ground (the horizontal plane of the edge to be cleaned) is the focus of cleaning.

[0067] When using this invention for cleaning, the edge detection mechanism 40 first detects whether the edge is close to the vertical surface (i.e., the surface perpendicular to the ground) of the edge to be cleaned. If it is close to the edge, the cleaning component 30 can then clean the horizontal surface of the edge to be cleaned. For some manual products, the vertical surface of the edge to be cleaned can also be cleaned in the same way.

[0068] The cleaning device proposed in this embodiment of the invention achieves automatic detection of whether the edges are close together by setting an edge detection mechanism 40. Simultaneously, the controller 20 judges the edge-close information detected by the edge detection mechanism 40 and outputs a prompt indicating whether the edge is close enough. Compared with existing cleaning devices, this invention eliminates the need for manual judgment of whether the edge area is cleaned properly; that is, the cleaning device itself has automatic judgment capabilities, thus improving edge cleaning efficiency.

[0069] Specifically, a cavity is provided inside the aforementioned body assembly 10, and the aforementioned controller 20 can be fixed inside the cavity. In addition, the cavity also houses components such as a water tank, pipes, a battery, and an adsorption motor. The water tank is connected to the cleaning component 30 installed at the bottom of the body assembly 10 via pipes, supplying water to the cleaning component 30 for edge cleaning. The battery powers the normal operation of the controller 20, edge detection mechanism 40, and other devices. The cleaning device also includes a handle for the user to hold and move the entire body assembly 10. Specifically, the adsorption motor generates negative pressure to create a suction airflow. After the cleaning component stirs up dust, the dust is carried by the suction airflow and ultimately collected.

[0070] In some embodiments of the present invention, the cleaning component 30 includes a roller brush. The roller brush includes a first end face, and at least a portion of the cleaning component 30 includes the first end face; the edge detection mechanism 40 is mounted on the first end face.

[0071] Specifically, the first end face is perpendicular to the axis of the roller brush. When cleaning edges using the cleaning equipment, once the cleaning equipment approaches the edge, the edge detection mechanism 40 located on the first end face of the roller brush acquires edge-keeping information based on the vertical plane of the edge to be cleaned, and executes an edge-keeping prompt through communication with the controller 20. Through the above implementation method, edge-keeping information can be quickly acquired and edge-keeping prompts can be output.

[0072] In some embodiments of the present invention, the cleaning assembly 30 includes a roller brush. The roller brush includes a first end face and a second end face opposite to the first end face, and at least a portion of the cleaning assembly 30 includes the first end face. The cleaning device also includes a housing, which at least covers the second end face; the portion of the housing opposite to the second end face abuts against the second end face by an elastic member.

[0073] The aforementioned edge detection mechanism 40 is installed on the second end face, or on the housing portion opposite to the second end face;

[0074] When the first end face is in contact with the edge to be cleaned, the elastic element is in a compressed state; when the first end face is not in contact with the edge to be cleaned, the elastic element is in a free state.

[0075] In this embodiment, the first and second end faces are perpendicular to the axis of the roller brush. When cleaning is performed using the cleaning equipment, the first end face is close to the edge to be cleaned, and the second end face is away from the edge to be cleaned. When the first end face is close to the vertical surface of the edge to be cleaned, regardless of whether the edge detection mechanism 40 is installed on the second end face or on the housing part opposite to the second end face, a judgment can be made based on the signal of whether the elastic element is compressed / or other edge-related information, thereby outputting a prompt. Compared to the embodiment where the edge detection mechanism 40 is installed on the first end face, this embodiment can improve the safety of the edge detection mechanism 40 during use, preventing damage to the edge detection mechanism 40 due to long-term use of the cleaning equipment or in some extreme / special circumstances, thereby affecting the performance of the entire cleaning equipment.

[0076] In some embodiments of the present invention, the edge detection mechanism 40 described above may be a switching assembly. The switching assembly closes when its first end face is in contact with the edge to be cleaned to output an on signal, and opens when its first end face is not in contact with the edge to be cleaned.

[0077] For example, if the switch assembly is a limit switch, the limit switch includes an operating head, a contact system, etc.

[0078] When the limit switch is installed on the first end face, if the first end face is close to the vertical surface of the edge to be cleaned, the operating head of the limit switch will retract due to being squeezed, causing the contact to move and output a connection signal; if the first end face does not contact the vertical surface of the edge to be cleaned, the operating head of the limit switch will remain in its natural state, and the contact will not move.

[0079] When the limit switch is installed on the second end face or on the housing opposite the second end face, the operating head of the limit switch is connected to the elastic element. If the first end face is close to the vertical surface of the edge to be cleaned, pressure is transmitted towards the second end face, causing the elastic element to be compressed. This pressure is transmitted to the operating head of the limit switch, causing it to be squeezed and actuating the contact to output a connection signal. If the first end face is not in contact with the vertical surface of the edge to be cleaned, the elastic element is in its natural state, and there is no force transmission process, so the limit switch does not work.

[0080] Correspondingly, when the switch component outputs an on signal, it indicates that the device is now close to the edge, and the controller 20 can control the cleaning equipment to perform the edge-keeping prompt action.

[0081] It should be noted that when using limit switches, due to their mechanical structure, the operating head needs to be fully compressed before the contact can move. Therefore, they are suitable for applications requiring low precision. When installing such components, extending the operating head beyond the first end face will result in better detection performance.

[0082] In some embodiments of the present invention, the edge detection mechanism 40 described above can be a pressure sensor. Pressure sensors can quickly detect pressure data and are highly efficient.

[0083] When the pressure sensor is mounted on the first end face, if the first end face is close to the vertical surface of the edge to be cleaned, the pressure sensor will detect pressure data. Accordingly, the controller 20 judges the pressure data output by the pressure sensor, and if the pressure data output by the pressure sensor meets the preset pressure threshold range, it controls the cleaning equipment to perform the edge-keeping prompt action.

[0084] When the pressure sensor is mounted on the second end face or on the housing opposite the second end face, the pressure sensor measures the force transmitted by the elastic element through its connection with the elastic element. If the first end face is pressed against the vertical surface of the edge to be cleaned, the elastic element is compressed, the pressure sensor detects the pressure data, and the controller 20 makes a judgment. The specific calculation process is similar to that described above when the sensor is mounted on the first end face, so it will not be repeated here.

[0085] In some embodiments of the present invention, the edge detection mechanism 40 described above can be a distance sensor for detecting the relative distance between the cleaning equipment and the edge. Examples include infrared sensors, lidar, and capacitive sensors. It should be understood that the sensor is not limited to these, and those skilled in the art can select appropriate sensors according to actual needs.

[0086] The following uses a lidar installed on the first end face to illustrate the specific process of collecting and processing edge information:

[0087] A lidar system consists of a laser and a receiving system. The laser generates and emits light pulses, which strike the vertical surface of the edge and reflect back, eventually being received by the receiver. The receiver can accurately measure the propagation time of the light pulse from emission to reflection. Given the speed of light, the distance to the edge can be calculated.

[0088] After obtaining the distance data, the controller 20 compares the distance data with the preset distance threshold. When it is determined that the distance data output by the sensor is less than the preset distance threshold, it indicates that the cleaning equipment has moved close to the edge. At this time, the controller 20 can control the cleaning equipment to perform the edge-keeping prompt action.

[0089] When the distance sensor is mounted on the second end face or on the housing opposite the second end face, its detection and processing procedures are similar to those when mounted on the first end face. It should be noted that when mounted on the second end face or on the housing opposite the second end face, it is essential to ensure that the distance sensor is not obstructed by other end faces of the housing or rollers, thereby affecting its detection performance.

[0090] By acquiring edge information through a distance sensor, the controller 20 makes a distance judgment. The entire response process is relatively fast and is suitable for applications requiring high precision.

[0091] In some embodiments of the present invention, reference continues to be made. Figure 1 The cleaning equipment also includes a prompting component 50 connected to the controller 20; accordingly, the controller 20 controls the prompting component 50 to output a preset prompting signal based on the edge information.

[0092] Specifically, the prompt component 50 may include a control panel installed on the body component 10. When the controller 20 determines that the device is aligned with the edge, it can send a preset edge alignment signal to the control panel to make the control panel display a message. For example, the control panel may display preset text signals such as "Edge detected" to prompt the user.

[0093] In addition, the prompt component 50 may also include a buzzer element installed on the body component 10. When the controller 20 determines that the device has moved to the side, it controls the buzzer element to emit a preset sound, such as emitting a preset sound signal like "detected to have moved to the side".

[0094] Furthermore, the prompting component 50 may also include a vibration motor installed inside the body component 10, which controls the vibration motor to vibrate when the controller 20 determines that the device has moved to the side to provide a prompt.

[0095] It should be noted that the prompting component 50 can be any one of a control panel, a buzzer element, or a vibration motor, or a combination of multiple components. The specific choice can be determined according to actual needs. This invention does not limit the selection of the prompting component 50.

[0096] In some embodiments of the present invention, the controller 20 is further configured to:

[0097] Determine whether to enable the edge detection function;

[0098] Once the edge detection function is activated, the step of controlling the cleaning equipment to perform an edge prompt action based on the edge information is triggered.

[0099] In practice, the controller 20 can determine whether to activate the edge detection function using different methods.

[0100] Preferably, upon receiving a boundary detection instruction, the boundary detection function is activated.

[0101] Specifically, after the user starts the cleaning equipment, the cleaning equipment can prompt the user via the prompt component 50 to select whether to activate the edge detection function. For example, if the prompt component 50 is a control panel, the user can make the selection using the selection buttons on the control panel. When the user presses a button, an edge detection command is sent to the controller 20, thereby the controller 20 determines to activate the edge detection function.

[0102] In the above implementation, users can choose whether to activate the edge detection function according to their actual needs, which is more user-friendly.

[0103] In addition, the controller 20 can also determine on its own whether edge detection needs to be performed.

[0104] In this implementation, continue to refer to Figure 1 The cleaning equipment also includes a sensing component 60 connected to the controller 20, which is used to detect the distance between the cleaning component 30 and the edge to be cleaned.

[0105] When the sensing result output by the sensing component 60 indicates that the distance between the cleaning device and the edge to be cleaned is less than the preset distance, the edge detection function is activated.

[0106] In the above embodiment, the controller 20 automatically determines whether it is close to the edge through the sensing component 60, without requiring the user to make a selection, making the whole process more intelligent.

[0107] In some embodiments of the present invention, the controller 20 is further configured to:

[0108] After the cleaning equipment performs a move-to-the-side prompt, the current operating parameters are increased so that the cleaning equipment operates based on the increased parameters; wherein, the operating parameters include the suction power of the adsorption motor used to generate the suction force; and / or,

[0109] The rotation speed of cleaning component 30.

[0110] If the operating parameter is the suction power of the adsorption motor used to generate suction force, suction power is a very important operating parameter for most cleaning equipment. A higher suction power results in better actual cleaning performance. Since edge areas are often overlooked or not cleaned thoroughly, dust easily accumulates there. This invention increases the suction power of the adsorption motor after controlling the cleaning equipment to perform a "move to the edge" prompt, thus adsorbing more dust.

[0111] If the operating parameter is the rotational speed of the cleaning component 30, and the cleaning component 30 mainly consists of components such as a roller brush, adjusting the rotational speed of the cleaning component 30 is equivalent to adjusting the rotational speed of the floor brush motor that drives the roller brush. When the rotational speed of the floor brush motor increases, the roller brush rotates faster, thereby achieving deep cleaning of the edges.

[0112] Furthermore, the aforementioned operating parameters can include both the suction power of the adsorption motor used to generate suction force and the rotational speed of the cleaning component 30. That is, by adjusting these two operating parameters, both suction power and cleaning capability are increased.

[0113] Based on the above implementation method, the specific values ​​for increasing the current operating parameters include:

[0114] Query the preset working parameter table to determine a new working parameter that is larger than the current working parameter value.

[0115] Specifically, controller 20 obtains the value of the current operating parameter, queries a preset operating parameter table, retrieves the next higher-level operating parameter that is larger than the current operating parameter, and sets it as the new operating parameter. In this way, controller 20 achieves the process of automatically increasing the operating parameter.

[0116] The above-mentioned increases in the current operating parameters may also include:

[0117] Increase the value of the current working parameter based on the received trigger command.

[0118] Specifically, users can adjust operating parameters such as inhalation power and rotation speed by themselves based on the prompt component 50 (such as the control panel) installed on the body component 10; or, users can select the relevant button for the side-by-side working mode on the prompt component 50 (such as the control panel) (the value of the operating parameter corresponding to the side-by-side working mode is greater than the value during normal operation). When the controller 20 receives the trigger command sent by the user, it can modify the operating parameters based on the trigger command.

[0119] A second aspect of the present invention provides a control method for a cleaning device, the method being used in the cleaning device of the first aspect embodiment, with reference to... Figure 2 The method includes the following steps:

[0120] Step 201: Obtain the edge information output by the edge detection mechanism;

[0121] Step 202: Based on the edge information, control the cleaning equipment to perform the edge prompt action.

[0122] In some embodiments, the above-mentioned control of the cleaning device to perform a move-to-the-side reminder action based on the edge information includes:

[0123] When the edge detection mechanism outputs an on signal, the cleaning equipment is controlled to perform a move-to-the-edge prompt action; wherein, the edge detection mechanism includes a switch assembly.

[0124] In some embodiments, the above-mentioned control of the cleaning device to perform a move-to-the-side reminder action based on the edge information includes:

[0125] If the pressure data output by the edge detection mechanism meets the preset pressure threshold range, the cleaning equipment is controlled to perform a move-to-the-edge prompt action; the edge detection mechanism includes a pressure sensor.

[0126] In some embodiments, the above-mentioned control of the cleaning device to perform a move-to-the-side reminder action based on the edge information includes:

[0127] If the distance data output by the edge detection mechanism is less than a preset distance threshold, the cleaning equipment is controlled to perform a move-to-the-edge prompt action; the edge detection mechanism includes a distance sensor.

[0128] In some embodiments, the above-mentioned control of the cleaning device to perform a move-to-the-side reminder action based on the edge information includes:

[0129] The component that controls the movement of objects to the side outputs a preset prompt signal.

[0130] In some embodiments, the control method for the cleaning equipment described above further includes:

[0131] Determine whether to enable the edge detection function;

[0132] Once the edge detection function is activated, the step of controlling the cleaning equipment to perform an edge prompt action based on the edge information is triggered.

[0133] In some embodiments, determining whether to activate the edge detection function includes:

[0134] Upon receiving the edge detection command, confirm that the edge detection function is activated;

[0135] or,

[0136] If the sensing results output by the sensing component indicate that the distance between the cleaning component and the edge to be cleaned is less than a preset distance, the edge detection function will be activated.

[0137] In some embodiments, the control method for the cleaning equipment described above further includes:

[0138] After the cleaning equipment performs the move-to-the-side prompt action, the value of the current working parameter is increased so that the cleaning equipment operates based on the increased working parameter;

[0139] The operating parameters include the suction power of the adsorption motor used to generate the adsorption force; and / or,

[0140] Rotation speed of the cleaning components.

[0141] The control method of the cleaning equipment of the present invention realizes automatic detection and output prompts on whether the edges are close together, eliminating the need for manual judgment on whether the edge area is cleaned properly. That is, the cleaning equipment itself has automatic judgment capability, which improves the edge cleaning efficiency.

[0142] A third aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements a control method for a cleaning device. The method is used in the cleaning device of the first aspect embodiment, and includes:

[0143] Obtain the edge-adjacent information output by the edge detection mechanism;

[0144] Based on the information about where the equipment is located, the cleaning equipment is controlled to perform actions that prompt the user to move to the side of the road.

[0145] The program portion of a technology can be considered a "product" or "artifact" existing in the form of executable code and / or related data, and is involved in or implemented through a computer-readable medium. Tangible, permanent storage media can include memory or storage used by any computer, processor, or similar device or related module. For example, various semiconductor memories, tape drives, disk drives, or any similar device capable of providing storage functionality for software.

[0146] All software, or parts thereof, may sometimes communicate via networks, such as the Internet or other communication networks. Such communication can load software from one computer device or processor to another. Therefore, another medium capable of transmitting software elements can also be used as a physical connection between local devices, such as light waves, radio waves, electromagnetic waves, etc., propagated through cables, fiber optic cables, or air. Physical media used for carrier waves, such as cables, wireless connections, or fiber optic cables, can also be considered as media carrying software. In this context, unless limited to tangible "storage" media, other terms referring to a computer or machine as a "readable medium" refer to the medium involved in the execution of any instructions by the processor.

[0147] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A cleaning device, characterized in that, The cleaning equipment includes: fuselage components; A cleaning component is installed at the bottom of the body assembly, and at least a portion of the cleaning component is capable of contacting the edge to be cleaned; An edge detection mechanism is used to detect the edge information of the cleaning component; A controller connected to the edge detection mechanism, the controller being used for: Obtain the edge-adjacent information output by the edge detection mechanism; Based on the information about where the device is positioned, the cleaning equipment is controlled to perform a movement to the side.

2. The cleaning equipment according to claim 1, characterized in that, The cleaning assembly includes a roller brush, the roller brush including a first end face, and at least a portion of the roller brush including the first end face; the edge detection mechanism is mounted on the first end face.

3. The cleaning equipment according to claim 1, characterized in that, The cleaning assembly includes a roller brush, the roller brush having a first end face and a second end face opposite to the first end face, the at least a portion of which includes the first end face; the cleaning device also includes a housing, the housing at least covering the second end face; the portion of the housing opposite to the second end face abuts against the second end face by an elastic member; The edge detection mechanism is mounted on the second end face, or on the housing portion opposite to the second end face; When the first end face is in contact with the edge to be cleaned, the elastic element is in a compressed state; When the first end face is not in contact with the edge to be cleaned, the elastic element is in its natural state.

4. The cleaning equipment according to claim 2 or 3, characterized in that, The edge detection mechanism includes a switch assembly; the switch assembly closes when the first end face is in contact with the edge to be cleaned to output an on signal, and opens when the first end face is not in contact with the edge to be cleaned; Accordingly, controlling the cleaning device to perform a move-to-the-side reminder action based on the side-by-side information includes: When the switch assembly outputs the connection signal, the cleaning equipment is controlled to perform the move-to-the-side prompt action.

5. The cleaning equipment according to claim 2 or 3, characterized in that, The edge detection mechanism includes a pressure sensor; Accordingly, controlling the cleaning device to perform a move-to-the-side reminder action based on the side-by-side information includes: If the pressure data output by the pressure sensor meets the preset pressure threshold range, the cleaning device is controlled to perform the move-to-the-side prompt action.

6. The cleaning equipment according to claim 2 or 3, characterized in that, The edge detection mechanism includes a distance sensor; Accordingly, controlling the cleaning device to perform a move-to-the-side reminder action based on the side-by-side information includes: If the distance data output by the distance sensor is less than a preset distance threshold, the cleaning device is controlled to perform the move-to-the-side prompt action.

7. The cleaning equipment according to claim 1, characterized in that, The cleaning equipment also includes a prompting component connected to the controller; The step of controlling the cleaning device to perform a side-keeping prompt action based on the side-keeping information includes: Based on the edge information, the prompting component is controlled to output a preset prompting signal.

8. The cleaning equipment according to claim 1, characterized in that, The controller is also used for: Determine whether to enable the edge detection function; If the edge detection function is activated, the step of controlling the cleaning device to perform an edge reminder action based on the edge information is triggered.

9. The cleaning equipment according to claim 8, characterized in that, The step of determining whether to activate the edge detection function includes: activating the edge detection function upon receiving an edge detection instruction; or, The cleaning device also includes a sensing component connected to the controller, the sensing component being used to detect the distance between the cleaning component and the edge to be cleaned; determining whether to activate the edge detection function includes: activating the edge detection function when the sensing result output by the sensing component indicates that the distance is less than a preset distance.

10. The cleaning equipment according to claim 1, characterized in that, The controller is also used for: After the cleaning equipment is controlled to perform the pull-to-the-side prompt action, the value of the current working parameter is increased so that the cleaning equipment operates based on the increased working parameter; The operating parameters include the suction power of the adsorption motor used to generate the adsorption force; and / or, The rotational speed of the cleaning component.

11. A control method for a cleaning device, characterized in that, The method is used in the cleaning device according to any one of claims 1 to 10, the method comprising: Obtain the edge-adjacent information output by the edge detection mechanism; Based on the information about where the device is positioned, the cleaning equipment is controlled to perform a movement to the side.

12. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements a control method for a cleaning device, the method being used in the cleaning device according to any one of claims 1 to 10, the method comprising: Obtain the edge-adjacent information output by the edge detection mechanism; Based on the information about where the device is positioned, the cleaning equipment is controlled to perform a movement to the side.

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